Package com.tinkerforge
Class BrickDC
- java.lang.Object
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- com.tinkerforge.DeviceBase
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- com.tinkerforge.Device
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- com.tinkerforge.BrickDC
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public class BrickDC extends Device
Drives one brushed DC motor with up to 28V and 5A (peak)
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Nested Class Summary
Nested Classes Modifier and Type Class Description static interface
BrickDC.CurrentVelocityListener
This listener is triggered with the period that is set bysetCurrentVelocityPeriod(int)
.static interface
BrickDC.EmergencyShutdownListener
This listener is triggered if either the current consumption is too high (above 5A) or the temperature of the driver chip is too high (above 175°C).class
BrickDC.Protocol1BrickletName
class
BrickDC.SPITFPBaudrateConfig
class
BrickDC.SPITFPErrorCount
static interface
BrickDC.UnderVoltageListener
This listener is triggered when the input voltage drops below the value set bysetMinimumVoltage(int)
.static interface
BrickDC.VelocityReachedListener
This listener is triggered whenever a set velocity is reached.-
Nested classes/interfaces inherited from class com.tinkerforge.Device
Device.Identity
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Field Summary
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Constructor Summary
Constructors Constructor Description BrickDC(java.lang.String uid, IPConnection ipcon)
Creates an object with the unique device ID \c uid.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
addCurrentVelocityListener(BrickDC.CurrentVelocityListener listener)
Adds a CurrentVelocity listener.void
addEmergencyShutdownListener(BrickDC.EmergencyShutdownListener listener)
Adds a EmergencyShutdown listener.void
addUnderVoltageListener(BrickDC.UnderVoltageListener listener)
Adds a UnderVoltage listener.void
addVelocityReachedListener(BrickDC.VelocityReachedListener listener)
Adds a VelocityReached listener.void
disable()
Disables the driver chip.void
disableStatusLED()
Disables the status LED.void
enable()
Enables the driver chip.void
enableStatusLED()
Enables the status LED.void
fullBrake()
Executes an active full brake.int
getAcceleration()
Returns the acceleration as set bysetAcceleration(int)
.short
getChipTemperature()
Returns the temperature as measured inside the microcontroller.int
getCurrentConsumption()
Returns the current consumption of the motor.short
getCurrentVelocity()
Returns the *current* velocity of the motor.int
getCurrentVelocityPeriod()
Returns the period as set bysetCurrentVelocityPeriod(int)
.short
getDriveMode()
Returns the drive mode, as set bysetDriveMode(short)
.int
getExternalInputVoltage()
Returns the external input voltage.Device.Identity
getIdentity()
Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier.int
getMinimumVoltage()
Returns the minimum voltage as set bysetMinimumVoltage(int)
BrickDC.Protocol1BrickletName
getProtocol1BrickletName(char port)
Returns the firmware and protocol version and the name of the Bricklet for a given port.int
getPWMFrequency()
Returns the PWM frequency as set bysetPWMFrequency(int)
.long
getSendTimeoutCount(short communicationMethod)
Returns the timeout count for the different communication methods.long
getSPITFPBaudrate(char brickletPort)
Returns the baudrate for a given Bricklet port, seesetSPITFPBaudrate(char, long)
.BrickDC.SPITFPBaudrateConfig
getSPITFPBaudrateConfig()
Returns the baudrate config, seesetSPITFPBaudrateConfig(boolean, long)
.BrickDC.SPITFPErrorCount
getSPITFPErrorCount(char brickletPort)
Returns the error count for the communication between Brick and Bricklet.int
getStackInputVoltage()
Returns the stack input voltage.short
getVelocity()
Returns the velocity as set bysetVelocity(short)
.boolean
isEnabled()
Returns *true* if the driver chip is enabled, *false* otherwise.boolean
isStatusLEDEnabled()
Returns *true* if the status LED is enabled, *false* otherwise.short[]
readBrickletPlugin(char port, short offset)
Reads 32 bytes of firmware from the bricklet attached at the given port.void
removeCurrentVelocityListener(BrickDC.CurrentVelocityListener listener)
Removes a CurrentVelocity listener.void
removeEmergencyShutdownListener(BrickDC.EmergencyShutdownListener listener)
Removes a EmergencyShutdown listener.void
removeUnderVoltageListener(BrickDC.UnderVoltageListener listener)
Removes a UnderVoltage listener.void
removeVelocityReachedListener(BrickDC.VelocityReachedListener listener)
Removes a VelocityReached listener.void
reset()
Calling this function will reset the Brick.void
setAcceleration(int acceleration)
Sets the acceleration of the motor.void
setCurrentVelocityPeriod(int period)
Sets a period with which theBrickDC.CurrentVelocityListener
listener is triggered.void
setDriveMode(short mode)
Sets the drive mode.void
setMinimumVoltage(int voltage)
Sets the minimum voltage, below which theBrickDC.UnderVoltageListener
listener is triggered.void
setPWMFrequency(int frequency)
Sets the frequency of the PWM with which the motor is driven.void
setSPITFPBaudrate(char brickletPort, long baudrate)
Sets the baudrate for a specific Bricklet port.void
setSPITFPBaudrateConfig(boolean enableDynamicBaudrate, long minimumDynamicBaudrate)
The SPITF protocol can be used with a dynamic baudrate.void
setVelocity(short velocity)
Sets the velocity of the motor.void
writeBrickletPlugin(char port, short offset, short[] chunk)
Writes 32 bytes of firmware to the bricklet attached at the given port.-
Methods inherited from class com.tinkerforge.DeviceBase
getAPIVersion, getResponseExpected, setResponseExpected, setResponseExpectedAll
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Field Detail
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DEVICE_IDENTIFIER
public static final int DEVICE_IDENTIFIER
- See Also:
- Constant Field Values
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DEVICE_DISPLAY_NAME
public static final java.lang.String DEVICE_DISPLAY_NAME
- See Also:
- Constant Field Values
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FUNCTION_SET_VELOCITY
public static final byte FUNCTION_SET_VELOCITY
- See Also:
- Constant Field Values
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FUNCTION_GET_VELOCITY
public static final byte FUNCTION_GET_VELOCITY
- See Also:
- Constant Field Values
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FUNCTION_GET_CURRENT_VELOCITY
public static final byte FUNCTION_GET_CURRENT_VELOCITY
- See Also:
- Constant Field Values
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FUNCTION_SET_ACCELERATION
public static final byte FUNCTION_SET_ACCELERATION
- See Also:
- Constant Field Values
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FUNCTION_GET_ACCELERATION
public static final byte FUNCTION_GET_ACCELERATION
- See Also:
- Constant Field Values
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FUNCTION_SET_PWM_FREQUENCY
public static final byte FUNCTION_SET_PWM_FREQUENCY
- See Also:
- Constant Field Values
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FUNCTION_GET_PWM_FREQUENCY
public static final byte FUNCTION_GET_PWM_FREQUENCY
- See Also:
- Constant Field Values
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FUNCTION_FULL_BRAKE
public static final byte FUNCTION_FULL_BRAKE
- See Also:
- Constant Field Values
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FUNCTION_GET_STACK_INPUT_VOLTAGE
public static final byte FUNCTION_GET_STACK_INPUT_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE
public static final byte FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_GET_CURRENT_CONSUMPTION
public static final byte FUNCTION_GET_CURRENT_CONSUMPTION
- See Also:
- Constant Field Values
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FUNCTION_ENABLE
public static final byte FUNCTION_ENABLE
- See Also:
- Constant Field Values
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FUNCTION_DISABLE
public static final byte FUNCTION_DISABLE
- See Also:
- Constant Field Values
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FUNCTION_IS_ENABLED
public static final byte FUNCTION_IS_ENABLED
- See Also:
- Constant Field Values
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FUNCTION_SET_MINIMUM_VOLTAGE
public static final byte FUNCTION_SET_MINIMUM_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_GET_MINIMUM_VOLTAGE
public static final byte FUNCTION_GET_MINIMUM_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_SET_DRIVE_MODE
public static final byte FUNCTION_SET_DRIVE_MODE
- See Also:
- Constant Field Values
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FUNCTION_GET_DRIVE_MODE
public static final byte FUNCTION_GET_DRIVE_MODE
- See Also:
- Constant Field Values
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FUNCTION_SET_CURRENT_VELOCITY_PERIOD
public static final byte FUNCTION_SET_CURRENT_VELOCITY_PERIOD
- See Also:
- Constant Field Values
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FUNCTION_GET_CURRENT_VELOCITY_PERIOD
public static final byte FUNCTION_GET_CURRENT_VELOCITY_PERIOD
- See Also:
- Constant Field Values
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FUNCTION_SET_SPITFP_BAUDRATE_CONFIG
public static final byte FUNCTION_SET_SPITFP_BAUDRATE_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_SPITFP_BAUDRATE_CONFIG
public static final byte FUNCTION_GET_SPITFP_BAUDRATE_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_SEND_TIMEOUT_COUNT
public static final byte FUNCTION_GET_SEND_TIMEOUT_COUNT
- See Also:
- Constant Field Values
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FUNCTION_SET_SPITFP_BAUDRATE
public static final byte FUNCTION_SET_SPITFP_BAUDRATE
- See Also:
- Constant Field Values
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FUNCTION_GET_SPITFP_BAUDRATE
public static final byte FUNCTION_GET_SPITFP_BAUDRATE
- See Also:
- Constant Field Values
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FUNCTION_GET_SPITFP_ERROR_COUNT
public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
- See Also:
- Constant Field Values
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FUNCTION_ENABLE_STATUS_LED
public static final byte FUNCTION_ENABLE_STATUS_LED
- See Also:
- Constant Field Values
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FUNCTION_DISABLE_STATUS_LED
public static final byte FUNCTION_DISABLE_STATUS_LED
- See Also:
- Constant Field Values
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FUNCTION_IS_STATUS_LED_ENABLED
public static final byte FUNCTION_IS_STATUS_LED_ENABLED
- See Also:
- Constant Field Values
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FUNCTION_GET_PROTOCOL1_BRICKLET_NAME
public static final byte FUNCTION_GET_PROTOCOL1_BRICKLET_NAME
- See Also:
- Constant Field Values
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FUNCTION_GET_CHIP_TEMPERATURE
public static final byte FUNCTION_GET_CHIP_TEMPERATURE
- See Also:
- Constant Field Values
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FUNCTION_RESET
public static final byte FUNCTION_RESET
- See Also:
- Constant Field Values
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FUNCTION_WRITE_BRICKLET_PLUGIN
public static final byte FUNCTION_WRITE_BRICKLET_PLUGIN
- See Also:
- Constant Field Values
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FUNCTION_READ_BRICKLET_PLUGIN
public static final byte FUNCTION_READ_BRICKLET_PLUGIN
- See Also:
- Constant Field Values
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FUNCTION_GET_IDENTITY
public static final byte FUNCTION_GET_IDENTITY
- See Also:
- Constant Field Values
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DRIVE_MODE_DRIVE_BRAKE
public static final short DRIVE_MODE_DRIVE_BRAKE
- See Also:
- Constant Field Values
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DRIVE_MODE_DRIVE_COAST
public static final short DRIVE_MODE_DRIVE_COAST
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_NONE
public static final short COMMUNICATION_METHOD_NONE
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_USB
public static final short COMMUNICATION_METHOD_USB
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_SPI_STACK
public static final short COMMUNICATION_METHOD_SPI_STACK
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_CHIBI
public static final short COMMUNICATION_METHOD_CHIBI
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_RS485
public static final short COMMUNICATION_METHOD_RS485
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_WIFI
public static final short COMMUNICATION_METHOD_WIFI
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_ETHERNET
public static final short COMMUNICATION_METHOD_ETHERNET
- See Also:
- Constant Field Values
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COMMUNICATION_METHOD_WIFI_V2
public static final short COMMUNICATION_METHOD_WIFI_V2
- See Also:
- Constant Field Values
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Constructor Detail
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BrickDC
public BrickDC(java.lang.String uid, IPConnection ipcon)
Creates an object with the unique device ID \c uid. and adds it to the IP Connection \c ipcon.
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Method Detail
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setVelocity
public void setVelocity(short velocity) throws TinkerforgeException
Sets the velocity of the motor. Whereas -32767 is full speed backward, 0 is stop and 32767 is full speed forward. Depending on the acceleration (seesetAcceleration(int)
), the motor is not immediately brought to the velocity but smoothly accelerated. The velocity describes the duty cycle of the PWM with which the motor is controlled, e.g. a velocity of 3277 sets a PWM with a 10% duty cycle. You can not only control the duty cycle of the PWM but also the frequency, seesetPWMFrequency(int)
.- Throws:
TinkerforgeException
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getVelocity
public short getVelocity() throws TinkerforgeException
Returns the velocity as set bysetVelocity(short)
.- Throws:
TinkerforgeException
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getCurrentVelocity
public short getCurrentVelocity() throws TinkerforgeException
Returns the *current* velocity of the motor. This value is different fromgetVelocity()
whenever the motor is currently accelerating to a goal set bysetVelocity(short)
.- Throws:
TinkerforgeException
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setAcceleration
public void setAcceleration(int acceleration) throws TinkerforgeException
Sets the acceleration of the motor. It is given in *velocity/s*. An acceleration of 10000 means, that every second the velocity is increased by 10000 (or about 30% duty cycle). For example: If the current velocity is 0 and you want to accelerate to a velocity of 16000 (about 50% duty cycle) in 10 seconds, you should set an acceleration of 1600. If acceleration is set to 0, there is no speed ramping, i.e. a new velocity is immediately given to the motor.- Throws:
TinkerforgeException
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getAcceleration
public int getAcceleration() throws TinkerforgeException
Returns the acceleration as set bysetAcceleration(int)
.- Throws:
TinkerforgeException
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setPWMFrequency
public void setPWMFrequency(int frequency) throws TinkerforgeException
Sets the frequency of the PWM with which the motor is driven. Often a high frequency is less noisy and the motor runs smoother. However, with a low frequency there are less switches and therefore fewer switching losses. Also with most motors lower frequencies enable higher torque. If you have no idea what all this means, just ignore this function and use the default frequency, it will very likely work fine.- Throws:
TinkerforgeException
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getPWMFrequency
public int getPWMFrequency() throws TinkerforgeException
Returns the PWM frequency as set bysetPWMFrequency(int)
.- Throws:
TinkerforgeException
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fullBrake
public void fullBrake() throws TinkerforgeException
Executes an active full brake. \warning This function is for emergency purposes, where an immediate brake is necessary. Depending on the current velocity and the strength of the motor, a full brake can be quite violent. CallsetVelocity(short)
with 0 if you just want to stop the motor.- Throws:
TinkerforgeException
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getStackInputVoltage
public int getStackInputVoltage() throws TinkerforgeException
Returns the stack input voltage. The stack input voltage is the voltage that is supplied via the stack, i.e. it is given by a Step-Down or Step-Up Power Supply.- Throws:
TinkerforgeException
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getExternalInputVoltage
public int getExternalInputVoltage() throws TinkerforgeException
Returns the external input voltage. The external input voltage is given via the black power input connector on the DC Brick. If there is an external input voltage and a stack input voltage, the motor will be driven by the external input voltage. If there is only a stack voltage present, the motor will be driven by this voltage. \warning This means, if you have a high stack voltage and a low external voltage, the motor will be driven with the low external voltage. If you then remove the external connection, it will immediately be driven by the high stack voltage.- Throws:
TinkerforgeException
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getCurrentConsumption
public int getCurrentConsumption() throws TinkerforgeException
Returns the current consumption of the motor.- Throws:
TinkerforgeException
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enable
public void enable() throws TinkerforgeException
Enables the driver chip. The driver parameters can be configured (velocity, acceleration, etc) before it is enabled.- Throws:
TinkerforgeException
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disable
public void disable() throws TinkerforgeException
Disables the driver chip. The configurations are kept (velocity, acceleration, etc) but the motor is not driven until it is enabled again. \warning Disabling the driver chip while the motor is still turning can damage the driver chip. The motor should be stopped callingsetVelocity(short)
with 0 before disabling the motor power. ThesetVelocity(short)
function will **not** wait until the motor is actually stopped. You have to explicitly wait for the appropriate time after calling thesetVelocity(short)
function before calling thedisable()
function.- Throws:
TinkerforgeException
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isEnabled
public boolean isEnabled() throws TinkerforgeException
Returns *true* if the driver chip is enabled, *false* otherwise.- Throws:
TinkerforgeException
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setMinimumVoltage
public void setMinimumVoltage(int voltage) throws TinkerforgeException
Sets the minimum voltage, below which theBrickDC.UnderVoltageListener
listener is triggered. The minimum possible value that works with the DC Brick is 6V. You can use this function to detect the discharge of a battery that is used to drive the motor. If you have a fixed power supply, you likely do not need this functionality.- Throws:
TinkerforgeException
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getMinimumVoltage
public int getMinimumVoltage() throws TinkerforgeException
Returns the minimum voltage as set bysetMinimumVoltage(int)
- Throws:
TinkerforgeException
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setDriveMode
public void setDriveMode(short mode) throws TinkerforgeException
Sets the drive mode. Possible modes are: * 0 = Drive/Brake * 1 = Drive/Coast These modes are different kinds of motor controls. In Drive/Brake mode, the motor is always either driving or braking. There is no freewheeling. Advantages are: A more linear correlation between PWM and velocity, more exact accelerations and the possibility to drive with slower velocities. In Drive/Coast mode, the motor is always either driving or freewheeling. Advantages are: Less current consumption and less demands on the motor and driver chip.- Throws:
TinkerforgeException
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getDriveMode
public short getDriveMode() throws TinkerforgeException
Returns the drive mode, as set bysetDriveMode(short)
.- Throws:
TinkerforgeException
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setCurrentVelocityPeriod
public void setCurrentVelocityPeriod(int period) throws TinkerforgeException
Sets a period with which theBrickDC.CurrentVelocityListener
listener is triggered. A period of 0 turns the listener off.- Throws:
TinkerforgeException
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getCurrentVelocityPeriod
public int getCurrentVelocityPeriod() throws TinkerforgeException
Returns the period as set bysetCurrentVelocityPeriod(int)
.- Throws:
TinkerforgeException
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setSPITFPBaudrateConfig
public void setSPITFPBaudrateConfig(boolean enableDynamicBaudrate, long minimumDynamicBaudrate) throws TinkerforgeException
The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred. The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received. This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed. In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance. The maximum value of the baudrate can be set per port with the functionsetSPITFPBaudrate(char, long)
. If the dynamic baudrate is disabled, the baudrate as set bysetSPITFPBaudrate(char, long)
will be used statically. .. versionadded:: 2.3.5$nbsp;(Firmware)- Throws:
TinkerforgeException
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getSPITFPBaudrateConfig
public BrickDC.SPITFPBaudrateConfig getSPITFPBaudrateConfig() throws TinkerforgeException
Returns the baudrate config, seesetSPITFPBaudrateConfig(boolean, long)
. .. versionadded:: 2.3.5$nbsp;(Firmware)- Throws:
TinkerforgeException
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getSendTimeoutCount
public long getSendTimeoutCount(short communicationMethod) throws TinkerforgeException
Returns the timeout count for the different communication methods. The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks. This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0. .. versionadded:: 2.3.3$nbsp;(Firmware)- Throws:
TinkerforgeException
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setSPITFPBaudrate
public void setSPITFPBaudrate(char brickletPort, long baudrate) throws TinkerforgeException
Sets the baudrate for a specific Bricklet port. If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (seegetSPITFPErrorCount(char)
) you can decrease the baudrate. If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (seesetSPITFPBaudrateConfig(boolean, long)
). Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate. .. versionadded:: 2.3.3$nbsp;(Firmware)- Throws:
TinkerforgeException
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getSPITFPBaudrate
public long getSPITFPBaudrate(char brickletPort) throws TinkerforgeException
Returns the baudrate for a given Bricklet port, seesetSPITFPBaudrate(char, long)
. .. versionadded:: 2.3.3$nbsp;(Firmware)- Throws:
TinkerforgeException
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getSPITFPErrorCount
public BrickDC.SPITFPErrorCount getSPITFPErrorCount(char brickletPort) throws TinkerforgeException
Returns the error count for the communication between Brick and Bricklet. The errors are divided into * ACK checksum errors, * message checksum errors, * framing errors and * overflow errors. The errors counts are for errors that occur on the Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side. .. versionadded:: 2.3.3$nbsp;(Firmware)- Throws:
TinkerforgeException
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enableStatusLED
public void enableStatusLED() throws TinkerforgeException
Enables the status LED. The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off. The default state is enabled. .. versionadded:: 2.3.1$nbsp;(Firmware)- Throws:
TinkerforgeException
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disableStatusLED
public void disableStatusLED() throws TinkerforgeException
Disables the status LED. The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off. The default state is enabled. .. versionadded:: 2.3.1$nbsp;(Firmware)- Throws:
TinkerforgeException
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isStatusLEDEnabled
public boolean isStatusLEDEnabled() throws TinkerforgeException
Returns *true* if the status LED is enabled, *false* otherwise. .. versionadded:: 2.3.1$nbsp;(Firmware)- Throws:
TinkerforgeException
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getProtocol1BrickletName
public BrickDC.Protocol1BrickletName getProtocol1BrickletName(char port) throws TinkerforgeException
Returns the firmware and protocol version and the name of the Bricklet for a given port. This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.- Throws:
TinkerforgeException
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getChipTemperature
public short getChipTemperature() throws TinkerforgeException
Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature! The temperature is only proportional to the real temperature and it has an accuracy of ±15%. Practically it is only useful as an indicator for temperature changes.- Throws:
TinkerforgeException
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reset
public void reset() throws TinkerforgeException
Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack. After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!- Throws:
TinkerforgeException
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writeBrickletPlugin
public void writeBrickletPlugin(char port, short offset, short[] chunk) throws TinkerforgeException
Writes 32 bytes of firmware to the bricklet attached at the given port. The bytes are written to the position offset * 32. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.- Throws:
TinkerforgeException
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readBrickletPlugin
public short[] readBrickletPlugin(char port, short offset) throws TinkerforgeException
Reads 32 bytes of firmware from the bricklet attached at the given port. The bytes are read starting at the position offset * 32. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.- Throws:
TinkerforgeException
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getIdentity
public Device.Identity getIdentity() throws TinkerforgeException
Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier. The position is the position in the stack from '0' (bottom) to '8' (top). The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|- Specified by:
getIdentity
in classDevice
- Throws:
TinkerforgeException
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addUnderVoltageListener
public void addUnderVoltageListener(BrickDC.UnderVoltageListener listener)
Adds a UnderVoltage listener.
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removeUnderVoltageListener
public void removeUnderVoltageListener(BrickDC.UnderVoltageListener listener)
Removes a UnderVoltage listener.
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addEmergencyShutdownListener
public void addEmergencyShutdownListener(BrickDC.EmergencyShutdownListener listener)
Adds a EmergencyShutdown listener.
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removeEmergencyShutdownListener
public void removeEmergencyShutdownListener(BrickDC.EmergencyShutdownListener listener)
Removes a EmergencyShutdown listener.
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addVelocityReachedListener
public void addVelocityReachedListener(BrickDC.VelocityReachedListener listener)
Adds a VelocityReached listener.
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removeVelocityReachedListener
public void removeVelocityReachedListener(BrickDC.VelocityReachedListener listener)
Removes a VelocityReached listener.
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addCurrentVelocityListener
public void addCurrentVelocityListener(BrickDC.CurrentVelocityListener listener)
Adds a CurrentVelocity listener.
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removeCurrentVelocityListener
public void removeCurrentVelocityListener(BrickDC.CurrentVelocityListener listener)
Removes a CurrentVelocity listener.
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