Class BrickletDCV2


  • public class BrickletDCV2
    extends Device
    Drives one brushed DC motor with up to 28V and 5A (peak)
    • Field Detail

      • DEVICE_DISPLAY_NAME

        public static final java.lang.String DEVICE_DISPLAY_NAME
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      • FUNCTION_GET_CURRENT_VELOCITY

        public static final byte FUNCTION_GET_CURRENT_VELOCITY
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      • FUNCTION_SET_DRIVE_MODE

        public static final byte FUNCTION_SET_DRIVE_MODE
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      • FUNCTION_GET_DRIVE_MODE

        public static final byte FUNCTION_GET_DRIVE_MODE
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      • FUNCTION_SET_PWM_FREQUENCY

        public static final byte FUNCTION_SET_PWM_FREQUENCY
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      • FUNCTION_GET_PWM_FREQUENCY

        public static final byte FUNCTION_GET_PWM_FREQUENCY
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      • FUNCTION_GET_POWER_STATISTICS

        public static final byte FUNCTION_GET_POWER_STATISTICS
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      • FUNCTION_SET_ERROR_LED_CONFIG

        public static final byte FUNCTION_SET_ERROR_LED_CONFIG
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      • FUNCTION_GET_ERROR_LED_CONFIG

        public static final byte FUNCTION_GET_ERROR_LED_CONFIG
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      • FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION
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      • FUNCTION_GET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_GET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION
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      • FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION
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      • FUNCTION_GET_VELOCITY_REACHED_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_GET_VELOCITY_REACHED_CALLBACK_CONFIGURATION
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      • FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION
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      • FUNCTION_GET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_GET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION
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      • FUNCTION_GET_SPITFP_ERROR_COUNT

        public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
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      • FUNCTION_SET_BOOTLOADER_MODE

        public static final byte FUNCTION_SET_BOOTLOADER_MODE
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      • FUNCTION_GET_BOOTLOADER_MODE

        public static final byte FUNCTION_GET_BOOTLOADER_MODE
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      • FUNCTION_SET_WRITE_FIRMWARE_POINTER

        public static final byte FUNCTION_SET_WRITE_FIRMWARE_POINTER
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      • FUNCTION_WRITE_FIRMWARE

        public static final byte FUNCTION_WRITE_FIRMWARE
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      • FUNCTION_SET_STATUS_LED_CONFIG

        public static final byte FUNCTION_SET_STATUS_LED_CONFIG
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      • FUNCTION_GET_STATUS_LED_CONFIG

        public static final byte FUNCTION_GET_STATUS_LED_CONFIG
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      • FUNCTION_GET_CHIP_TEMPERATURE

        public static final byte FUNCTION_GET_CHIP_TEMPERATURE
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      • ERROR_LED_CONFIG_SHOW_HEARTBEAT

        public static final int ERROR_LED_CONFIG_SHOW_HEARTBEAT
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      • ERROR_LED_CONFIG_SHOW_ERROR

        public static final int ERROR_LED_CONFIG_SHOW_ERROR
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      • BOOTLOADER_MODE_BOOTLOADER

        public static final int BOOTLOADER_MODE_BOOTLOADER
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      • BOOTLOADER_MODE_FIRMWARE

        public static final int BOOTLOADER_MODE_FIRMWARE
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      • BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT

        public static final int BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
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      • BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT

        public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
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      • BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT

        public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
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      • BOOTLOADER_STATUS_INVALID_MODE

        public static final int BOOTLOADER_STATUS_INVALID_MODE
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      • BOOTLOADER_STATUS_NO_CHANGE

        public static final int BOOTLOADER_STATUS_NO_CHANGE
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      • BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT

        public static final int BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
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      • BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT

        public static final int BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
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      • BOOTLOADER_STATUS_CRC_MISMATCH

        public static final int BOOTLOADER_STATUS_CRC_MISMATCH
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      • STATUS_LED_CONFIG_SHOW_HEARTBEAT

        public static final int STATUS_LED_CONFIG_SHOW_HEARTBEAT
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      • STATUS_LED_CONFIG_SHOW_STATUS

        public static final int STATUS_LED_CONFIG_SHOW_STATUS
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    • Constructor Detail

      • BrickletDCV2

        public BrickletDCV2​(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.
    • Method Detail

      • setEnabled

        public void setEnabled​(boolean enabled)
                        throws TinkerforgeException
        Enables/Disables the driver chip. The driver parameters can be configured (velocity, acceleration, etc) before it is enabled.
        Throws:
        TinkerforgeException
      • setVelocity

        public void setVelocity​(int 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 (see setMotion(int, 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, see setPWMFrequency(int).
        Throws:
        TinkerforgeException
      • setMotion

        public void setMotion​(int acceleration,
                              int deceleration)
                       throws TinkerforgeException
        Sets the acceleration and deceleration 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 and deceleration is set to 0, there is no speed ramping, i.e. a new velocity is immediately given to the motor.
        Throws:
        TinkerforgeException
      • 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. Call setVelocity(int) with 0 if you just want to stop the motor.
        Throws:
        TinkerforgeException
      • setDriveMode

        public void setDriveMode​(int 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
      • 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
      • setErrorLEDConfig

        public void setErrorLEDConfig​(int config)
                               throws TinkerforgeException
        Configures the error LED to be either turned off, turned on, blink in heartbeat mode or show an error. If the LED is configured to show errors it has three different states: * Off: No error present. * 1s interval blinking: Input voltage too low (below 6V). * 250ms interval blinking: Overtemperature or overcurrent.
        Throws:
        TinkerforgeException
      • setCurrentVelocityCallbackConfiguration

        public void setCurrentVelocityCallbackConfiguration​(long period,
                                                            boolean valueHasToChange)
                                                     throws TinkerforgeException
        The period is the period with which the BrickletDCV2.CurrentVelocityListener listener is triggered periodically. A value of 0 turns the listener off. If the `value has to change`-parameter is set to true, the listener is only triggered after the value has changed. If the value didn't change within the period, the listener is triggered immediately on change. If it is set to false, the listener is continuously triggered with the period, independent of the value.
        Throws:
        TinkerforgeException
      • getSPITFPErrorCount

        public BrickletDCV2.SPITFPErrorCount getSPITFPErrorCount()
                                                          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 Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.
        Throws:
        TinkerforgeException
      • setBootloaderMode

        public int setBootloaderMode​(int mode)
                              throws TinkerforgeException
        Sets the bootloader mode and returns the status after the requested mode change was instigated. You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
        Throws:
        TinkerforgeException
      • setWriteFirmwarePointer

        public void setWriteFirmwarePointer​(long pointer)
                                     throws TinkerforgeException
        Sets the firmware pointer for writeFirmware(int[]). The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256). This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
        Throws:
        TinkerforgeException
      • writeFirmware

        public int writeFirmware​(int[] data)
                          throws TinkerforgeException
        Writes 64 Bytes of firmware at the position as written by setWriteFirmwarePointer(long) before. The firmware is written to flash every 4 chunks. You can only write firmware in bootloader mode. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
        Throws:
        TinkerforgeException
      • setStatusLEDConfig

        public void setStatusLEDConfig​(int config)
                                throws TinkerforgeException
        Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets. You can also turn the LED permanently on/off or show a heartbeat. If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.
        Throws:
        TinkerforgeException
      • getChipTemperature

        public int 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 bad accuracy. Practically it is only useful as an indicator for temperature changes.
        Throws:
        TinkerforgeException
      • reset

        public void reset()
                   throws TinkerforgeException
        Calling this function will reset the Bricklet. All configurations will be lost. After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!
        Throws:
        TinkerforgeException
      • writeUID

        public void writeUID​(long uid)
                      throws TinkerforgeException
        Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first. We recommend that you use Brick Viewer to change the UID.
        Throws:
        TinkerforgeException
      • getIdentity

        public Device.Identity getIdentity()
                                    throws TinkerforgeException
        Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier. The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at position 'z'. The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|
        Specified by:
        getIdentity in class Device
        Throws:
        TinkerforgeException