public class BrickletDCV2 extends Device
Modifier and Type | Class and Description |
---|---|
class |
BrickletDCV2.CurrentVelocityCallbackConfiguration |
static interface |
BrickletDCV2.CurrentVelocityListener
This listener is triggered with the period that is set by
setCurrentVelocityCallbackConfiguration(long, boolean) . |
static interface |
BrickletDCV2.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 |
BrickletDCV2.Motion |
class |
BrickletDCV2.PowerStatistics |
class |
BrickletDCV2.SPITFPErrorCount |
static interface |
BrickletDCV2.VelocityReachedListener
This listener is triggered whenever a set velocity is reached.
|
Device.Identity
Constructor and Description |
---|
BrickletDCV2(String uid,
IPConnection ipcon)
Creates an object with the unique device ID \c uid.
|
Modifier and Type | Method and Description |
---|---|
void |
addCurrentVelocityListener(BrickletDCV2.CurrentVelocityListener listener)
Adds a CurrentVelocity listener.
|
void |
addEmergencyShutdownListener(BrickletDCV2.EmergencyShutdownListener listener)
Adds a EmergencyShutdown listener.
|
void |
addVelocityReachedListener(BrickletDCV2.VelocityReachedListener listener)
Adds a VelocityReached listener.
|
void |
fullBrake()
Executes an active full brake.
|
int |
getBootloaderMode()
Returns the current bootloader mode, see
setBootloaderMode(int) . |
int |
getChipTemperature()
Returns the temperature as measured inside the microcontroller.
|
int |
getCurrentVelocity()
Returns the *current* velocity of the motor.
|
BrickletDCV2.CurrentVelocityCallbackConfiguration |
getCurrentVelocityCallbackConfiguration()
Returns the listener configuration as set by
setCurrentVelocityCallbackConfiguration(long, boolean) . |
int |
getDriveMode()
Returns the drive mode, as set by
setDriveMode(int) . |
boolean |
getEmergencyShutdownCallbackConfiguration()
Returns the listener configuration as set by
setEmergencyShutdownCallbackConfiguration(boolean) . |
boolean |
getEnabled()
Returns *true* if the driver chip is enabled, *false* otherwise.
|
int |
getErrorLEDConfig()
Returns the LED configuration as set by
setErrorLEDConfig(int) |
Device.Identity |
getIdentity()
Returns the UID, the UID where the Bricklet is connected to,
the position, the hardware and firmware version as well as the
device identifier.
|
BrickletDCV2.Motion |
getMotion()
Returns the acceleration/deceleration as set by
setMotion(int, int) . |
BrickletDCV2.PowerStatistics |
getPowerStatistics()
Returns input voltage and current usage of the driver.
|
int |
getPWMFrequency()
Returns the PWM frequency as set by
setPWMFrequency(int) . |
BrickletDCV2.SPITFPErrorCount |
getSPITFPErrorCount()
Returns the error count for the communication between Brick and Bricklet.
|
int |
getStatusLEDConfig()
Returns the configuration as set by
setStatusLEDConfig(int) |
int |
getVelocity()
Returns the velocity as set by
setVelocity(int) . |
boolean |
getVelocityReachedCallbackConfiguration()
Returns the listener configuration as set by
setVelocityReachedCallbackConfiguration(boolean) . |
long |
readUID()
Returns the current UID as an integer.
|
void |
removeCurrentVelocityListener(BrickletDCV2.CurrentVelocityListener listener)
Removes a CurrentVelocity listener.
|
void |
removeEmergencyShutdownListener(BrickletDCV2.EmergencyShutdownListener listener)
Removes a EmergencyShutdown listener.
|
void |
removeVelocityReachedListener(BrickletDCV2.VelocityReachedListener listener)
Removes a VelocityReached listener.
|
void |
reset()
Calling this function will reset the Bricklet.
|
int |
setBootloaderMode(int mode)
Sets the bootloader mode and returns the status after the requested
mode change was instigated.
|
void |
setCurrentVelocityCallbackConfiguration(long period,
boolean valueHasToChange)
The period is the period with which the
BrickletDCV2.CurrentVelocityListener
listener is triggered periodically. |
void |
setDriveMode(int mode)
Sets the drive mode.
|
void |
setEmergencyShutdownCallbackConfiguration(boolean enabled)
Enable/Disable
BrickletDCV2.EmergencyShutdownListener listener. |
void |
setEnabled(boolean enabled)
Enables/Disables the driver chip.
|
void |
setErrorLEDConfig(int config)
Configures the error LED to be either turned off, turned on, blink in
heartbeat mode or show an error.
|
void |
setMotion(int acceleration,
int deceleration)
Sets the acceleration and deceleration of the motor.
|
void |
setPWMFrequency(int frequency)
Sets the frequency of the PWM with which the motor is driven.
|
void |
setStatusLEDConfig(int config)
Sets the status LED configuration.
|
void |
setVelocity(int velocity)
Sets the velocity of the motor.
|
void |
setVelocityReachedCallbackConfiguration(boolean enabled)
Enable/Disable
BrickletDCV2.VelocityReachedListener listener. |
void |
setWriteFirmwarePointer(long pointer)
Sets the firmware pointer for
writeFirmware(int[]) . |
int |
writeFirmware(int[] data)
Writes 64 Bytes of firmware at the position as written by
setWriteFirmwarePointer(long) before. |
void |
writeUID(long uid)
Writes a new UID into flash.
|
getAPIVersion, getResponseExpected, setResponseExpected, setResponseExpectedAll
public static final int DEVICE_IDENTIFIER
public static final String DEVICE_DISPLAY_NAME
public static final byte FUNCTION_SET_ENABLED
public static final byte FUNCTION_GET_ENABLED
public static final byte FUNCTION_SET_VELOCITY
public static final byte FUNCTION_GET_VELOCITY
public static final byte FUNCTION_GET_CURRENT_VELOCITY
public static final byte FUNCTION_SET_MOTION
public static final byte FUNCTION_GET_MOTION
public static final byte FUNCTION_FULL_BRAKE
public static final byte FUNCTION_SET_DRIVE_MODE
public static final byte FUNCTION_GET_DRIVE_MODE
public static final byte FUNCTION_SET_PWM_FREQUENCY
public static final byte FUNCTION_GET_PWM_FREQUENCY
public static final byte FUNCTION_GET_POWER_STATISTICS
public static final byte FUNCTION_SET_ERROR_LED_CONFIG
public static final byte FUNCTION_GET_ERROR_LED_CONFIG
public static final byte FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION
public static final byte FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_VELOCITY_REACHED_CALLBACK_CONFIGURATION
public static final byte FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
public static final byte FUNCTION_SET_BOOTLOADER_MODE
public static final byte FUNCTION_GET_BOOTLOADER_MODE
public static final byte FUNCTION_SET_WRITE_FIRMWARE_POINTER
public static final byte FUNCTION_WRITE_FIRMWARE
public static final byte FUNCTION_SET_STATUS_LED_CONFIG
public static final byte FUNCTION_GET_STATUS_LED_CONFIG
public static final byte FUNCTION_GET_CHIP_TEMPERATURE
public static final byte FUNCTION_RESET
public static final byte FUNCTION_WRITE_UID
public static final byte FUNCTION_READ_UID
public static final byte FUNCTION_GET_IDENTITY
public static final int DRIVE_MODE_DRIVE_BRAKE
public static final int DRIVE_MODE_DRIVE_COAST
public static final int ERROR_LED_CONFIG_OFF
public static final int ERROR_LED_CONFIG_ON
public static final int ERROR_LED_CONFIG_SHOW_HEARTBEAT
public static final int ERROR_LED_CONFIG_SHOW_ERROR
public static final int BOOTLOADER_MODE_BOOTLOADER
public static final int BOOTLOADER_MODE_FIRMWARE
public static final int BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
public static final int BOOTLOADER_STATUS_OK
public static final int BOOTLOADER_STATUS_INVALID_MODE
public static final int BOOTLOADER_STATUS_NO_CHANGE
public static final int BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
public static final int BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
public static final int BOOTLOADER_STATUS_CRC_MISMATCH
public static final int STATUS_LED_CONFIG_OFF
public static final int STATUS_LED_CONFIG_ON
public static final int STATUS_LED_CONFIG_SHOW_HEARTBEAT
public static final int STATUS_LED_CONFIG_SHOW_STATUS
public BrickletDCV2(String uid, IPConnection ipcon)
public void setEnabled(boolean enabled) throws TinkerforgeException
TinkerforgeException
public boolean getEnabled() throws TinkerforgeException
TinkerforgeException
public void setVelocity(int velocity) throws TinkerforgeException
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)
.TinkerforgeException
public int getVelocity() throws TinkerforgeException
setVelocity(int)
.TinkerforgeException
public int getCurrentVelocity() throws TinkerforgeException
getVelocity()
whenever the motor is currently accelerating
to a goal set by setVelocity(int)
.TinkerforgeException
public void setMotion(int acceleration, int deceleration) throws TinkerforgeException
TinkerforgeException
public BrickletDCV2.Motion getMotion() throws TinkerforgeException
setMotion(int, int)
.TinkerforgeException
public void fullBrake() throws TinkerforgeException
setVelocity(int)
with 0 if you just want to stop the motor.TinkerforgeException
public void setDriveMode(int mode) throws TinkerforgeException
TinkerforgeException
public int getDriveMode() throws TinkerforgeException
setDriveMode(int)
.TinkerforgeException
public void setPWMFrequency(int frequency) throws TinkerforgeException
TinkerforgeException
public int getPWMFrequency() throws TinkerforgeException
setPWMFrequency(int)
.TinkerforgeException
public BrickletDCV2.PowerStatistics getPowerStatistics() throws TinkerforgeException
TinkerforgeException
public void setErrorLEDConfig(int config) throws TinkerforgeException
TinkerforgeException
public int getErrorLEDConfig() throws TinkerforgeException
setErrorLEDConfig(int)
TinkerforgeException
public void setEmergencyShutdownCallbackConfiguration(boolean enabled) throws TinkerforgeException
BrickletDCV2.EmergencyShutdownListener
listener.TinkerforgeException
public boolean getEmergencyShutdownCallbackConfiguration() throws TinkerforgeException
setEmergencyShutdownCallbackConfiguration(boolean)
.TinkerforgeException
public void setVelocityReachedCallbackConfiguration(boolean enabled) throws TinkerforgeException
BrickletDCV2.VelocityReachedListener
listener.TinkerforgeException
public boolean getVelocityReachedCallbackConfiguration() throws TinkerforgeException
setVelocityReachedCallbackConfiguration(boolean)
.TinkerforgeException
public void setCurrentVelocityCallbackConfiguration(long period, boolean valueHasToChange) throws TinkerforgeException
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.TinkerforgeException
public BrickletDCV2.CurrentVelocityCallbackConfiguration getCurrentVelocityCallbackConfiguration() throws TinkerforgeException
setCurrentVelocityCallbackConfiguration(long, boolean)
.TinkerforgeException
public BrickletDCV2.SPITFPErrorCount getSPITFPErrorCount() throws TinkerforgeException
TinkerforgeException
public int setBootloaderMode(int mode) throws TinkerforgeException
TinkerforgeException
public int getBootloaderMode() throws TinkerforgeException
setBootloaderMode(int)
.TinkerforgeException
public void setWriteFirmwarePointer(long pointer) throws TinkerforgeException
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.TinkerforgeException
public int writeFirmware(int[] data) throws TinkerforgeException
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.TinkerforgeException
public void setStatusLEDConfig(int config) throws TinkerforgeException
TinkerforgeException
public int getStatusLEDConfig() throws TinkerforgeException
setStatusLEDConfig(int)
TinkerforgeException
public int getChipTemperature() throws TinkerforgeException
TinkerforgeException
public void reset() throws TinkerforgeException
TinkerforgeException
public void writeUID(long uid) throws TinkerforgeException
TinkerforgeException
public long readUID() throws TinkerforgeException
TinkerforgeException
public Device.Identity getIdentity() throws TinkerforgeException
getIdentity
in class Device
TinkerforgeException
public void addEmergencyShutdownListener(BrickletDCV2.EmergencyShutdownListener listener)
public void removeEmergencyShutdownListener(BrickletDCV2.EmergencyShutdownListener listener)
public void addVelocityReachedListener(BrickletDCV2.VelocityReachedListener listener)
public void removeVelocityReachedListener(BrickletDCV2.VelocityReachedListener listener)
public void addCurrentVelocityListener(BrickletDCV2.CurrentVelocityListener listener)
public void removeCurrentVelocityListener(BrickletDCV2.CurrentVelocityListener listener)
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