class Tinkerforge::BrickStepper
Drives one bipolar stepper motor with up to 38V and 2.5A per phase
Constants
- CALLBACK_ALL_DATA
This callback is triggered periodically with the period that is set by
BrickStepper#set_all_data_period
. The parameters are: the current velocity, the current position, the remaining steps, the stack voltage, the external voltage and the current consumption of the stepper motor.- CALLBACK_NEW_STATE
This callback is triggered whenever the Stepper Brick enters a new state. It returns the new state as well as the previous state.
- CALLBACK_POSITION_REACHED
This callback is triggered when a position set by
BrickStepper#set_steps
orBrickStepper#set_target_position
is reached.- .. note
-
Since we can't get any feedback from the stepper motor, this only works if the acceleration (see
BrickStepper#set_speed_ramping
) is set smaller or equal to the maximum acceleration of the motor. Otherwise the motor will lag behind the control value and the callback will be triggered too early.
- CALLBACK_UNDER_VOLTAGE
This callback is triggered when the input voltage drops below the value set by
BrickStepper#set_minimum_voltage
. The parameter is the current voltage.
Public Class Methods
Creates an object with the unique device ID uid
and adds it to the IP Connection ipcon
.
# File lib/tinkerforge/brick_stepper.rb, line 117 def initialize(uid, ipcon) super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME @api_version = [2, 0, 4] @response_expected[FUNCTION_SET_MAX_VELOCITY] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_MAX_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_CURRENT_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_SPEED_RAMPING] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_SPEED_RAMPING] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_FULL_BRAKE] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_SET_CURRENT_POSITION] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_CURRENT_POSITION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_TARGET_POSITION] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_TARGET_POSITION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_STEPS] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_STEPS] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_REMAINING_STEPS] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_STEP_MODE] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_STEP_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_DRIVE_FORWARD] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_DRIVE_BACKWARD] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_STOP] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_STACK_INPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_CURRENT_CONSUMPTION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_MOTOR_CURRENT] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_MOTOR_CURRENT] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_ENABLE] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_DISABLE] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_IS_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_DECAY] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_DECAY] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_MINIMUM_VOLTAGE] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_MINIMUM_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_SYNC_RECT] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_IS_SYNC_RECT] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_TIME_BASE] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_TIME_BASE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_SPITFP_BAUDRATE_CONFIG] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_SPITFP_BAUDRATE_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_SEND_TIMEOUT_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_SPITFP_BAUDRATE] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_SPITFP_BAUDRATE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_WRITE_BRICKLET_PLUGIN] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_READ_BRICKLET_PLUGIN] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE @callback_formats[CALLBACK_UNDER_VOLTAGE] = [10, 'S'] @callback_formats[CALLBACK_POSITION_REACHED] = [12, 'l'] @callback_formats[CALLBACK_ALL_DATA] = [24, 'S l l S S S'] @callback_formats[CALLBACK_NEW_STATE] = [10, 'C C'] @ipcon.add_device self end
Public Instance Methods
Disables the driver chip. The configurations are kept (maximum 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 calling
BrickStepper#stop
function before disabling the motor power. TheBrickStepper#stop
function will not wait until the motor is actually stopped. You have to explicitly wait for the appropriate time after calling theBrickStepper#stop
function before calling theBrickStepper#disable
function.
# File lib/tinkerforge/brick_stepper.rb, line 433 def disable check_validity send_request FUNCTION_DISABLE, [], '', 8, '' end
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$nbsp;(Firmware)
# File lib/tinkerforge/brick_stepper.rb, line 693 def disable_status_led check_validity send_request FUNCTION_DISABLE_STATUS_LED, [], '', 8, '' end
Drives the stepper motor backward until BrickStepper#drive_forward
or BrickStepper#stop
is triggered. The velocity, acceleration and deacceleration as set by BrickStepper#set_max_velocity
and BrickStepper#set_speed_ramping
will be used.
# File lib/tinkerforge/brick_stepper.rb, line 349 def drive_backward check_validity send_request FUNCTION_DRIVE_BACKWARD, [], '', 8, '' end
Drives the stepper motor forward until BrickStepper#drive_backward
or BrickStepper#stop
is called. The velocity, acceleration and deacceleration as set by BrickStepper#set_max_velocity
and BrickStepper#set_speed_ramping
will be used.
# File lib/tinkerforge/brick_stepper.rb, line 340 def drive_forward check_validity send_request FUNCTION_DRIVE_FORWARD, [], '', 8, '' end
Enables the driver chip. The driver parameters can be configured (maximum velocity, acceleration, etc) before it is enabled.
# File lib/tinkerforge/brick_stepper.rb, line 417 def enable check_validity send_request FUNCTION_ENABLE, [], '', 8, '' end
Enables the status LED.
The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.
The default state is enabled.
- .. versionadded
-
2.3.1$nbsp;(Firmware)
# File lib/tinkerforge/brick_stepper.rb, line 679 def enable_status_led check_validity send_request FUNCTION_ENABLE_STATUS_LED, [], '', 8, '' end
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 BrickStepper#stop
if you just want to stop the motor.
# File lib/tinkerforge/brick_stepper.rb, line 240 def full_brake check_validity send_request FUNCTION_FULL_BRAKE, [], '', 8, '' end
Returns the following parameters: The current velocity, the current position, the remaining steps, the stack voltage, the external voltage and the current consumption of the stepper motor.
There is also a callback for this function, see CALLBACK_ALL_DATA
callback.
# File lib/tinkerforge/brick_stepper.rb, line 552 def get_all_data check_validity send_request FUNCTION_GET_ALL_DATA, [], '', 24, 'S l l S S S' end
Returns the period as set by BrickStepper#set_all_data_period
.
# File lib/tinkerforge/brick_stepper.rb, line 567 def get_all_data_period check_validity send_request FUNCTION_GET_ALL_DATA_PERIOD, [], '', 12, 'L' end
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.
# File lib/tinkerforge/brick_stepper.rb, line 725 def get_chip_temperature check_validity send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's' end
Returns the current consumption of the motor.
# File lib/tinkerforge/brick_stepper.rb, line 391 def get_current_consumption check_validity send_request FUNCTION_GET_CURRENT_CONSUMPTION, [], '', 10, 'S' end
Returns the current position of the stepper motor in steps. On startup the position is 0. The steps are counted with all possible driving functions (BrickStepper#set_target_position
, BrickStepper#set_steps
, BrickStepper#drive_forward
or BrickStepper#drive_backward
). It also is possible to reset the steps to 0 or set them to any other desired value with BrickStepper#set_current_position
.
# File lib/tinkerforge/brick_stepper.rb, line 260 def get_current_position check_validity send_request FUNCTION_GET_CURRENT_POSITION, [], '', 12, 'l' end
Returns the current velocity of the stepper motor.
# File lib/tinkerforge/brick_stepper.rb, line 202 def get_current_velocity check_validity send_request FUNCTION_GET_CURRENT_VELOCITY, [], '', 10, 'S' end
Returns the decay mode as set by BrickStepper#set_decay
.
# File lib/tinkerforge/brick_stepper.rb, line 478 def get_decay check_validity send_request FUNCTION_GET_DECAY, [], '', 10, 'S' end
Returns the external input voltage. The external input voltage is given via the black power input connector on the Stepper 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
# File lib/tinkerforge/brick_stepper.rb, line 384 def get_external_input_voltage check_validity send_request FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, [], '', 10, 'S' end
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|
# File lib/tinkerforge/brick_stepper.rb, line 773 def get_identity send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S' end
Returns the velocity as set by BrickStepper#set_max_velocity
.
# File lib/tinkerforge/brick_stepper.rb, line 195 def get_max_velocity check_validity send_request FUNCTION_GET_MAX_VELOCITY, [], '', 10, 'S' end
Returns the minimum voltage as set by BrickStepper#set_minimum_voltage
.
# File lib/tinkerforge/brick_stepper.rb, line 496 def get_minimum_voltage check_validity send_request FUNCTION_GET_MINIMUM_VOLTAGE, [], '', 10, 'S' end
Returns the current as set by BrickStepper#set_motor_current
.
# File lib/tinkerforge/brick_stepper.rb, line 409 def get_motor_current check_validity send_request FUNCTION_GET_MOTOR_CURRENT, [], '', 10, 'S' end
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.
# File lib/tinkerforge/brick_stepper.rb, line 713 def get_protocol1_bricklet_name(port) check_validity send_request FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 52, 'C C3 Z40' end
Returns the remaining steps of the last call of BrickStepper#set_steps
. For example, if BrickStepper#set_steps
is called with 2000 and BrickStepper#get_remaining_steps
is called after the motor has run for 500 steps, it will return 1500.
# File lib/tinkerforge/brick_stepper.rb, line 309 def get_remaining_steps check_validity send_request FUNCTION_GET_REMAINING_STEPS, [], '', 12, 'l' end
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
-
2.3.4$nbsp;(Firmware)
# File lib/tinkerforge/brick_stepper.rb, line 616 def get_send_timeout_count(communication_method) check_validity send_request FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 12, 'L' end
Returns the acceleration and deacceleration as set by BrickStepper#set_speed_ramping
.
# File lib/tinkerforge/brick_stepper.rb, line 226 def get_speed_ramping check_validity send_request FUNCTION_GET_SPEED_RAMPING, [], '', 12, 'S S' end
Returns the baudrate for a given Bricklet port, see BrickStepper#set_spitfp_baudrate
.
- .. versionadded
-
2.3.3$nbsp;(Firmware)
# File lib/tinkerforge/brick_stepper.rb, line 646 def get_spitfp_baudrate(bricklet_port) check_validity send_request FUNCTION_GET_SPITFP_BAUDRATE, [bricklet_port], 'k', 12, 'L' end
Returns the baudrate config, see BrickStepper#set_spitfp_baudrate_config
.
- .. versionadded
-
2.3.6$nbsp;(Firmware)
# File lib/tinkerforge/brick_stepper.rb, line 602 def get_spitfp_baudrate_config check_validity send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 13, '? L' end
Returns the error count for the communication between Brick and Bricklet.
The errors are divided into
-
ACK checksum errors,
-
message checksum errors,
-
framing errors and
-
overflow errors.
The errors counts are for errors that occur on the Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.
- .. versionadded
-
2.3.3$nbsp;(Firmware)
# File lib/tinkerforge/brick_stepper.rb, line 665 def get_spitfp_error_count(bricklet_port) check_validity send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [bricklet_port], 'k', 24, 'L L L L' end
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.
# File lib/tinkerforge/brick_stepper.rb, line 366 def get_stack_input_voltage check_validity send_request FUNCTION_GET_STACK_INPUT_VOLTAGE, [], '', 10, 'S' end
Returns the step mode as set by BrickStepper#set_step_mode
.
# File lib/tinkerforge/brick_stepper.rb, line 331 def get_step_mode check_validity send_request FUNCTION_GET_STEP_MODE, [], '', 9, 'C' end
Returns the last steps as set by BrickStepper#set_steps
.
# File lib/tinkerforge/brick_stepper.rb, line 299 def get_steps check_validity send_request FUNCTION_GET_STEPS, [], '', 12, 'l' end
Returns the last target position as set by BrickStepper#set_target_position
.
# File lib/tinkerforge/brick_stepper.rb, line 282 def get_target_position check_validity send_request FUNCTION_GET_TARGET_POSITION, [], '', 12, 'l' end
Returns the time base as set by BrickStepper#set_time_base
.
# File lib/tinkerforge/brick_stepper.rb, line 541 def get_time_base check_validity send_request FUNCTION_GET_TIME_BASE, [], '', 12, 'L' end
Returns true if the driver chip is enabled, false otherwise.
# File lib/tinkerforge/brick_stepper.rb, line 440 def is_enabled check_validity send_request FUNCTION_IS_ENABLED, [], '', 9, '?' end
Returns true if the status LED is enabled, false otherwise.
- .. versionadded
-
2.3.1$nbsp;(Firmware)
# File lib/tinkerforge/brick_stepper.rb, line 702 def is_status_led_enabled check_validity send_request FUNCTION_IS_STATUS_LED_ENABLED, [], '', 9, '?' end
Returns true if synchronous rectification is enabled, false otherwise.
# File lib/tinkerforge/brick_stepper.rb, line 523 def is_sync_rect check_validity send_request FUNCTION_IS_SYNC_RECT, [], '', 9, '?' end
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.
# File lib/tinkerforge/brick_stepper.rb, line 759 def read_bricklet_plugin(port, offset) check_validity send_request FUNCTION_READ_BRICKLET_PLUGIN, [port, offset], 'k C', 40, 'C32' end
Registers a callback with ID id
to the block block
.
# File lib/tinkerforge/brick_stepper.rb, line 778 def register_callback(id, &block) callback = block @registered_callbacks[id] = callback end
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!
# File lib/tinkerforge/brick_stepper.rb, line 737 def reset check_validity send_request FUNCTION_RESET, [], '', 8, '' end
Sets the period with which the CALLBACK_ALL_DATA
callback is triggered periodically. A value of 0 turns the callback off.
# File lib/tinkerforge/brick_stepper.rb, line 560 def set_all_data_period(period) check_validity send_request FUNCTION_SET_ALL_DATA_PERIOD, [period], 'L', 8, '' end
Sets the current steps of the internal step counter. This can be used to set the current position to 0 when some kind of starting position is reached (e.g. when a CNC machine reaches a corner).
# File lib/tinkerforge/brick_stepper.rb, line 249 def set_current_position(position) check_validity send_request FUNCTION_SET_CURRENT_POSITION, [position], 'l', 8, '' end
Sets the decay mode of the stepper motor. A value of 0 sets the fast decay mode, a value of 65535 sets the slow decay mode and a value in between sets the mixed decay mode.
Changing the decay mode is only possible if synchronous rectification is enabled (see BrickStepper#set_sync_rect
).
For a good explanation of the different decay modes see `this < There is unfortunately no formula to calculate a perfect decay mode for a given stepper motor. If you have problems with loud noises or the maximum motor speed is too slow, you should try to tinker with the decay value# File lib/tinkerforge/brick_stepper.rb, line 471
def set_decay(decay)
check_validity
send_request FUNCTION_SET_DECAY, [decay], 'S', 8, ''
end
Sets the maximum velocity of the stepper motor. This function does not start the motor, it merely sets the maximum velocity the stepper motor is accelerated to. To get the motor running use either BrickStepper#set_target_position
, BrickStepper#set_steps
, BrickStepper#drive_forward
or BrickStepper#drive_backward
.
# File lib/tinkerforge/brick_stepper.rb, line 188 def set_max_velocity(velocity) check_validity send_request FUNCTION_SET_MAX_VELOCITY, [velocity], 'S', 8, '' end
Sets the minimum voltage, below which the CALLBACK_UNDER_VOLTAGE
callback is triggered. The minimum possible value that works with the Stepper Brick is 8V. You can use this function to detect the discharge of a battery that is used to drive the stepper motor. If you have a fixed power supply, you likely do not need this functionality.
# File lib/tinkerforge/brick_stepper.rb, line 489 def set_minimum_voltage(voltage) check_validity send_request FUNCTION_SET_MINIMUM_VOLTAGE, [voltage], 'S', 8, '' end
Sets the current with which the motor will be driven.
- .. warning
-
Do not set this value above the specifications of your stepper motor. Otherwise it may damage your motor.
# File lib/tinkerforge/brick_stepper.rb, line 402 def set_motor_current(current) check_validity send_request FUNCTION_SET_MOTOR_CURRENT, [current], 'S', 8, '' end
Sets the acceleration and deacceleration of the stepper motor. An acceleration of 1000 means, that every second the velocity is increased by 1000 steps/s.
For example: If the current velocity is 0 and you want to accelerate to a velocity of 8000 steps/s in 10 seconds, you should set an acceleration of 800 steps/s².
An acceleration/deacceleration of 0 means instantaneous acceleration/deacceleration (not recommended)
# File lib/tinkerforge/brick_stepper.rb, line 218 def set_speed_ramping(acceleration, deacceleration) check_validity send_request FUNCTION_SET_SPEED_RAMPING, [acceleration, deacceleration], 'S S', 8, '' end
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 (see BrickStepper#get_spitfp_error_count
) you can decrease the baudrate.
If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see BrickStepper#set_spitfp_baudrate_config
).
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)
# File lib/tinkerforge/brick_stepper.rb, line 637 def set_spitfp_baudrate(bricklet_port, baudrate) check_validity send_request FUNCTION_SET_SPITFP_BAUDRATE, [bricklet_port, baudrate], 'k L', 8, '' end
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 function BrickStepper#set_spitfp_baudrate
. If the dynamic baudrate is disabled, the baudrate as set by BrickStepper#set_spitfp_baudrate
will be used statically.
- .. versionadded
-
2.3.6$nbsp;(Firmware)
# File lib/tinkerforge/brick_stepper.rb, line 593 def set_spitfp_baudrate_config(enable_dynamic_baudrate, minimum_dynamic_baudrate) check_validity send_request FUNCTION_SET_SPITFP_BAUDRATE_CONFIG, [enable_dynamic_baudrate, minimum_dynamic_baudrate], '? L', 8, '' end
Sets the step mode of the stepper motor. Possible values are:
-
Full Step = 1
-
Half Step = 2
-
Quarter Step = 4
-
Eighth Step = 8
A higher value will increase the resolution and decrease the torque of the stepper motor.
# File lib/tinkerforge/brick_stepper.rb, line 324 def set_step_mode(mode) check_validity send_request FUNCTION_SET_STEP_MODE, [mode], 'C', 8, '' end
Sets the number of steps the stepper motor should run. Positive values will drive the motor forward and negative values backward. The velocity, acceleration and deacceleration as set by BrickStepper#set_max_velocity
and BrickStepper#set_speed_ramping
will be used.
# File lib/tinkerforge/brick_stepper.rb, line 292 def set_steps(steps) check_validity send_request FUNCTION_SET_STEPS, [steps], 'l', 8, '' end
Turns synchronous rectification on or off (true or false).
With synchronous rectification on, the decay can be changed (see BrickStepper#set_decay
). Without synchronous rectification fast decay is used.
For an explanation of synchronous rectification see `here < If you want to use high speeds (> 10000 steps/s) for a large stepper motor with a large inductivity we strongly suggest that you disable synchronous rectification. Otherwise the Brick may not be able to cope with the load and overheat.# File lib/tinkerforge/brick_stepper.rb, line 516
def set_sync_rect(sync_rect)
check_validity
send_request FUNCTION_SET_SYNC_RECT, [sync_rect], '?', 8, ''
end
Sets the target position of the stepper motor in steps. For example, if the current position of the motor is 500 and BrickStepper#set_target_position
is called with 1000, the stepper motor will drive 500 steps forward. It will use the velocity, acceleration and deacceleration as set by BrickStepper#set_max_velocity
and BrickStepper#set_speed_ramping
.
A call of BrickStepper#set_target_position
with the parameter x is equivalent to a call of BrickStepper#set_steps
with the parameter (x - BrickStepper#get_current_position
).
# File lib/tinkerforge/brick_stepper.rb, line 275 def set_target_position(position) check_validity send_request FUNCTION_SET_TARGET_POSITION, [position], 'l', 8, '' end
Sets the time base of the velocity and the acceleration of the stepper brick.
For example, if you want to make one step every 1.5 seconds, you can set the time base to 15 and the velocity to 10. Now the velocity is 10steps/15s = 1steps/1.5s.
# File lib/tinkerforge/brick_stepper.rb, line 534 def set_time_base(time_base) check_validity send_request FUNCTION_SET_TIME_BASE, [time_base], 'L', 8, '' end
Stops the stepper motor with the deacceleration as set by BrickStepper#set_speed_ramping
.
# File lib/tinkerforge/brick_stepper.rb, line 357 def stop check_validity send_request FUNCTION_STOP, [], '', 8, '' end
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.
# File lib/tinkerforge/brick_stepper.rb, line 748 def write_bricklet_plugin(port, offset, chunk) check_validity send_request FUNCTION_WRITE_BRICKLET_PLUGIN, [port, offset, chunk], 'k C C32', 8, '' end