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 or BrickStepper#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

new(uid, ipcon) click to toggle source

Creates an object with the unique device ID uid and adds it to the IP Connection ipcon.

Calls superclass method
# 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

disable() click to toggle source

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. The BrickStepper#stop function will not wait until the motor is actually stopped. You have to explicitly wait for the appropriate time after calling the BrickStepper#stop function before calling the BrickStepper#disable function.

# File lib/tinkerforge/brick_stepper.rb, line 433
def disable
  check_validity

  send_request FUNCTION_DISABLE, [], '', 8, ''
end
disable_status_led() click to toggle source

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
drive_backward() click to toggle source

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
drive_forward() click to toggle source

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
enable() click to toggle source

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
enable_status_led() click to toggle source

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
full_brake() click to toggle source

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
get_all_data() click to toggle source

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
get_all_data_period() click to toggle source

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
get_chip_temperature() click to toggle source

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
get_current_consumption() click to toggle source

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
get_current_position() click to toggle source

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
get_current_velocity() click to toggle source

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
get_decay() click to toggle source

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
get_external_input_voltage() click to toggle source

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
get_identity() click to toggle source

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
get_max_velocity() click to toggle source

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
get_minimum_voltage() click to toggle source

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
get_motor_current() click to toggle source

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
get_protocol1_bricklet_name(port) click to toggle source

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
get_remaining_steps() click to toggle source

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
get_send_timeout_count(communication_method) click to toggle source

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
get_speed_ramping() click to toggle source

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
get_spitfp_baudrate(bricklet_port) click to toggle source

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
get_spitfp_baudrate_config() click to toggle source

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
get_spitfp_error_count(bricklet_port) click to toggle source

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
get_stack_input_voltage() click to toggle source

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
get_step_mode() click to toggle source

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
get_steps() click to toggle source

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
get_target_position() click to toggle source

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
get_time_base() click to toggle source

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
is_enabled() click to toggle source

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
is_status_led_enabled() click to toggle source

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
is_sync_rect() click to toggle source

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
read_bricklet_plugin(port, offset) click to toggle source

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
register_callback(id, &block) click to toggle source

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
reset() click to toggle source

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
set_all_data_period(period) click to toggle source

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
set_current_position(position) click to toggle source

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
set_decay(decay) click to toggle source

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 <

.. note

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
set_minimum_voltage(voltage) click to toggle source

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
set_motor_current(current) click to toggle source

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
set_speed_ramping(acceleration, deacceleration) click to toggle source

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
set_spitfp_baudrate(bricklet_port, baudrate) click to toggle source

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
set_spitfp_baudrate_config(enable_dynamic_baudrate, minimum_dynamic_baudrate) click to toggle source

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
set_step_mode(mode) click to toggle source

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
set_steps(steps) click to toggle source

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
set_target_position(position) click to toggle source

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
set_time_base(time_base) click to toggle source

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
stop() click to toggle source

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
write_bricklet_plugin(port, offset, chunk) click to toggle source

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