class Tinkerforge::BrickletDCV2
Drives one brushed DC motor with up to 28V and 5A (peak)
Constants
- CALLBACK_CURRENT_VELOCITY
This callback is triggered with the period that is set by
BrickletDCV2#set_current_velocity_callback_configuration
. The parameter is the current velocity used by the motor.The
CALLBACK_CURRENT_VELOCITY
callback is only triggered after the set period if there is a change in the velocity.- CALLBACK_EMERGENCY_SHUTDOWN
This callback 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). These two possibilities are essentially the same, since the temperature will reach this threshold immediately if the motor consumes too much current. In case of a voltage below 3.3V (external or stack) this callback is triggered as well.
If this callback is triggered, the driver chip gets disabled at the same time. That means,
BrickletDCV2#set_enabled
has to be called to drive the motor again.- .. note
-
This callback only works in Drive/Brake mode (see
BrickletDCV2#set_drive_mode
). In Drive/Coast mode it is unfortunately impossible to reliably read the overcurrent/overtemperature signal from the driver chip.
- CALLBACK_VELOCITY_REACHED
This callback is triggered whenever a set velocity is reached. For example: If a velocity of 0 is present, acceleration is set to 5000 and velocity to 10000, the
CALLBACK_VELOCITY_REACHED
callback will be triggered after about 2 seconds, when the set velocity is actually reached.- .. note
-
Since we can't get any feedback from the DC motor, this only works if the acceleration (see
BrickletDCV2#set_motion
) 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.
Public Class Methods
Creates an object with the unique device ID uid
and adds it to the IP Connection ipcon
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 113 def initialize(uid, ipcon) super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME @api_version = [2, 0, 0] @response_expected[FUNCTION_SET_ENABLED] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_VELOCITY] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_CURRENT_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_MOTION] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_MOTION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_FULL_BRAKE] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_SET_DRIVE_MODE] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_DRIVE_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_PWM_FREQUENCY] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_PWM_FREQUENCY] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_POWER_STATISTICS] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_ERROR_LED_CONFIG] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_ERROR_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_VELOCITY_REACHED_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = 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_UID] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE @callback_formats[CALLBACK_EMERGENCY_SHUTDOWN] = [8, ''] @callback_formats[CALLBACK_VELOCITY_REACHED] = [10, 's'] @callback_formats[CALLBACK_CURRENT_VELOCITY] = [10, 's'] @ipcon.add_device self end
Public Instance Methods
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 BrickletDCV2#set_velocity
with 0 if you just want to stop the motor.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 236 def full_brake check_validity send_request FUNCTION_FULL_BRAKE, [], '', 8, '' end
Returns the current bootloader mode, see BrickletDCV2#set_bootloader_mode
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 405 def get_bootloader_mode check_validity send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C' 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 bad accuracy. Practically it is only useful as an indicator for temperature changes.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 463 def get_chip_temperature check_validity send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's' end
Returns the current velocity of the motor. This value is different from BrickletDCV2#get_velocity
whenever the motor is currently accelerating to a goal set by BrickletDCV2#set_velocity
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 199 def get_current_velocity check_validity send_request FUNCTION_GET_CURRENT_VELOCITY, [], '', 10, 's' end
Returns the callback configuration as set by BrickletDCV2#set_current_velocity_callback_configuration
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 366 def get_current_velocity_callback_configuration check_validity send_request FUNCTION_GET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION, [], '', 13, 'L ?' end
Returns the drive mode, as set by BrickletDCV2#set_drive_mode
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 264 def get_drive_mode check_validity send_request FUNCTION_GET_DRIVE_MODE, [], '', 9, 'C' end
Returns the callback configuration as set by BrickletDCV2#set_emergency_shutdown_callback_configuration
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 328 def get_emergency_shutdown_callback_configuration check_validity send_request FUNCTION_GET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION, [], '', 9, '?' end
Returns true if the driver chip is enabled, false otherwise.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 168 def get_enabled check_validity send_request FUNCTION_GET_ENABLED, [], '', 9, '?' end
Returns the LED configuration as set by BrickletDCV2#set_error_led_config
# File lib/tinkerforge/bricklet_dc_v2.rb, line 313 def get_error_led_config check_validity send_request FUNCTION_GET_ERROR_LED_CONFIG, [], '', 9, 'C' end
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|
# File lib/tinkerforge/bricklet_dc_v2.rb, line 510 def get_identity send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S' end
Returns the acceleration/deceleration as set by BrickletDCV2#set_motion
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 222 def get_motion check_validity send_request FUNCTION_GET_MOTION, [], '', 12, 'S S' end
Returns input voltage and current usage of the driver.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 292 def get_power_statistics check_validity send_request FUNCTION_GET_POWER_STATISTICS, [], '', 12, 'S S' end
Returns the PWM frequency as set by BrickletDCV2#set_pwm_frequency
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 285 def get_pwm_frequency check_validity send_request FUNCTION_GET_PWM_FREQUENCY, [], '', 10, 'S' 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 Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 383 def get_spitfp_error_count check_validity send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, 'L L L L' end
Returns the configuration as set by BrickletDCV2#set_status_led_config
# File lib/tinkerforge/bricklet_dc_v2.rb, line 451 def get_status_led_config check_validity send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 9, 'C' end
Returns the velocity as set by BrickletDCV2#set_velocity
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 190 def get_velocity check_validity send_request FUNCTION_GET_VELOCITY, [], '', 10, 's' end
Returns the callback configuration as set by BrickletDCV2#set_velocity_reached_callback_configuration
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 343 def get_velocity_reached_callback_configuration check_validity send_request FUNCTION_GET_VELOCITY_REACHED_CALLBACK_CONFIGURATION, [], '', 9, '?' end
Returns the current UID as an integer. Encode as Base58
to get the usual string version.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 494 def read_uid check_validity send_request FUNCTION_READ_UID, [], '', 12, 'L' end
Registers a callback with ID id
to the block block
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 515 def register_callback(id, &block) callback = block @registered_callbacks[id] = callback end
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!
# File lib/tinkerforge/bricklet_dc_v2.rb, line 475 def reset check_validity send_request FUNCTION_RESET, [], '', 8, '' end
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.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 398 def set_bootloader_mode(mode) check_validity send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C' end
The period is the period with which the CALLBACK_CURRENT_VELOCITY
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 358 def set_current_velocity_callback_configuration(period, value_has_to_change) check_validity send_request FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, '' end
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.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 257 def set_drive_mode(mode) check_validity send_request FUNCTION_SET_DRIVE_MODE, [mode], 'C', 8, '' end
Enable/Disable CALLBACK_EMERGENCY_SHUTDOWN
callback.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 320 def set_emergency_shutdown_callback_configuration(enabled) check_validity send_request FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION, [enabled], '?', 8, '' end
Enables/Disables the driver chip. The driver parameters can be configured (velocity, acceleration, etc) before it is enabled.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 161 def set_enabled(enabled) check_validity send_request FUNCTION_SET_ENABLED, [enabled], '?', 8, '' end
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.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 306 def set_error_led_config(config) check_validity send_request FUNCTION_SET_ERROR_LED_CONFIG, [config], 'C', 8, '' end
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.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 215 def set_motion(acceleration, deceleration) check_validity send_request FUNCTION_SET_MOTION, [acceleration, deceleration], 'S S', 8, '' end
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.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 278 def set_pwm_frequency(frequency) check_validity send_request FUNCTION_SET_PWM_FREQUENCY, [frequency], 'S', 8, '' end
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.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 444 def set_status_led_config(config) check_validity send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 8, '' end
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 BrickletDCV2#set_motion
), 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 BrickletDCV2#set_pwm_frequency
.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 183 def set_velocity(velocity) check_validity send_request FUNCTION_SET_VELOCITY, [velocity], 's', 8, '' end
Enable/Disable CALLBACK_VELOCITY_REACHED
callback.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 335 def set_velocity_reached_callback_configuration(enabled) check_validity send_request FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION, [enabled], '?', 8, '' end
Sets the firmware pointer for BrickletDCV2#write_firmware
. 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.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 417 def set_write_firmware_pointer(pointer) check_validity send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, '' end
Writes 64 Bytes of firmware at the position as written by BrickletDCV2#set_write_firmware_pointer
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.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 431 def write_firmware(data) check_validity send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, 'C' end
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.
# File lib/tinkerforge/bricklet_dc_v2.rb, line 486 def write_uid(uid) check_validity send_request FUNCTION_WRITE_UID, [uid], 'L', 8, '' end