dc_v2_bricklet

package
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 Go to latest Published: Feb 27, 2024 License: CC0-1.0 Imports: 5 Imported by: 0

Documentation

Overview

Drives one brushed DC motor with up to 28V and 5A (peak).

See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/DCV2_Bricklet_Go.html.

Index

Constants

View Source 
const DeviceDisplayName = "DC Bricklet 2.0"
View Source 
const DeviceIdentifier = 2165

Variables

This section is empty.

Functions

This section is empty.

Types

type BootloaderMode 

type BootloaderMode = uint8
const (
	BootloaderModeBootloader                    BootloaderMode = 0
	BootloaderModeFirmware                      BootloaderMode = 1
	BootloaderModeBootloaderWaitForReboot       BootloaderMode = 2
	BootloaderModeFirmwareWaitForReboot         BootloaderMode = 3
	BootloaderModeFirmwareWaitForEraseAndReboot BootloaderMode = 4
)

type BootloaderStatus 

type BootloaderStatus = uint8
const (
	BootloaderStatusOK                        BootloaderStatus = 0
	BootloaderStatusInvalidMode               BootloaderStatus = 1
	BootloaderStatusNoChange                  BootloaderStatus = 2
	BootloaderStatusEntryFunctionNotPresent   BootloaderStatus = 3
	BootloaderStatusDeviceIdentifierIncorrect BootloaderStatus = 4
	BootloaderStatusCRCMismatch               BootloaderStatus = 5
)

type DCV2Bricklet 

type DCV2Bricklet struct {
	// contains filtered or unexported fields
}

func New 

func New(uid string, ipcon *ipconnection.IPConnection) (DCV2Bricklet, error)

Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.

func (*DCV2Bricklet) DeregisterCurrentVelocityCallback 

func (device *DCV2Bricklet) DeregisterCurrentVelocityCallback(registrationId uint64)

Remove a registered Current Velocity callback.

func (*DCV2Bricklet) DeregisterEmergencyShutdownCallback 

func (device *DCV2Bricklet) DeregisterEmergencyShutdownCallback(registrationId uint64)

Remove a registered Emergency Shutdown callback.

func (*DCV2Bricklet) DeregisterVelocityReachedCallback 

func (device *DCV2Bricklet) DeregisterVelocityReachedCallback(registrationId uint64)

Remove a registered Velocity Reached callback.

func (*DCV2Bricklet) FullBrake 

func (device *DCV2Bricklet) FullBrake() (err error)

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 with 0 if you just want to stop the motor.

func (*DCV2Bricklet) GetAPIVersion 

func (device *DCV2Bricklet) GetAPIVersion() [3]uint8

Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

func (*DCV2Bricklet) GetBootloaderMode 

func (device *DCV2Bricklet) GetBootloaderMode() (mode BootloaderMode, err error)

Returns the current bootloader mode, see SetBootloaderMode.

Associated constants:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot

func (*DCV2Bricklet) GetChipTemperature 

func (device *DCV2Bricklet) GetChipTemperature() (temperature int16, err error)

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.

func (*DCV2Bricklet) GetCurrentVelocity 

func (device *DCV2Bricklet) GetCurrentVelocity() (velocity int16, err error)

Returns the *current* velocity of the motor. This value is different from GetVelocity whenever the motor is currently accelerating to a goal set by SetVelocity.

func (*DCV2Bricklet) GetCurrentVelocityCallbackConfiguration 

func (device *DCV2Bricklet) GetCurrentVelocityCallbackConfiguration() (period uint32, valueHasToChange bool, err error)

Returns the callback configuration as set by SetCurrentVelocityCallbackConfiguration.

func (*DCV2Bricklet) GetDriveMode 

func (device *DCV2Bricklet) GetDriveMode() (mode DriveMode, err error)

Returns the drive mode, as set by SetDriveMode.

Associated constants:

  • DriveModeDriveBrake
  • DriveModeDriveCoast

func (*DCV2Bricklet) GetEmergencyShutdownCallbackConfiguration 

func (device *DCV2Bricklet) GetEmergencyShutdownCallbackConfiguration() (enabled bool, err error)

Returns the callback configuration as set by SetEmergencyShutdownCallbackConfiguration.

func (*DCV2Bricklet) GetEnabled 

func (device *DCV2Bricklet) GetEnabled() (enabled bool, err error)

Returns *true* if the driver chip is enabled, *false* otherwise.

func (*DCV2Bricklet) GetErrorLEDConfig 

func (device *DCV2Bricklet) GetErrorLEDConfig() (config ErrorLEDConfig, err error)

Returns the LED configuration as set by SetErrorLEDConfig

Associated constants:

  • ErrorLEDConfigOff
  • ErrorLEDConfigOn
  • ErrorLEDConfigShowHeartbeat
  • ErrorLEDConfigShowError

func (*DCV2Bricklet) GetIdentity 

func (device *DCV2Bricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)

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 `Isolator Bricklet <isolator_bricklet>` is always at position 'z'.

The device identifier numbers can be found `here <device_identifier>`. |device_identifier_constant|

func (*DCV2Bricklet) GetMotion 

func (device *DCV2Bricklet) GetMotion() (acceleration uint16, deceleration uint16, err error)

Returns the acceleration/deceleration as set by SetMotion.

func (*DCV2Bricklet) GetPWMFrequency 

func (device *DCV2Bricklet) GetPWMFrequency() (frequency uint16, err error)

Returns the PWM frequency as set by SetPWMFrequency.

func (*DCV2Bricklet) GetPowerStatistics 

func (device *DCV2Bricklet) GetPowerStatistics() (voltage uint16, current uint16, err error)

Returns input voltage and current usage of the driver.

func (*DCV2Bricklet) GetResponseExpected 

func (device *DCV2Bricklet) GetResponseExpected(functionID Function) (bool, error)

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by SetResponseExpected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

See SetResponseExpected for the list of function ID constants available for this function.

func (*DCV2Bricklet) GetSPITFPErrorCount 

func (device *DCV2Bricklet) GetSPITFPErrorCount() (errorCountAckChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error)

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.

func (*DCV2Bricklet) GetStatusLEDConfig 

func (device *DCV2Bricklet) GetStatusLEDConfig() (config StatusLEDConfig, err error)

Returns the configuration as set by SetStatusLEDConfig

Associated constants:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*DCV2Bricklet) GetVelocity 

func (device *DCV2Bricklet) GetVelocity() (velocity int16, err error)

Returns the velocity as set by SetVelocity.

func (*DCV2Bricklet) GetVelocityReachedCallbackConfiguration 

func (device *DCV2Bricklet) GetVelocityReachedCallbackConfiguration() (enabled bool, err error)

Returns the callback configuration as set by SetVelocityReachedCallbackConfiguration.

func (*DCV2Bricklet) ReadUID 

func (device *DCV2Bricklet) ReadUID() (uid uint32, err error)

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

func (*DCV2Bricklet) RegisterCurrentVelocityCallback 

func (device *DCV2Bricklet) RegisterCurrentVelocityCallback(fn func(int16)) uint64

This callback is triggered with the period that is set by SetCurrentVelocityCallbackConfiguration. The parameter is the *current* velocity used by the motor.

The RegisterCurrentVelocityCallback callback is only triggered after the set period if there is a change in the velocity.

func (*DCV2Bricklet) RegisterEmergencyShutdownCallback 

func (device *DCV2Bricklet) RegisterEmergencyShutdownCallback(fn func()) uint64

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, SetEnabled has to be called to drive the motor again.

Note 

This callback only works in Drive/Brake mode (see SetDriveMode). In
Drive/Coast mode it is unfortunately impossible to reliably read the
overcurrent/overtemperature signal from the driver chip.

func (*DCV2Bricklet) RegisterVelocityReachedCallback 

func (device *DCV2Bricklet) RegisterVelocityReachedCallback(fn func(int16)) uint64

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 RegisterVelocityReachedCallback 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 SetMotion) 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.

func (*DCV2Bricklet) Reset 

func (device *DCV2Bricklet) Reset() (err error)

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!

func (*DCV2Bricklet) SetBootloaderMode 

func (device *DCV2Bricklet) SetBootloaderMode(mode BootloaderMode) (status BootloaderStatus, err error)

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.

Associated constants:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot
  • BootloaderStatusOK
  • BootloaderStatusInvalidMode
  • BootloaderStatusNoChange
  • BootloaderStatusEntryFunctionNotPresent
  • BootloaderStatusDeviceIdentifierIncorrect
  • BootloaderStatusCRCMismatch

func (*DCV2Bricklet) SetCurrentVelocityCallbackConfiguration 

func (device *DCV2Bricklet) SetCurrentVelocityCallbackConfiguration(period uint32, valueHasToChange bool) (err error)

The period is the period with which the RegisterCurrentVelocityCallback 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.

func (*DCV2Bricklet) SetDriveMode 

func (device *DCV2Bricklet) SetDriveMode(mode DriveMode) (err error)

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.

Associated constants:

  • DriveModeDriveBrake
  • DriveModeDriveCoast

func (*DCV2Bricklet) SetEmergencyShutdownCallbackConfiguration 

func (device *DCV2Bricklet) SetEmergencyShutdownCallbackConfiguration(enabled bool) (err error)

Enable/Disable RegisterEmergencyShutdownCallback callback.

func (*DCV2Bricklet) SetEnabled 

func (device *DCV2Bricklet) SetEnabled(enabled bool) (err error)

Enables/Disables the driver chip. The driver parameters can be configured (velocity, acceleration, etc) before it is enabled.

func (*DCV2Bricklet) SetErrorLEDConfig 

func (device *DCV2Bricklet) SetErrorLEDConfig(config ErrorLEDConfig) (err error)

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.

Associated constants:

  • ErrorLEDConfigOff
  • ErrorLEDConfigOn
  • ErrorLEDConfigShowHeartbeat
  • ErrorLEDConfigShowError

func (*DCV2Bricklet) SetMotion 

func (device *DCV2Bricklet) SetMotion(acceleration uint16, deceleration uint16) (err error)

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.

func (*DCV2Bricklet) SetPWMFrequency 

func (device *DCV2Bricklet) SetPWMFrequency(frequency uint16) (err error)

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.

func (*DCV2Bricklet) SetResponseExpected 

func (device *DCV2Bricklet) SetResponseExpected(functionID Function, responseExpected bool) error

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

func (*DCV2Bricklet) SetResponseExpectedAll 

func (device *DCV2Bricklet) SetResponseExpectedAll(responseExpected bool)

Changes the response expected flag for all setter and callback configuration functions of this device at once.

func (*DCV2Bricklet) SetStatusLEDConfig 

func (device *DCV2Bricklet) SetStatusLEDConfig(config StatusLEDConfig) (err error)

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.

Associated constants:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*DCV2Bricklet) SetVelocity 

func (device *DCV2Bricklet) SetVelocity(velocity int16) (err error)

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), 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.

func (*DCV2Bricklet) SetVelocityReachedCallbackConfiguration 

func (device *DCV2Bricklet) SetVelocityReachedCallbackConfiguration(enabled bool) (err error)

Enable/Disable RegisterVelocityReachedCallback callback.

func (*DCV2Bricklet) SetWriteFirmwarePointer 

func (device *DCV2Bricklet) SetWriteFirmwarePointer(pointer uint32) (err error)

Sets the firmware pointer for WriteFirmware. 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.

func (*DCV2Bricklet) WriteFirmware 

func (device *DCV2Bricklet) WriteFirmware(data [64]uint8) (status uint8, err error)

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer 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.

func (*DCV2Bricklet) WriteUID 

func (device *DCV2Bricklet) WriteUID(uid uint32) (err error)

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.

type DriveMode 

type DriveMode = uint8
const (
	DriveModeDriveBrake DriveMode = 0
	DriveModeDriveCoast DriveMode = 1
)

type ErrorLEDConfig 

type ErrorLEDConfig = uint8
const (
	ErrorLEDConfigOff           ErrorLEDConfig = 0
	ErrorLEDConfigOn            ErrorLEDConfig = 1
	ErrorLEDConfigShowHeartbeat ErrorLEDConfig = 2
	ErrorLEDConfigShowError     ErrorLEDConfig = 3
)

type Function 

type Function = uint8
const (
	FunctionSetEnabled                                Function = 1
	FunctionGetEnabled                                Function = 2
	FunctionSetVelocity                               Function = 3
	FunctionGetVelocity                               Function = 4
	FunctionGetCurrentVelocity                        Function = 5
	FunctionSetMotion                                 Function = 6
	FunctionGetMotion                                 Function = 7
	FunctionFullBrake                                 Function = 8
	FunctionSetDriveMode                              Function = 9
	FunctionGetDriveMode                              Function = 10
	FunctionSetPWMFrequency                           Function = 11
	FunctionGetPWMFrequency                           Function = 12
	FunctionGetPowerStatistics                        Function = 13
	FunctionSetErrorLEDConfig                         Function = 14
	FunctionGetErrorLEDConfig                         Function = 15
	FunctionSetEmergencyShutdownCallbackConfiguration Function = 16
	FunctionGetEmergencyShutdownCallbackConfiguration Function = 17
	FunctionSetVelocityReachedCallbackConfiguration   Function = 18
	FunctionGetVelocityReachedCallbackConfiguration   Function = 19
	FunctionSetCurrentVelocityCallbackConfiguration   Function = 20
	FunctionGetCurrentVelocityCallbackConfiguration   Function = 21
	FunctionGetSPITFPErrorCount                       Function = 234
	FunctionSetBootloaderMode                         Function = 235
	FunctionGetBootloaderMode                         Function = 236
	FunctionSetWriteFirmwarePointer                   Function = 237
	FunctionWriteFirmware                             Function = 238
	FunctionSetStatusLEDConfig                        Function = 239
	FunctionGetStatusLEDConfig                        Function = 240
	FunctionGetChipTemperature                        Function = 242
	FunctionReset                                     Function = 243
	FunctionWriteUID                                  Function = 248
	FunctionReadUID                                   Function = 249
	FunctionGetIdentity                               Function = 255
	FunctionCallbackEmergencyShutdown                 Function = 22
	FunctionCallbackVelocityReached                   Function = 23
	FunctionCallbackCurrentVelocity                   Function = 24
)

type StatusLEDConfig 

type StatusLEDConfig = uint8
const (
	StatusLEDConfigOff           StatusLEDConfig = 0
	StatusLEDConfigOn            StatusLEDConfig = 1
	StatusLEDConfigShowHeartbeat StatusLEDConfig = 2
	StatusLEDConfigShowStatus    StatusLEDConfig = 3
)

Source Files

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