Class: Tinkerforge::BrickDC

Inherits:
Device
  • Object
show all
Defined in:
lib/tinkerforge/brick_dc.rb

Overview

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

Constant Summary collapse

DEVICE_IDENTIFIER =

:nodoc:

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DEVICE_DISPLAY_NAME =

:nodoc:

'DC Brick'
CALLBACK_UNDER_VOLTAGE =

This callback is triggered when the input voltage drops below the value set by BrickDC#set_minimum_voltage. The parameter is the current voltage.

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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, BrickDC#enable has to be called to drive the motor again.

.. note

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

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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 BrickDC#set_acceleration) 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.

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CALLBACK_CURRENT_VELOCITY =

This callback is triggered with the period that is set by BrickDC#set_current_velocity_period. 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.

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FUNCTION_SET_VELOCITY =

:nodoc:

1
FUNCTION_GET_VELOCITY =

:nodoc:

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FUNCTION_GET_CURRENT_VELOCITY =

:nodoc:

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FUNCTION_SET_ACCELERATION =

:nodoc:

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FUNCTION_GET_ACCELERATION =

:nodoc:

5
FUNCTION_SET_PWM_FREQUENCY =

:nodoc:

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FUNCTION_GET_PWM_FREQUENCY =

:nodoc:

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FUNCTION_FULL_BRAKE =

:nodoc:

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FUNCTION_GET_STACK_INPUT_VOLTAGE =

:nodoc:

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FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE =

:nodoc:

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FUNCTION_GET_CURRENT_CONSUMPTION =

:nodoc:

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FUNCTION_ENABLE =

:nodoc:

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FUNCTION_DISABLE =

:nodoc:

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FUNCTION_IS_ENABLED =

:nodoc:

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FUNCTION_SET_MINIMUM_VOLTAGE =

:nodoc:

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FUNCTION_GET_MINIMUM_VOLTAGE =

:nodoc:

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FUNCTION_SET_DRIVE_MODE =

:nodoc:

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FUNCTION_GET_DRIVE_MODE =

:nodoc:

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FUNCTION_SET_CURRENT_VELOCITY_PERIOD =

:nodoc:

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FUNCTION_GET_CURRENT_VELOCITY_PERIOD =

:nodoc:

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FUNCTION_SET_SPITFP_BAUDRATE_CONFIG =

:nodoc:

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FUNCTION_GET_SPITFP_BAUDRATE_CONFIG =

:nodoc:

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FUNCTION_GET_SEND_TIMEOUT_COUNT =

:nodoc:

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FUNCTION_SET_SPITFP_BAUDRATE =

:nodoc:

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FUNCTION_GET_SPITFP_BAUDRATE =

:nodoc:

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FUNCTION_GET_SPITFP_ERROR_COUNT =

:nodoc:

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FUNCTION_ENABLE_STATUS_LED =

:nodoc:

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FUNCTION_DISABLE_STATUS_LED =

:nodoc:

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FUNCTION_IS_STATUS_LED_ENABLED =

:nodoc:

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FUNCTION_GET_PROTOCOL1_BRICKLET_NAME =

:nodoc:

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FUNCTION_GET_CHIP_TEMPERATURE =

:nodoc:

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FUNCTION_RESET =

:nodoc:

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FUNCTION_WRITE_BRICKLET_PLUGIN =

:nodoc:

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FUNCTION_READ_BRICKLET_PLUGIN =

:nodoc:

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FUNCTION_GET_IDENTITY =

:nodoc:

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DRIVE_MODE_DRIVE_BRAKE =

:nodoc:

0
DRIVE_MODE_DRIVE_COAST =

:nodoc:

1
COMMUNICATION_METHOD_NONE =

:nodoc:

0
COMMUNICATION_METHOD_USB =

:nodoc:

1
COMMUNICATION_METHOD_SPI_STACK =

:nodoc:

2
COMMUNICATION_METHOD_CHIBI =

:nodoc:

3
COMMUNICATION_METHOD_RS485 =

:nodoc:

4
COMMUNICATION_METHOD_WIFI =

:nodoc:

5
COMMUNICATION_METHOD_ETHERNET =

:nodoc:

6
COMMUNICATION_METHOD_WIFI_V2 =

:nodoc:

7

Constants inherited from Device

Device::DEVICE_IDENTIFIER_CHECK_MATCH, Device::DEVICE_IDENTIFIER_CHECK_MISMATCH, Device::DEVICE_IDENTIFIER_CHECK_PENDING, Device::RESPONSE_EXPECTED_ALWAYS_TRUE, Device::RESPONSE_EXPECTED_FALSE, Device::RESPONSE_EXPECTED_INVALID_FUNCTION_ID, Device::RESPONSE_EXPECTED_TRUE

Instance Attribute Summary

Attributes inherited from Device

#callback_formats, #expected_response_function_id, #expected_response_sequence_number, #high_level_callbacks, #registered_callbacks, #replaced, #uid

Instance Method Summary collapse

Methods inherited from Device

#check_validity, #dequeue_response, #enqueue_response, #get_api_version, #get_response_expected, #send_request, #set_response_expected, #set_response_expected_all

Constructor Details

#initialize(uid, ipcon) ⇒ BrickDC

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



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# File 'lib/tinkerforge/brick_dc.rb', line 109

def initialize(uid, ipcon)
  super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME

  @api_version = [2, 0, 3]

  @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_ACCELERATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_ACCELERATION] = 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_FULL_BRAKE] = 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_ENABLE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_DISABLE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_IS_ENABLED] = 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_DRIVE_MODE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_DRIVE_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_CURRENT_VELOCITY_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_CURRENT_VELOCITY_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_EMERGENCY_SHUTDOWN] = [8, '']
  @callback_formats[CALLBACK_VELOCITY_REACHED] = [10, 's']
  @callback_formats[CALLBACK_CURRENT_VELOCITY] = [10, 's']

  @ipcon.add_device self
end

Instance Method Details

#disable ⇒ Object

Disables the driver chip. The configurations are kept (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 BrickDC#set_velocity with 0 before disabling the motor power. The BrickDC#set_velocity function will not wait until the motor is actually stopped. You have to explicitly wait for the appropriate time after calling the BrickDC#set_velocity function before calling the BrickDC#disable function.



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# File 'lib/tinkerforge/brick_dc.rb', line 299

def disable
  check_validity

  send_request FUNCTION_DISABLE, [], '', 8, ''
end

#disable_status_led ⇒ Object

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)



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# File 'lib/tinkerforge/brick_dc.rb', line 493

def disable_status_led
  check_validity

  send_request FUNCTION_DISABLE_STATUS_LED, [], '', 8, ''
end

#enable ⇒ Object

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



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# File 'lib/tinkerforge/brick_dc.rb', line 283

def enable
  check_validity

  send_request FUNCTION_ENABLE, [], '', 8, ''
end

#enable_status_led ⇒ Object

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)



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# File 'lib/tinkerforge/brick_dc.rb', line 479

def enable_status_led
  check_validity

  send_request FUNCTION_ENABLE_STATUS_LED, [], '', 8, ''
end

#full_brake ⇒ Object

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 BrickDC#set_velocity with 0 if you just want to stop the motor.



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# File 'lib/tinkerforge/brick_dc.rb', line 241

def full_brake
  check_validity

  send_request FUNCTION_FULL_BRAKE, [], '', 8, ''
end

#get_acceleration ⇒ Object

Returns the acceleration as set by BrickDC#set_acceleration.



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# File 'lib/tinkerforge/brick_dc.rb', line 206

def get_acceleration
  check_validity

  send_request FUNCTION_GET_ACCELERATION, [], '', 10, 'S'
end

#get_chip_temperature ⇒ Object

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.



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# File 'lib/tinkerforge/brick_dc.rb', line 525

def get_chip_temperature
  check_validity

  send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's'
end

#get_current_consumption ⇒ Object

Returns the current consumption of the motor.



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# File 'lib/tinkerforge/brick_dc.rb', line 275

def get_current_consumption
  check_validity

  send_request FUNCTION_GET_CURRENT_CONSUMPTION, [], '', 10, 'S'
end

#get_current_velocity ⇒ Object

Returns the current velocity of the motor. This value is different from BrickDC#get_velocity whenever the motor is currently accelerating to a goal set by BrickDC#set_velocity.



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# File 'lib/tinkerforge/brick_dc.rb', line 183

def get_current_velocity
  check_validity

  send_request FUNCTION_GET_CURRENT_VELOCITY, [], '', 10, 's'
end

#get_current_velocity_period ⇒ Object

Returns the period as set by BrickDC#set_current_velocity_period.



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# File 'lib/tinkerforge/brick_dc.rb', line 367

def get_current_velocity_period
  check_validity

  send_request FUNCTION_GET_CURRENT_VELOCITY_PERIOD, [], '', 10, 'S'
end

#get_drive_mode ⇒ Object

Returns the drive mode, as set by BrickDC#set_drive_mode.



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# File 'lib/tinkerforge/brick_dc.rb', line 352

def get_drive_mode
  check_validity

  send_request FUNCTION_GET_DRIVE_MODE, [], '', 9, 'C'
end

#get_external_input_voltage ⇒ Object

Returns the external input voltage. The external input voltage is given via the black power input connector on the DC 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.



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# File 'lib/tinkerforge/brick_dc.rb', line 268

def get_external_input_voltage
  check_validity

  send_request FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, [], '', 10, 'S'
end

#get_identity ⇒ Object

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|



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# File 'lib/tinkerforge/brick_dc.rb', line 573

def get_identity
  send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
end

#get_minimum_voltage ⇒ Object

Returns the minimum voltage as set by BrickDC#set_minimum_voltage



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# File 'lib/tinkerforge/brick_dc.rb', line 324

def get_minimum_voltage
  check_validity

  send_request FUNCTION_GET_MINIMUM_VOLTAGE, [], '', 10, 'S'
end

#get_protocol1_bricklet_name(port) ⇒ Object

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.



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# File 'lib/tinkerforge/brick_dc.rb', line 513

def get_protocol1_bricklet_name(port)
  check_validity

  send_request FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 52, 'C C3 Z40'
end

#get_pwm_frequency ⇒ Object

Returns the PWM frequency as set by BrickDC#set_pwm_frequency.



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# File 'lib/tinkerforge/brick_dc.rb', line 227

def get_pwm_frequency
  check_validity

  send_request FUNCTION_GET_PWM_FREQUENCY, [], '', 10, 'S'
end

#get_send_timeout_count(communication_method) ⇒ Object

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

2.3.3$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_dc.rb', line 416

def get_send_timeout_count(communication_method)
  check_validity

  send_request FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 12, 'L'
end

#get_spitfp_baudrate(bricklet_port) ⇒ Object

Returns the baudrate for a given Bricklet port, see BrickDC#set_spitfp_baudrate.

.. versionadded

2.3.3$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_dc.rb', line 446

def get_spitfp_baudrate(bricklet_port)
  check_validity

  send_request FUNCTION_GET_SPITFP_BAUDRATE, [bricklet_port], 'k', 12, 'L'
end

#get_spitfp_baudrate_config ⇒ Object

Returns the baudrate config, see BrickDC#set_spitfp_baudrate_config.

.. versionadded

2.3.5$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_dc.rb', line 402

def get_spitfp_baudrate_config
  check_validity

  send_request FUNCTION_GET_SPITFP_BAUDRATE_CONFIG, [], '', 13, '? L'
end

#get_spitfp_error_count(bricklet_port) ⇒ Object

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)



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# File 'lib/tinkerforge/brick_dc.rb', line 465

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 ⇒ Object

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.



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# File 'lib/tinkerforge/brick_dc.rb', line 250

def get_stack_input_voltage
  check_validity

  send_request FUNCTION_GET_STACK_INPUT_VOLTAGE, [], '', 10, 'S'
end

#get_velocity ⇒ Object

Returns the velocity as set by BrickDC#set_velocity.



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# File 'lib/tinkerforge/brick_dc.rb', line 174

def get_velocity
  check_validity

  send_request FUNCTION_GET_VELOCITY, [], '', 10, 's'
end

#is_enabled ⇒ Object

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



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# File 'lib/tinkerforge/brick_dc.rb', line 306

def is_enabled
  check_validity

  send_request FUNCTION_IS_ENABLED, [], '', 9, '?'
end

#is_status_led_enabled ⇒ Object

Returns true if the status LED is enabled, false otherwise.

.. versionadded

2.3.1$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_dc.rb', line 502

def is_status_led_enabled
  check_validity

  send_request FUNCTION_IS_STATUS_LED_ENABLED, [], '', 9, '?'
end

#read_bricklet_plugin(port, offset) ⇒ Object

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.



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# File 'lib/tinkerforge/brick_dc.rb', line 559

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) ⇒ Object

Registers a callback with ID id to the block block.



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# File 'lib/tinkerforge/brick_dc.rb', line 578

def register_callback(id, &block)
  callback = block
  @registered_callbacks[id] = callback
end

#reset ⇒ Object

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!



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# File 'lib/tinkerforge/brick_dc.rb', line 537

def reset
  check_validity

  send_request FUNCTION_RESET, [], '', 8, ''
end

#set_acceleration(acceleration) ⇒ Object

Sets the acceleration 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 is set to 0, there is no speed ramping, i.e. a new velocity is immediately given to the motor.



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# File 'lib/tinkerforge/brick_dc.rb', line 199

def set_acceleration(acceleration)
  check_validity

  send_request FUNCTION_SET_ACCELERATION, [acceleration], 'S', 8, ''
end

#set_current_velocity_period(period) ⇒ Object

Sets a period with which the CALLBACK_CURRENT_VELOCITY callback is triggered. A period of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_dc.rb', line 360

def set_current_velocity_period(period)
  check_validity

  send_request FUNCTION_SET_CURRENT_VELOCITY_PERIOD, [period], 'S', 8, ''
end

#set_drive_mode(mode) ⇒ Object

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.



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# File 'lib/tinkerforge/brick_dc.rb', line 345

def set_drive_mode(mode)
  check_validity

  send_request FUNCTION_SET_DRIVE_MODE, [mode], 'C', 8, ''
end

#set_minimum_voltage(voltage) ⇒ Object

Sets the minimum voltage, below which the CALLBACK_UNDER_VOLTAGE callback is triggered. The minimum possible value that works with the DC Brick is 6V. You can use this function to detect the discharge of a battery that is used to drive the motor. If you have a fixed power supply, you likely do not need this functionality.



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# File 'lib/tinkerforge/brick_dc.rb', line 317

def set_minimum_voltage(voltage)
  check_validity

  send_request FUNCTION_SET_MINIMUM_VOLTAGE, [voltage], 'S', 8, ''
end

#set_pwm_frequency(frequency) ⇒ Object

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.



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# File 'lib/tinkerforge/brick_dc.rb', line 220

def set_pwm_frequency(frequency)
  check_validity

  send_request FUNCTION_SET_PWM_FREQUENCY, [frequency], 'S', 8, ''
end

#set_spitfp_baudrate(bricklet_port, baudrate) ⇒ Object

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 BrickDC#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 BrickDC#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)



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# File 'lib/tinkerforge/brick_dc.rb', line 437

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) ⇒ Object

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 BrickDC#set_spitfp_baudrate. If the dynamic baudrate is disabled, the baudrate as set by BrickDC#set_spitfp_baudrate will be used statically.

.. versionadded

2.3.5$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_dc.rb', line 393

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_velocity(velocity) ⇒ Object

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 BrickDC#set_acceleration), 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 BrickDC#set_pwm_frequency.



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# File 'lib/tinkerforge/brick_dc.rb', line 167

def set_velocity(velocity)
  check_validity

  send_request FUNCTION_SET_VELOCITY, [velocity], 's', 8, ''
end

#write_bricklet_plugin(port, offset, chunk) ⇒ Object

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.



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# File 'lib/tinkerforge/brick_dc.rb', line 548

def write_bricklet_plugin(port, offset, chunk)
  check_validity

  send_request FUNCTION_WRITE_BRICKLET_PLUGIN, [port, offset, chunk], 'k C C32', 8, ''
end