Class: Tinkerforge::BrickSilentStepper

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

Overview

Silently drives one bipolar stepper motor with up to 46V and 1.6A per phase

Constant Summary collapse

DEVICE_IDENTIFIER =

:nodoc:

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DEVICE_DISPLAY_NAME =

:nodoc:

'Silent Stepper Brick'
CALLBACK_UNDER_VOLTAGE =

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

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CALLBACK_POSITION_REACHED =

This callback is triggered when a position set by BrickSilentStepper#set_steps or BrickSilentStepper#set_target_position is reached.

.. note

Since we can’t get any feedback from the stepper motor, this only works if the acceleration (see BrickSilentStepper#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.

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CALLBACK_ALL_DATA =

This callback is triggered periodically with the period that is set by BrickSilentStepper#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.

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CALLBACK_NEW_STATE =

This callback is triggered whenever the Silent Stepper Brick enters a new state. It returns the new state as well as the previous state.

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FUNCTION_SET_MAX_VELOCITY =

:nodoc:

1
FUNCTION_GET_MAX_VELOCITY =

:nodoc:

2
FUNCTION_GET_CURRENT_VELOCITY =

:nodoc:

3
FUNCTION_SET_SPEED_RAMPING =

:nodoc:

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FUNCTION_GET_SPEED_RAMPING =

:nodoc:

5
FUNCTION_FULL_BRAKE =

:nodoc:

6
FUNCTION_SET_CURRENT_POSITION =

:nodoc:

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FUNCTION_GET_CURRENT_POSITION =

:nodoc:

8
FUNCTION_SET_TARGET_POSITION =

:nodoc:

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FUNCTION_GET_TARGET_POSITION =

:nodoc:

10
FUNCTION_SET_STEPS =

:nodoc:

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FUNCTION_GET_STEPS =

:nodoc:

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FUNCTION_GET_REMAINING_STEPS =

:nodoc:

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FUNCTION_SET_STEP_CONFIGURATION =

:nodoc:

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FUNCTION_GET_STEP_CONFIGURATION =

:nodoc:

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FUNCTION_DRIVE_FORWARD =

:nodoc:

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FUNCTION_DRIVE_BACKWARD =

:nodoc:

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FUNCTION_STOP =

: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_SET_MOTOR_CURRENT =

:nodoc:

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FUNCTION_GET_MOTOR_CURRENT =

: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_BASIC_CONFIGURATION =

:nodoc:

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FUNCTION_GET_BASIC_CONFIGURATION =

:nodoc:

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FUNCTION_SET_SPREADCYCLE_CONFIGURATION =

:nodoc:

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FUNCTION_GET_SPREADCYCLE_CONFIGURATION =

:nodoc:

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FUNCTION_SET_STEALTH_CONFIGURATION =

:nodoc:

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FUNCTION_GET_STEALTH_CONFIGURATION =

:nodoc:

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FUNCTION_SET_COOLSTEP_CONFIGURATION =

:nodoc:

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FUNCTION_GET_COOLSTEP_CONFIGURATION =

:nodoc:

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FUNCTION_SET_MISC_CONFIGURATION =

:nodoc:

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FUNCTION_GET_MISC_CONFIGURATION =

:nodoc:

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FUNCTION_GET_DRIVER_STATUS =

: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_TIME_BASE =

:nodoc:

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FUNCTION_GET_TIME_BASE =

:nodoc:

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FUNCTION_GET_ALL_DATA =

:nodoc:

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FUNCTION_SET_ALL_DATA_PERIOD =

:nodoc:

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FUNCTION_GET_ALL_DATA_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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STEP_RESOLUTION_1 =

:nodoc:

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STEP_RESOLUTION_2 =

:nodoc:

7
STEP_RESOLUTION_4 =

:nodoc:

6
STEP_RESOLUTION_8 =

:nodoc:

5
STEP_RESOLUTION_16 =

:nodoc:

4
STEP_RESOLUTION_32 =

:nodoc:

3
STEP_RESOLUTION_64 =

:nodoc:

2
STEP_RESOLUTION_128 =

:nodoc:

1
STEP_RESOLUTION_256 =

:nodoc:

0
CHOPPER_MODE_SPREAD_CYCLE =

:nodoc:

0
CHOPPER_MODE_FAST_DECAY =

:nodoc:

1
FREEWHEEL_MODE_NORMAL =

:nodoc:

0
FREEWHEEL_MODE_FREEWHEELING =

:nodoc:

1
FREEWHEEL_MODE_COIL_SHORT_LS =

:nodoc:

2
FREEWHEEL_MODE_COIL_SHORT_HS =

:nodoc:

3
CURRENT_UP_STEP_INCREMENT_1 =

:nodoc:

0
CURRENT_UP_STEP_INCREMENT_2 =

:nodoc:

1
CURRENT_UP_STEP_INCREMENT_4 =

:nodoc:

2
CURRENT_UP_STEP_INCREMENT_8 =

:nodoc:

3
CURRENT_DOWN_STEP_DECREMENT_1 =

:nodoc:

0
CURRENT_DOWN_STEP_DECREMENT_2 =

:nodoc:

1
CURRENT_DOWN_STEP_DECREMENT_8 =

:nodoc:

2
CURRENT_DOWN_STEP_DECREMENT_32 =

:nodoc:

3
MINIMUM_CURRENT_HALF =

:nodoc:

0
MINIMUM_CURRENT_QUARTER =

:nodoc:

1
STALLGUARD_MODE_STANDARD =

:nodoc:

0
STALLGUARD_MODE_FILTERED =

:nodoc:

1
OPEN_LOAD_NONE =

:nodoc:

0
OPEN_LOAD_PHASE_A =

:nodoc:

1
OPEN_LOAD_PHASE_B =

:nodoc:

2
OPEN_LOAD_PHASE_AB =

:nodoc:

3
SHORT_TO_GROUND_NONE =

:nodoc:

0
SHORT_TO_GROUND_PHASE_A =

:nodoc:

1
SHORT_TO_GROUND_PHASE_B =

:nodoc:

2
SHORT_TO_GROUND_PHASE_AB =

:nodoc:

3
OVER_TEMPERATURE_NONE =

:nodoc:

0
OVER_TEMPERATURE_WARNING =

:nodoc:

1
OVER_TEMPERATURE_LIMIT =

:nodoc:

2
STATE_STOP =

:nodoc:

1
STATE_ACCELERATION =

:nodoc:

2
STATE_RUN =

:nodoc:

3
STATE_DEACCELERATION =

:nodoc:

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STATE_DIRECTION_CHANGE_TO_FORWARD =

:nodoc:

5
STATE_DIRECTION_CHANGE_TO_BACKWARD =

:nodoc:

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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) ⇒ BrickSilentStepper

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_silent_stepper.rb', line 158

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

  @api_version = [2, 0, 1]

  @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_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_STEP_CONFIGURATION] = 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_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_BASIC_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_BASIC_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_SPREADCYCLE_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_SPREADCYCLE_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_STEALTH_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_STEALTH_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_COOLSTEP_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_COOLSTEP_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_MISC_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_MISC_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_DRIVER_STATUS] = 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_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

Instance Method Details

#disable ⇒ Object

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



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 475

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.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 907

def disable_status_led
  check_validity

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

#drive_backward ⇒ Object

Drives the stepper motor backward until BrickSilentStepper#drive_forward or BrickSilentStepper#stop is triggered. The velocity, acceleration and deacceleration as set by BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 398

def drive_backward
  check_validity

  send_request FUNCTION_DRIVE_BACKWARD, [], '', 8, ''
end

#drive_forward ⇒ Object

Drives the stepper motor forward until BrickSilentStepper#drive_backward or BrickSilentStepper#stop is called. The velocity, acceleration and deacceleration as set by BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 389

def drive_forward
  check_validity

  send_request FUNCTION_DRIVE_FORWARD, [], '', 8, ''
end

#enable ⇒ Object

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



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 459

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.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 895

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 BrickSilentStepper#stop if you just want to stop the motor.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 287

def full_brake
  check_validity

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

#get_all_data ⇒ Object

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.

The current consumption is calculated by multiplying the “Actual Motor Current“ value (see BrickSilentStepper#set_basic_configuration) with the “Motor Run Current“ (see BrickSilentStepper#get_driver_status). This is an internal calculation of the driver, not an independent external measurement.

The current consumption calculation was broken up to firmware 2.0.1, it is fixed since firmware 2.0.2.

There is also a callback for this function, see CALLBACK_ALL_DATA callback.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 778

def get_all_data
  check_validity

  send_request FUNCTION_GET_ALL_DATA, [], '', 24, 'S l l S S S'
end

#get_all_data_period ⇒ Object

Returns the period as set by BrickSilentStepper#set_all_data_period.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 793

def get_all_data_period
  check_validity

  send_request FUNCTION_GET_ALL_DATA_PERIOD, [], '', 12, 'L'
end

#get_basic_configuration ⇒ Object

Returns the configuration as set by BrickSilentStepper#set_basic_configuration.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 534

def get_basic_configuration
  check_validity

  send_request FUNCTION_GET_BASIC_CONFIGURATION, [], '', 23, 'S S S S S S 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_silent_stepper.rb', line 937

def get_chip_temperature
  check_validity

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

#get_coolstep_configuration ⇒ Object

Returns the configuration as set by BrickSilentStepper#set_coolstep_configuration.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 662

def get_coolstep_configuration
  check_validity

  send_request FUNCTION_GET_COOLSTEP_CONFIGURATION, [], '', 15, 'C C C C C c C'
end

#get_current_position ⇒ Object

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 (BrickSilentStepper#set_target_position, BrickSilentStepper#set_steps, BrickSilentStepper#drive_forward or BrickSilentStepper#drive_backward). It also is possible to reset the steps to 0 or set them to any other desired value with BrickSilentStepper#set_current_position.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 307

def get_current_position
  check_validity

  send_request FUNCTION_GET_CURRENT_POSITION, [], '', 12, 'l'
end

#get_current_velocity ⇒ Object

Returns the current velocity of the stepper motor.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 249

def get_current_velocity
  check_validity

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

#get_driver_status ⇒ Object

Returns the current driver status.

  • Open Load: Indicates if an open load is present on phase A, B or both. This could mean that there is a problem with the wiring of the motor. False detection can occur in fast motion as well as during stand still.

  • Short To Ground: Indicates if a short to ground is present on phase A, B or both. If this is detected the driver automatically becomes disabled and stays disabled until it is enabled again manually.

  • Over Temperature: The over temperature indicator switches to “Warning” if the driver IC warms up. The warning flag is expected during long duration stepper uses. If the temperature limit is reached the indicator switches to “Limit”. In this case the driver becomes disabled until it cools down again.

  • Motor Stalled: Is true if a motor stall was detected.

  • Actual Motor Current: Indicates the actual current control scaling as used in Coolstep mode. It represents a multiplier of 1/32 to 32/32 of the “Motor Run Current“ as set by BrickSilentStepper#set_basic_configuration. Example: If a “Motor Run Current“ of 1000mA was set and the returned value is 15, the “Actual Motor Current“ is 16/32*1000mA = 500mA.

  • Stallguard Result: Indicates the load of the motor. A lower value signals a higher load. Per trial and error you can find out which value corresponds to a suitable torque for the velocity used in your application. After that you can use this threshold value to find out if a motor stall becomes probable and react on it (e.g. decrease velocity). During stand still this value can not be used for stall detection, it shows the chopper on-time for motor coil A.

  • Stealth Voltage Amplitude: Shows the actual PWM scaling. In Stealth mode it can be used to detect motor load and stall if autoscale is enabled (see BrickSilentStepper#set_stealth_configuration).



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 721

def get_driver_status
  check_validity

  send_request FUNCTION_GET_DRIVER_STATUS, [], '', 16, 'C C C ? C ? C 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 Silent 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



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 433

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_silent_stepper.rb', line 985

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

#get_max_velocity ⇒ Object

Returns the velocity as set by BrickSilentStepper#set_max_velocity.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 242

def get_max_velocity
  check_validity

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

#get_minimum_voltage ⇒ Object

Returns the minimum voltage as set by BrickSilentStepper#set_minimum_voltage.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 740

def get_minimum_voltage
  check_validity

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

#get_misc_configuration ⇒ Object

Returns the configuration as set by BrickSilentStepper#set_misc_configuration.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 688

def get_misc_configuration
  check_validity

  send_request FUNCTION_GET_MISC_CONFIGURATION, [], '', 10, '? C'
end

#get_motor_current ⇒ Object

Returns the current as set by BrickSilentStepper#set_motor_current.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 451

def get_motor_current
  check_validity

  send_request FUNCTION_GET_MOTOR_CURRENT, [], '', 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_silent_stepper.rb', line 925

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 ⇒ Object

Returns the remaining steps of the last call of BrickSilentStepper#set_steps. For example, if BrickSilentStepper#set_steps is called with 2000 and BrickSilentStepper#get_remaining_steps is called after the motor has run for 500 steps, it will return 1500.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 356

def get_remaining_steps
  check_validity

  send_request FUNCTION_GET_REMAINING_STEPS, [], '', 12, 'l'
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.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 840

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 ⇒ Object

Returns the acceleration and deacceleration as set by BrickSilentStepper#set_speed_ramping.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 273

def get_speed_ramping
  check_validity

  send_request FUNCTION_GET_SPEED_RAMPING, [], '', 12, 'S S'
end

#get_spitfp_baudrate(bricklet_port) ⇒ Object

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



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 866

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 BrickSilentStepper#set_spitfp_baudrate_config.

.. versionadded

2.0.4$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 828

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.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 883

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_spreadcycle_configuration ⇒ Object

Returns the configuration as set by BrickSilentStepper#set_basic_configuration.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 586

def get_spreadcycle_configuration
  check_validity

  send_request FUNCTION_GET_SPREADCYCLE_CONFIGURATION, [], '', 17, 'C ? C C c c C C ?'
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_silent_stepper.rb', line 415

def get_stack_input_voltage
  check_validity

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

#get_stealth_configuration ⇒ Object

Returns the configuration as set by BrickSilentStepper#set_stealth_configuration.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 622

def get_stealth_configuration
  check_validity

  send_request FUNCTION_GET_STEALTH_CONFIGURATION, [], '', 14, '? C C ? ? C'
end

#get_step_configuration ⇒ Object

Returns the step mode as set by BrickSilentStepper#set_step_configuration.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 380

def get_step_configuration
  check_validity

  send_request FUNCTION_GET_STEP_CONFIGURATION, [], '', 10, 'C ?'
end

#get_steps ⇒ Object

Returns the last steps as set by BrickSilentStepper#set_steps.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 346

def get_steps
  check_validity

  send_request FUNCTION_GET_STEPS, [], '', 12, 'l'
end

#get_target_position ⇒ Object

Returns the last target position as set by BrickSilentStepper#set_target_position.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 329

def get_target_position
  check_validity

  send_request FUNCTION_GET_TARGET_POSITION, [], '', 12, 'l'
end

#get_time_base ⇒ Object

Returns the time base as set by BrickSilentStepper#set_time_base.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 759

def get_time_base
  check_validity

  send_request FUNCTION_GET_TIME_BASE, [], '', 12, 'L'
end

#is_enabled ⇒ Object

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



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 482

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.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 914

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_silent_stepper.rb', line 971

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_silent_stepper.rb', line 990

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_silent_stepper.rb', line 949

def reset
  check_validity

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

#set_all_data_period(period) ⇒ Object

Sets the period with which the CALLBACK_ALL_DATA callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 786

def set_all_data_period(period)
  check_validity

  send_request FUNCTION_SET_ALL_DATA_PERIOD, [period], 'L', 8, ''
end

#set_basic_configuration(standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode) ⇒ Object

Sets the basic configuration parameters for the different modes (Stealth, Coolstep, Classic).

  • Standstill Current: This value can be used to lower the current during stand still. This might be reasonable to reduce the heating of the motor and the Brick. When the motor is in standstill the configured motor phase current will be driven until the configured Power Down Time is elapsed. After that the phase current will be reduced to the standstill current. The elapsed time for this reduction can be configured with the Standstill Delay Time. The maximum allowed value is the configured maximum motor current (see BrickSilentStepper#set_motor_current).

  • Motor Run Current: The value sets the motor current when the motor is running. Use a value of at least one half of the global maximum motor current for a good microstep performance. The maximum allowed value is the current motor current. The API maps the entered value to 1/32 … 32/32 of the maximum motor current. This value should be used to change the motor current during motor movement, whereas the global maximum motor current should not be changed while the motor is moving (see BrickSilentStepper#set_motor_current).

  • Standstill Delay Time: Controls the duration for motor power down after a motion as soon as standstill is detected and the Power Down Time is expired. A high Standstill Delay Time results in a smooth transition that avoids motor jerk during power down.

  • Power Down Time: Sets the delay time after a stand still.

  • Stealth Threshold: Sets the upper threshold for Stealth mode. If the velocity of the motor goes above this value, Stealth mode is turned off. Otherwise it is turned on. In Stealth mode the torque declines with high speed.

  • Coolstep Threshold: Sets the lower threshold for Coolstep mode. The Coolstep Threshold needs to be above the Stealth Threshold.

  • Classic Threshold: Sets the lower threshold for classic mode. In classic mode the stepper becomes more noisy, but the torque is maximized.

  • High Velocity Chopper Mode: If High Velocity Chopper Mode is enabled, the stepper control is optimized to run the stepper motors at high velocities.

If you want to use all three thresholds make sure that Stealth Threshold < Coolstep Threshold < Classic Threshold.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 527

def set_basic_configuration(standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode)
  check_validity

  send_request FUNCTION_SET_BASIC_CONFIGURATION, [standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode], 'S S S S S S S ?', 8, ''
end

#set_coolstep_configuration(minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode) ⇒ Object

Note: If you don’t know what any of this means you can very likely keep all of the values as default!

Sets the configuration relevant for Coolstep.

  • Minimum Stallguard Value: If the Stallguard result falls below this value*32, the motor current is increased to reduce motor load angle. A value of 0 turns Coolstep off.

  • Maximum Stallguard Value: If the Stallguard result goes above (Min Stallguard Value + Max Stallguard Value + 1) * 32, the motor current is decreased to save energy.

  • Current Up Step Width: Sets the up step increment per Stallguard value. The value range is 0-3, corresponding to the increments 1, 2, 4 and 8.

  • Current Down Step Width: Sets the down step decrement per Stallguard value. The value range is 0-3, corresponding to the decrements 1, 2, 8 and 16.

  • Minimum Current: Sets the minimum current for Coolstep current control. You can choose between half and quarter of the run current.

  • Stallguard Threshold Value: Sets the level for stall output (see BrickSilentStepper#get_driver_status). A lower value gives a higher sensitivity. You have to find a suitable value for your motor by trial and error, 0 works for most motors.

  • Stallguard Mode: Set to 0 for standard resolution or 1 for filtered mode. In filtered mode the Stallguard signal will be updated every four full-steps.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 655

def set_coolstep_configuration(minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode)
  check_validity

  send_request FUNCTION_SET_COOLSTEP_CONFIGURATION, [minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode], 'C C C C C c C', 8, ''
end

#set_current_position(position) ⇒ Object

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).



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 296

def set_current_position(position)
  check_validity

  send_request FUNCTION_SET_CURRENT_POSITION, [position], 'l', 8, ''
end

#set_max_velocity(velocity) ⇒ Object

Sets the maximum velocity of the stepper motor. This function does not start the motor, it merely sets the maximum velocity the stepper motor is accelerated to. To get the motor running use either BrickSilentStepper#set_target_position, BrickSilentStepper#set_steps, BrickSilentStepper#drive_forward or BrickSilentStepper#drive_backward.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 235

def set_max_velocity(velocity)
  check_validity

  send_request FUNCTION_SET_MAX_VELOCITY, [velocity], 'S', 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 Silent 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.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 733

def set_minimum_voltage(voltage)
  check_validity

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

#set_misc_configuration(disable_short_to_ground_protection, synchronize_phase_frequency) ⇒ Object

Note: If you don’t know what any of this means you can very likely keep all of the values as default!

Sets miscellaneous configuration parameters.

  • Disable Short To Ground Protection: Set to false to enable short to ground protection, otherwise it is disabled.

  • Synchronize Phase Frequency: With this parameter you can synchronize the chopper for both phases of a two phase motor to avoid the occurrence of a beat. The value range is 0-15. If set to 0, the synchronization is turned off. Otherwise the synchronization is done through the formula f_sync = f_clk/(value*64). In Classic Mode the synchronization is automatically switched off. f_clk is 12.8MHz.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 681

def set_misc_configuration(disable_short_to_ground_protection, synchronize_phase_frequency)
  check_validity

  send_request FUNCTION_SET_MISC_CONFIGURATION, [disable_short_to_ground_protection, synchronize_phase_frequency], '? C', 8, ''
end

#set_motor_current(current) ⇒ Object

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.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 444

def set_motor_current(current)
  check_validity

  send_request FUNCTION_SET_MOTOR_CURRENT, [current], 'S', 8, ''
end

#set_speed_ramping(acceleration, deacceleration) ⇒ Object

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)



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 265

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) ⇒ 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 BrickSilentStepper#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 BrickSilentStepper#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.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 859

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

.. versionadded

2.0.4$nbsp;(Firmware)



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 819

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_spreadcycle_configuration(slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator) ⇒ Object

Note: If you don’t know what any of this means you can very likely keep all of the values as default!

Sets the Spreadcycle configuration parameters. Spreadcycle is a chopper algorithm which actively controls the motor current flow. More information can be found in the TMC2130 datasheet on page 47 (7 spreadCycle and Classic Chopper).

  • Slow Decay Duration: Controls duration of off time setting of slow decay phase. 0 = driver disabled, all bridges off. Use 1 only with Comparator Blank time >= 2.

  • Enable Random Slow Decay: Set to false to fix chopper off time as set by Slow Decay Duration. If you set it to true, Decay Duration is randomly modulated.

  • Fast Decay Duration: Sets the fast decay duration. This parameters is only used if the Chopper Mode is set to Fast Decay.

  • Hysteresis Start Value: Sets the hysteresis start value. This parameter is only used if the Chopper Mode is set to Spread Cycle.

  • Hysteresis End Value: Sets the hysteresis end value. This parameter is only used if the Chopper Mode is set to Spread Cycle.

  • Sine Wave Offset: Sets the sine wave offset. This parameters is only used if the Chopper Mode is set to Fast Decay. 1/512 of the value becomes added to the absolute value of the sine wave.

  • Chopper Mode: 0 = Spread Cycle, 1 = Fast Decay.

  • Comparator Blank Time: Sets the blank time of the comparator. Available values are

    • 0 = 16 clocks,

    • 1 = 24 clocks,

    • 2 = 36 clocks and

    • 3 = 54 clocks.

    A value of 1 or 2 is recommended for most applications.

  • Fast Decay Without Comparator: If set to true the current comparator usage for termination of the fast decay cycle is disabled.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 579

def set_spreadcycle_configuration(slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator)
  check_validity

  send_request FUNCTION_SET_SPREADCYCLE_CONFIGURATION, [slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator], 'C ? C C c c C C ?', 8, ''
end

#set_stealth_configuration(enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode) ⇒ Object

Note: If you don’t know what any of this means you can very likely keep all of the values as default!

Sets the configuration relevant for Stealth mode.

  • Enable Stealth: If set to true the stealth mode is enabled, if set to false the stealth mode is disabled, even if the speed is below the threshold set in BrickSilentStepper#set_basic_configuration.

  • Amplitude: If autoscale is disabled, the PWM amplitude is scaled by this value. If autoscale is enabled, this value defines the maximum PWM amplitude change per half wave.

  • Gradient: If autoscale is disabled, the PWM gradient is scaled by this value. If autoscale is enabled, this value defines the maximum PWM gradient. With autoscale a value above 64 is recommended, otherwise the regulation might not be able to measure the current.

  • Enable Autoscale: If set to true, automatic current control is used. Otherwise the user defined amplitude and gradient are used.

  • Force Symmetric: If true, A symmetric PWM cycle is enforced. Otherwise the PWM value may change within each PWM cycle.

  • Freewheel Mode: The freewheel mode defines the behavior in stand still if the Standstill Current (see BrickSilentStepper#set_basic_configuration) is set to 0.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 615

def set_stealth_configuration(enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode)
  check_validity

  send_request FUNCTION_SET_STEALTH_CONFIGURATION, [enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode], '? C C ? ? C', 8, ''
end

#set_step_configuration(step_resolution, interpolation) ⇒ Object

Sets the step resolution from full-step up to 1/256-step.

If interpolation is turned on, the Silent Stepper Brick will always interpolate your step inputs as 1/256-step. If you use full-step mode with interpolation, each step will generate 256 1/256 steps.

For maximum torque use full-step without interpolation. For maximum resolution use 1/256-step. Turn interpolation on to make the Stepper driving less noisy.

If you often change the speed with high acceleration you should turn the interpolation off.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 373

def set_step_configuration(step_resolution, interpolation)
  check_validity

  send_request FUNCTION_SET_STEP_CONFIGURATION, [step_resolution, interpolation], 'C ?', 8, ''
end

#set_steps(steps) ⇒ Object

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 BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 339

def set_steps(steps)
  check_validity

  send_request FUNCTION_SET_STEPS, [steps], 'l', 8, ''
end

#set_target_position(position) ⇒ Object

Sets the target position of the stepper motor in steps. For example, if the current position of the motor is 500 and BrickSilentStepper#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 BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping.

A call of BrickSilentStepper#set_target_position with the parameter x is equivalent to a call of BrickSilentStepper#set_steps with the parameter (x - BrickSilentStepper#get_current_position).



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 322

def set_target_position(position)
  check_validity

  send_request FUNCTION_SET_TARGET_POSITION, [position], 'l', 8, ''
end

#set_time_base(time_base) ⇒ Object

Sets the time base of the velocity and the acceleration of the Silent 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.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 752

def set_time_base(time_base)
  check_validity

  send_request FUNCTION_SET_TIME_BASE, [time_base], 'L', 8, ''
end

#stop ⇒ Object

Stops the stepper motor with the deacceleration as set by BrickSilentStepper#set_speed_ramping.



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# File 'lib/tinkerforge/brick_silent_stepper.rb', line 406

def stop
  check_validity

  send_request FUNCTION_STOP, [], '', 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_silent_stepper.rb', line 960

def write_bricklet_plugin(port, offset, chunk)
  check_validity

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