Class: Tinkerforge::BrickletDCV2

Inherits:
Device
  • Object
show all
Defined in:
lib/tinkerforge/bricklet_dc_v2.rb

Overview

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

Constant Summary collapse

DEVICE_IDENTIFIER =

:nodoc:

2165
DEVICE_DISPLAY_NAME =

:nodoc:

'DC Bricklet 2.0'
CALLBACK_EMERGENCY_SHUTDOWN =

This callback is triggered if either the current consumption is too high (above 5A) or the temperature of the driver chip is too high (above 175°C). These two possibilities are essentially the same, since the temperature will reach this threshold immediately if the motor consumes too much current. In case of a voltage below 3.3V (external or stack) this callback is triggered as well.

If this callback is triggered, the driver chip gets disabled at the same time. That means, BrickletDCV2#set_enabled has to be called to drive the motor again.

.. note

This callback only works in Drive/Brake mode (see BrickletDCV2#set_drive_mode). In Drive/Coast mode it is unfortunately impossible to reliably read the overcurrent/overtemperature signal from the driver chip.

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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 BrickletDCV2#set_motion) is set smaller or equal to the maximum acceleration of the motor. Otherwise the motor will lag behind the control value and the callback will be triggered too early.

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CALLBACK_CURRENT_VELOCITY =

This callback is triggered with the period that is set by BrickletDCV2#set_current_velocity_callback_configuration. The parameter is the current velocity used by the motor.

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

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FUNCTION_SET_ENABLED =

:nodoc:

1
FUNCTION_GET_ENABLED =

:nodoc:

2
FUNCTION_SET_VELOCITY =

:nodoc:

3
FUNCTION_GET_VELOCITY =

:nodoc:

4
FUNCTION_GET_CURRENT_VELOCITY =

:nodoc:

5
FUNCTION_SET_MOTION =

:nodoc:

6
FUNCTION_GET_MOTION =

:nodoc:

7
FUNCTION_FULL_BRAKE =

:nodoc:

8
FUNCTION_SET_DRIVE_MODE =

:nodoc:

9
FUNCTION_GET_DRIVE_MODE =

:nodoc:

10
FUNCTION_SET_PWM_FREQUENCY =

:nodoc:

11
FUNCTION_GET_PWM_FREQUENCY =

:nodoc:

12
FUNCTION_GET_POWER_STATISTICS =

:nodoc:

13
FUNCTION_SET_ERROR_LED_CONFIG =

:nodoc:

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FUNCTION_GET_ERROR_LED_CONFIG =

:nodoc:

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FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION =

:nodoc:

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FUNCTION_GET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION =

:nodoc:

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FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION =

:nodoc:

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FUNCTION_GET_VELOCITY_REACHED_CALLBACK_CONFIGURATION =

:nodoc:

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FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION =

:nodoc:

20
FUNCTION_GET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION =

:nodoc:

21
FUNCTION_GET_SPITFP_ERROR_COUNT =

:nodoc:

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FUNCTION_SET_BOOTLOADER_MODE =

:nodoc:

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FUNCTION_GET_BOOTLOADER_MODE =

:nodoc:

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FUNCTION_SET_WRITE_FIRMWARE_POINTER =

:nodoc:

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FUNCTION_WRITE_FIRMWARE =

:nodoc:

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FUNCTION_SET_STATUS_LED_CONFIG =

:nodoc:

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FUNCTION_GET_STATUS_LED_CONFIG =

:nodoc:

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FUNCTION_GET_CHIP_TEMPERATURE =

:nodoc:

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FUNCTION_RESET =

:nodoc:

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FUNCTION_WRITE_UID =

:nodoc:

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FUNCTION_READ_UID =

:nodoc:

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FUNCTION_GET_IDENTITY =

:nodoc:

255
DRIVE_MODE_DRIVE_BRAKE =

:nodoc:

0
DRIVE_MODE_DRIVE_COAST =

:nodoc:

1
ERROR_LED_CONFIG_OFF =

:nodoc:

0
ERROR_LED_CONFIG_ON =

:nodoc:

1
ERROR_LED_CONFIG_SHOW_HEARTBEAT =

:nodoc:

2
ERROR_LED_CONFIG_SHOW_ERROR =

:nodoc:

3
BOOTLOADER_MODE_BOOTLOADER =

:nodoc:

0
BOOTLOADER_MODE_FIRMWARE =

:nodoc:

1
BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT =

:nodoc:

2
BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT =

:nodoc:

3
BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT =

:nodoc:

4
BOOTLOADER_STATUS_OK =

:nodoc:

0
BOOTLOADER_STATUS_INVALID_MODE =

:nodoc:

1
BOOTLOADER_STATUS_NO_CHANGE =

:nodoc:

2
BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT =

:nodoc:

3
BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT =

:nodoc:

4
BOOTLOADER_STATUS_CRC_MISMATCH =

:nodoc:

5
STATUS_LED_CONFIG_OFF =

:nodoc:

0
STATUS_LED_CONFIG_ON =

:nodoc:

1
STATUS_LED_CONFIG_SHOW_HEARTBEAT =

:nodoc:

2
STATUS_LED_CONFIG_SHOW_STATUS =

:nodoc:

3

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) ⇒ BrickletDCV2

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



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 114

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

  @api_version = [2, 0, 0]

  @response_expected[FUNCTION_SET_ENABLED] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_VELOCITY] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_CURRENT_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_MOTION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_MOTION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_FULL_BRAKE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_SET_DRIVE_MODE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_DRIVE_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_PWM_FREQUENCY] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_PWM_FREQUENCY] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_POWER_STATISTICS] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ERROR_LED_CONFIG] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_ERROR_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_VELOCITY_REACHED_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_WRITE_UID] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE

  @callback_formats[CALLBACK_EMERGENCY_SHUTDOWN] = [8, '']
  @callback_formats[CALLBACK_VELOCITY_REACHED] = [10, 's']
  @callback_formats[CALLBACK_CURRENT_VELOCITY] = [10, 's']

  @ipcon.add_device self
end

Instance Method Details

#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 BrickletDCV2#set_velocity with 0 if you just want to stop the motor.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 237

def full_brake
  check_validity

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

#get_bootloader_mode ⇒ Object

Returns the current bootloader mode, see BrickletDCV2#set_bootloader_mode.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 406

def get_bootloader_mode
  check_validity

  send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C'
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 bad accuracy. Practically it is only useful as an indicator for temperature changes.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 464

def get_chip_temperature
  check_validity

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

#get_current_velocity ⇒ Object

Returns the current velocity of the motor. This value is different from BrickletDCV2#get_velocity whenever the motor is currently accelerating to a goal set by BrickletDCV2#set_velocity.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 200

def get_current_velocity
  check_validity

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

#get_current_velocity_callback_configuration ⇒ Object

Returns the callback configuration as set by BrickletDCV2#set_current_velocity_callback_configuration.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 367

def get_current_velocity_callback_configuration
  check_validity

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

#get_drive_mode ⇒ Object

Returns the drive mode, as set by BrickletDCV2#set_drive_mode.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 265

def get_drive_mode
  check_validity

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

#get_emergency_shutdown_callback_configuration ⇒ Object

Returns the callback configuration as set by BrickletDCV2#set_emergency_shutdown_callback_configuration.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 329

def get_emergency_shutdown_callback_configuration
  check_validity

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

#get_enabled ⇒ Object

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



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 169

def get_enabled
  check_validity

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

#get_error_led_config ⇒ Object

Returns the LED configuration as set by BrickletDCV2#set_error_led_config



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 314

def get_error_led_config
  check_validity

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

#get_identity ⇒ Object

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be ‘a’, ‘b’, ‘c’, ‘d’, ‘e’, ‘f’, ‘g’ or ‘h’ (Bricklet Port). A Bricklet connected to an :ref:‘Isolator Bricklet <isolator_bricklet>` is always at position ’z’.

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



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 511

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

#get_motion ⇒ Object

Returns the acceleration/deceleration as set by BrickletDCV2#set_motion.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 223

def get_motion
  check_validity

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

#get_power_statistics ⇒ Object

Returns input voltage and current usage of the driver.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 293

def get_power_statistics
  check_validity

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

#get_pwm_frequency ⇒ Object

Returns the PWM frequency as set by BrickletDCV2#set_pwm_frequency.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 286

def get_pwm_frequency
  check_validity

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

#get_spitfp_error_count ⇒ 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 Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 384

def get_spitfp_error_count
  check_validity

  send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, 'L L L L'
end

#get_status_led_config ⇒ Object

Returns the configuration as set by BrickletDCV2#set_status_led_config



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 452

def get_status_led_config
  check_validity

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

#get_velocity ⇒ Object

Returns the velocity as set by BrickletDCV2#set_velocity.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 191

def get_velocity
  check_validity

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

#get_velocity_reached_callback_configuration ⇒ Object

Returns the callback configuration as set by BrickletDCV2#set_velocity_reached_callback_configuration.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 344

def get_velocity_reached_callback_configuration
  check_validity

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

#read_uid ⇒ Object

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



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 495

def read_uid
  check_validity

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

#register_callback(id, &block) ⇒ Object

Registers a callback with ID id to the block block.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 516

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

#reset ⇒ Object

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!



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 476

def reset
  check_validity

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

#set_bootloader_mode(mode) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 399

def set_bootloader_mode(mode)
  check_validity

  send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C'
end

#set_current_velocity_callback_configuration(period, value_has_to_change) ⇒ Object

The period is the period with which the CALLBACK_CURRENT_VELOCITY callback is triggered periodically. A value of 0 turns the callback off.

If the ‘value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn’t change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 359

def set_current_velocity_callback_configuration(period, value_has_to_change)
  check_validity

  send_request FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION, [period, value_has_to_change], 'L ?', 8, ''
end

#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/bricklet_dc_v2.rb', line 258

def set_drive_mode(mode)
  check_validity

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

#set_emergency_shutdown_callback_configuration(enabled) ⇒ Object

Enable/Disable CALLBACK_EMERGENCY_SHUTDOWN callback.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 321

def set_emergency_shutdown_callback_configuration(enabled)
  check_validity

  send_request FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION, [enabled], '?', 8, ''
end

#set_enabled(enabled) ⇒ Object

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



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 162

def set_enabled(enabled)
  check_validity

  send_request FUNCTION_SET_ENABLED, [enabled], '?', 8, ''
end

#set_error_led_config(config) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 307

def set_error_led_config(config)
  check_validity

  send_request FUNCTION_SET_ERROR_LED_CONFIG, [config], 'C', 8, ''
end

#set_motion(acceleration, deceleration) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 216

def set_motion(acceleration, deceleration)
  check_validity

  send_request FUNCTION_SET_MOTION, [acceleration, deceleration], 'S 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/bricklet_dc_v2.rb', line 279

def set_pwm_frequency(frequency)
  check_validity

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

#set_status_led_config(config) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 445

def set_status_led_config(config)
  check_validity

  send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 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 BrickletDCV2#set_motion), the motor is not immediately brought to the velocity but smoothly accelerated.

The velocity describes the duty cycle of the PWM with which the motor is controlled, e.g. a velocity of 3277 sets a PWM with a 10% duty cycle. You can not only control the duty cycle of the PWM but also the frequency, see BrickletDCV2#set_pwm_frequency.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 184

def set_velocity(velocity)
  check_validity

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

#set_velocity_reached_callback_configuration(enabled) ⇒ Object

Enable/Disable CALLBACK_VELOCITY_REACHED callback.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 336

def set_velocity_reached_callback_configuration(enabled)
  check_validity

  send_request FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION, [enabled], '?', 8, ''
end

#set_write_firmware_pointer(pointer) ⇒ Object

Sets the firmware pointer for BrickletDCV2#write_firmware. The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 418

def set_write_firmware_pointer(pointer)
  check_validity

  send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, ''
end

#write_firmware(data) ⇒ Object

Writes 64 Bytes of firmware at the position as written by BrickletDCV2#set_write_firmware_pointer before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 432

def write_firmware(data)
  check_validity

  send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, 'C'
end

#write_uid(uid) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_dc_v2.rb', line 487

def write_uid(uid)
  check_validity

  send_request FUNCTION_WRITE_UID, [uid], 'L', 8, ''
end