JavaScript - DC Bricklet 2.0¶

Configuration (Node.js)¶

Download (ExampleConfiguration.js)

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var Tinkerforge = require('tinkerforge');

var HOST = 'localhost';
var PORT = 4223;
var UID = 'XYZ'; // Change XYZ to the UID of your DC Bricklet 2.0

var ipcon = new Tinkerforge.IPConnection(); // Create IP connection
var dc = new Tinkerforge.BrickletDCV2(UID, ipcon); // Create device object

ipcon.connect(HOST, PORT,
    function (error) {
        console.log('Error: ' + error);
    }
); // Connect to brickd
// Don't use device before ipcon is connected

ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
    function (connectReason) {
        dc.setDriveMode(Tinkerforge.BrickletDCV2.DRIVE_MODE_DRIVE_COAST);
        dc.setPWMFrequency(10000); // Use PWM frequency of 10 kHz
        dc.setMotion(4096,
                     16384); // Slow acceleration (12.5 %/s), fast decceleration (50 %/s) for stopping
        dc.setVelocity(32767); // Full speed forward (100 %)
        dc.setEnabled(true); // Enable motor power
    }
);

console.log('Press key to exit');
process.stdin.on('data',
    function (data) {
        dc.setVelocity(0); // Stop motor before disabling motor power

        setTimeout(function () {
            dc.setEnabled(false); // Disable motor power

            ipcon.disconnect();
            process.exit(0);
        }, 2000); // Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
    }
);

Callback (Node.js)¶

Download (ExampleCallback.js)

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var Tinkerforge = require('tinkerforge');

var HOST = 'localhost';
var PORT = 4223;
var UID = 'XYZ'; // Change XYZ to the UID of your DC Bricklet 2.0

var ipcon = new Tinkerforge.IPConnection(); // Create IP connection
var dc = new Tinkerforge.BrickletDCV2(UID, ipcon); // Create device object

ipcon.connect(HOST, PORT,
    function (error) {
        console.log('Error: ' + error);
    }
); // Connect to brickd
// Don't use device before ipcon is connected

ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
    function (connectReason) {
        // The acceleration has to be smaller or equal to the maximum
        // acceleration of the DC motor, otherwise the velocity reached
        // callback will be called too early
        dc.setMotion(4096,
                     16384); // Slow acceleration (12.5 %/s), fast decceleration (50 %/s) for stopping
        dc.setVelocity(32767); // Full speed forward (100 %)

        // Enable motor power
        dc.setEnabled(true);
    }
);

// Register velocity reached callback
dc.on(Tinkerforge.BrickletDCV2.CALLBACK_VELOCITY_REACHED,
    // Use velocity reached callback to swing back and forth
    // between full speed forward and full speed backward
    function (velocity) {
        if(velocity == 32767) {
            console.log('Velocity: Full speed forward, now turning backward');
            dc.setVelocity(-32767);
        }
        else if(velocity === -32767) {
            console.log('Velocity: Full speed backward, now turning forward');
            dc.setVelocity(32767);
        }
        else {
            console.log('Error'); // Can only happen if another program sets velocity
        }
    }
);

console.log('Press key to exit');
process.stdin.on('data',
    function (data) {
        dc.setVelocity(0); // Stop motor before disabling motor power

        setTimeout(function () {
            dc.setEnabled(false); // Disable motor power

            ipcon.disconnect();
            process.exit(0);
        }, 2000); // Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
    }
);

Configuration (HTML)¶

Download (ExampleConfiguration.html), Test (ExampleConfiguration.html)

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<!DOCTYPE html>
<html>
    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
    <head>
        <title>Tinkerforge | JavaScript Example</title>
    </head>
    <body>
        <div style="text-align:center;">
            <h1>DC Bricklet 2.0 Configuration Example</h1>
            <p>
                <input value="localhost" id="host" type="text" size="20">:
                <input value="4280" id="port" type="text" size="5">,
                <input value="uid" id="uid" type="text" size="5">
                <input value="Start Example" id="start" type="button" onclick="startExample();">
            </p>
            <p>
                <textarea readonly id="text" cols="80" rows="24" style="resize:none;"
                          >Press "Start Example" to begin ...</textarea>
            </p>
        </div>
        <script src="./Tinkerforge.js" type='text/javascript'></script>
        <script type='text/javascript'>
            var ipcon;
            var textArea = document.getElementById("text");
            function startExample() {
                textArea.value = "";
                var HOST = document.getElementById("host").value;
                var PORT = parseInt(document.getElementById("port").value);
                var UID = document.getElementById("uid").value;
                if(ipcon !== undefined) {
                    ipcon.disconnect();
                }
                ipcon = new Tinkerforge.IPConnection(); // Create IP connection
                var dc = new Tinkerforge.BrickletDCV2(UID, ipcon); // Create device object
                ipcon.connect(HOST, PORT,
                    function(error) {
                        textArea.value += 'Error: ' + error + '\n';
                    }
                ); // Connect to brickd
                // Don't use device before ipcon is connected

                ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
                    function (connectReason) {
                        dc.setDriveMode(Tinkerforge.BrickletDCV2.DRIVE_MODE_DRIVE_COAST);
                        dc.setPWMFrequency(10000); // Use PWM frequency of 10 kHz
                        dc.setMotion(4096,
                                     16384); // Slow acceleration (12.5 %/s), fast decceleration (50 %/s) for stopping
                        dc.setVelocity(32767); // Full speed forward (100 %)
                        dc.setEnabled(true); // Enable motor power
                    }
                );
            }
        </script>
    </body>
</html>

Callback (HTML)¶

Download (ExampleCallback.html), Test (ExampleCallback.html)

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<!DOCTYPE html>

<html>
    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
    <head>
        <title>Tinkerforge | JavaScript Example</title>
    </head>
    <body>
        <div style="text-align:center;">
            <h1>DC Bricklet 2.0 Callback Example</h1>
            <p>
                <input value="localhost" id="host" type="text" size="20">:
                <input value="4280" id="port" type="text" size="5">,
                <input value="uid" id="uid" type="text" size="5">
                <input value="Start Example" id="start" type="button" onclick="startExample();">
            </p>
            <p>
                <textarea readonly id="text" cols="80" rows="24" style="resize:none;"
                          >Press "Start Example" to begin ...</textarea>
            </p>
        </div>
        <script src="./Tinkerforge.js" type='text/javascript'></script>
        <script type='text/javascript'>
            var ipcon;
            var textArea = document.getElementById("text");
            function startExample() {
                textArea.value = "";
                var HOST = document.getElementById("host").value;
                var PORT = parseInt(document.getElementById("port").value);
                var UID = document.getElementById("uid").value;
                if(ipcon !== undefined) {
                    ipcon.disconnect();
                }
                ipcon = new Tinkerforge.IPConnection(); // Create IP connection
                var dc = new Tinkerforge.BrickletDCV2(UID, ipcon); // Create device object
                ipcon.connect(HOST, PORT,
                    function(error) {
                        textArea.value += 'Error: ' + error + '\n';
                    }
                ); // Connect to brickd
                // Don't use device before ipcon is connected

                ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
                    function (connectReason) {
                        // The acceleration has to be smaller or equal to the maximum
                        // acceleration of the DC motor, otherwise the velocity reached
                        // callback will be called too early
                        dc.setMotion(4096,
                                     16384); // Slow acceleration (12.5 %/s), fast decceleration (50 %/s) for stopping
                        dc.setVelocity(32767); // Full speed forward (100 %)

                        // Enable motor power
                        dc.setEnabled(true);
                    }
                );

                // Register velocity reached callback
                dc.on(Tinkerforge.BrickletDCV2.CALLBACK_VELOCITY_REACHED,
                    // Use velocity reached callback to swing back and forth
                    // between full speed forward and full speed backward
                    function (velocity) {
                        if(velocity == 32767) {
                            textArea.value += 'Velocity: Full speed forward, now turning backward\n';
                            dc.setVelocity(-32767);
                        }
                        else if(velocity === -32767) {
                            textArea.value += 'Velocity: Full speed backward, now turning forward\n';
                            dc.setVelocity(32767);
                        }
                        else {
                            textArea.value += 'Error\n'; // Can only happen if another program sets velocity
                        }
                        textArea.scrollTop = textArea.scrollHeight;
                    }
                );
            }
        </script>
    </body>
</html>

Basic Functions¶

new BrickletDCV2(uid, ipcon)¶

Parameters:	uid – Type: string ipcon – Type: IPConnection
Returns:	dcV2 – Type: BrickletDCV2

Creates an object with the unique device ID uid:

var dcV2 = new BrickletDCV2("YOUR_DEVICE_UID", ipcon);

This object can then be used after the IP Connection is connected.

BrickletDCV2.setEnabled(enabled[, returnCallback][, errorCallback])¶

Parameters:	enabled – Type: boolean
Callback Parameters:	undefined
Returns:	undefined

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

BrickletDCV2.getEnabled([returnCallback][, errorCallback])¶

Callback Parameters:	enabled – Type: boolean, Default: false
Returns:	undefined

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

BrickletDCV2.setVelocity(velocity[, returnCallback][, errorCallback])¶

Parameters:	velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1], Default: 0
Callback Parameters:	undefined
Returns:	undefined

Sets the velocity of the motor. Whereas -32767 is full speed backward, 0 is stop and 32767 is full speed forward. Depending on the acceleration (see setMotion()), the motor is not immediately brought to the velocity but smoothly accelerated.

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

BrickletDCV2.getVelocity([returnCallback][, errorCallback])¶

Callback Parameters:	velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1], Default: 0
Returns:	undefined

Returns the velocity as set by setVelocity().

BrickletDCV2.getCurrentVelocity([returnCallback][, errorCallback])¶

Callback Parameters:	velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1], Default: 0
Returns:	undefined

Returns the current velocity of the motor. This value is different from getVelocity() whenever the motor is currently accelerating to a goal set by setVelocity().

BrickletDCV2.setMotion(acceleration, deceleration[, returnCallback][, errorCallback])¶

Parameters:	acceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 10000 deceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 10000
Callback Parameters:	undefined
Returns:	undefined

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.

BrickletDCV2.getMotion([returnCallback][, errorCallback])¶

Callback Parameters:	acceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 10000 deceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 10000
Returns:	undefined

Returns the acceleration/deceleration as set by setMotion().

BrickletDCV2.fullBrake([returnCallback][, errorCallback])¶

Callback Parameters:	undefined
Returns:	undefined

Executes an active full brake.

Warning

This function is for emergency purposes, where an immediate brake is necessary. Depending on the current velocity and the strength of the motor, a full brake can be quite violent.

Call setVelocity() with 0 if you just want to stop the motor.

BrickletDCV2.getPWMFrequency([returnCallback][, errorCallback])¶

Callback Parameters:	frequency – Type: int, Unit: 1 Hz, Range: [1 to 20000], Default: 15000
Returns:	undefined

Returns the PWM frequency as set by setPWMFrequency().

BrickletDCV2.getPowerStatistics([returnCallback][, errorCallback])¶

Callback Parameters:	voltage – Type: int, Unit: 1 mV, Range: [0 to 216 - 1] current – Type: int, Unit: 1 mA, Range: [0 to 216 - 1]
Returns:	undefined

Returns input voltage and current usage of the driver.

Advanced Functions¶

BrickletDCV2.setDriveMode(mode[, returnCallback][, errorCallback])¶

Parameters:	mode – Type: int, Range: See constants, Default: 0
Callback Parameters:	undefined
Returns:	undefined

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.

The following constants are available for this function:

For mode:

• BrickletDCV2.DRIVE_MODE_DRIVE_BRAKE = 0
• BrickletDCV2.DRIVE_MODE_DRIVE_COAST = 1

BrickletDCV2.getDriveMode([returnCallback][, errorCallback])¶

Callback Parameters:	mode – Type: int, Range: See constants, Default: 0
Returns:	undefined

Returns the drive mode, as set by setDriveMode().

The following constants are available for this function:

For mode:

• BrickletDCV2.DRIVE_MODE_DRIVE_BRAKE = 0
• BrickletDCV2.DRIVE_MODE_DRIVE_COAST = 1

BrickletDCV2.setPWMFrequency(frequency[, returnCallback][, errorCallback])¶

Parameters:	frequency – Type: int, Unit: 1 Hz, Range: [1 to 20000], Default: 15000
Callback Parameters:	undefined
Returns:	undefined

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.

BrickletDCV2.setErrorLEDConfig(config[, returnCallback][, errorCallback])¶

Parameters:	config – Type: int, Range: See constants, Default: 3
Callback Parameters:	undefined
Returns:	undefined

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.

The following constants are available for this function:

For config:

• BrickletDCV2.ERROR_LED_CONFIG_OFF = 0
• BrickletDCV2.ERROR_LED_CONFIG_ON = 1
• BrickletDCV2.ERROR_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletDCV2.ERROR_LED_CONFIG_SHOW_ERROR = 3

BrickletDCV2.getErrorLEDConfig([returnCallback][, errorCallback])¶

Callback Parameters:	config – Type: int, Range: See constants, Default: 3
Returns:	undefined

Returns the LED configuration as set by setErrorLEDConfig()

The following constants are available for this function:

For config:

• BrickletDCV2.ERROR_LED_CONFIG_OFF = 0
• BrickletDCV2.ERROR_LED_CONFIG_ON = 1
• BrickletDCV2.ERROR_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletDCV2.ERROR_LED_CONFIG_SHOW_ERROR = 3

BrickletDCV2.getSPITFPErrorCount([returnCallback][, errorCallback])¶

Callback Parameters:	errorCountAckChecksum – Type: int, Range: [0 to 232 - 1] errorCountMessageChecksum – Type: int, Range: [0 to 232 - 1] errorCountFrame – Type: int, Range: [0 to 232 - 1] errorCountOverflow – Type: int, Range: [0 to 232 - 1]
Returns:	undefined

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.

BrickletDCV2.setStatusLEDConfig(config[, returnCallback][, errorCallback])¶

Parameters:	config – Type: int, Range: See constants, Default: 3
Callback Parameters:	undefined
Returns:	undefined

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.

The following constants are available for this function:

For config:

• BrickletDCV2.STATUS_LED_CONFIG_OFF = 0
• BrickletDCV2.STATUS_LED_CONFIG_ON = 1
• BrickletDCV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletDCV2.STATUS_LED_CONFIG_SHOW_STATUS = 3

BrickletDCV2.getStatusLEDConfig([returnCallback][, errorCallback])¶

Callback Parameters:	config – Type: int, Range: See constants, Default: 3
Returns:	undefined

Returns the configuration as set by setStatusLEDConfig()

The following constants are available for this function:

For config:

• BrickletDCV2.STATUS_LED_CONFIG_OFF = 0
• BrickletDCV2.STATUS_LED_CONFIG_ON = 1
• BrickletDCV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletDCV2.STATUS_LED_CONFIG_SHOW_STATUS = 3

BrickletDCV2.getChipTemperature([returnCallback][, errorCallback])¶

Callback Parameters:	temperature – Type: int, Unit: 1 °C, Range: [-215 to 215 - 1]
Returns:	undefined

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.

BrickletDCV2.reset([returnCallback][, errorCallback])¶

Callback Parameters:	undefined
Returns:	undefined

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!

BrickletDCV2.getIdentity([returnCallback][, errorCallback])¶

Callback Parameters:

uid – Type: string, Length: up to 8 connectedUid – Type: string, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, Range: [0 to 255] firmwareVersion – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, Range: [0 to 255] deviceIdentifier – Type: int, Range: [0 to 216 - 1]

Returns:

undefined

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

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions¶

BrickletDCV2.on(callback_id, function[, errorCallback])¶

Parameters:	callback_id – Type: int function – Type: function
Returns:	undefined

Registers the given function with the given callback_id.

The available callback IDs with corresponding function signatures are listed below.

BrickletDCV2.setEmergencyShutdownCallbackConfiguration(enabled[, returnCallback][, errorCallback])¶

Parameters:	enabled – Type: boolean, Default: false
Callback Parameters:	undefined
Returns:	undefined

Enable/Disable CALLBACK_EMERGENCY_SHUTDOWN callback.

BrickletDCV2.getEmergencyShutdownCallbackConfiguration([returnCallback][, errorCallback])¶

Callback Parameters:	enabled – Type: boolean, Default: true
Returns:	undefined

Returns the callback configuration as set by setEmergencyShutdownCallbackConfiguration().

BrickletDCV2.setVelocityReachedCallbackConfiguration(enabled[, returnCallback][, errorCallback])¶

Parameters:	enabled – Type: boolean, Default: false
Callback Parameters:	undefined
Returns:	undefined

Enable/Disable CALLBACK_VELOCITY_REACHED callback.

BrickletDCV2.getVelocityReachedCallbackConfiguration([returnCallback][, errorCallback])¶

Callback Parameters:	enabled – Type: boolean, Default: false
Returns:	undefined

Returns the callback configuration as set by setVelocityReachedCallbackConfiguration().

BrickletDCV2.setCurrentVelocityCallbackConfiguration(period, valueHasToChange[, returnCallback][, errorCallback])¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false
Callback Parameters:	undefined
Returns:	undefined

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.

BrickletDCV2.getCurrentVelocityCallbackConfiguration([returnCallback][, errorCallback])¶

Callback Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false
Returns:	undefined

Returns the callback configuration as set by setCurrentVelocityCallbackConfiguration().

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the on() function of the device object. The first parameter is the callback ID and the second parameter the callback function:

dcV2.on(BrickletDCV2.CALLBACK_EXAMPLE,
    function (param) {
        console.log(param);
    }
);

The available constants with inherent number and type of parameters are described below.

BrickletDCV2.CALLBACK_EMERGENCY_SHUTDOWN¶

Callback Parameters:	undefined

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

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

Note

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

BrickletDCV2.CALLBACK_VELOCITY_REACHED¶

Callback Parameters:	velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1]

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

BrickletDCV2.CALLBACK_CURRENT_VELOCITY¶

Callback Parameters:	velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1]

This callback is triggered with the period that is set by setCurrentVelocityCallbackConfiguration(). 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.

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

BrickletDCV2.getAPIVersion()¶

Returns:	apiVersion – Type: [int, ...], Length: 3 0: major – Type: int, Range: [0 to 255] 1: minor – Type: int, Range: [0 to 255] 2: revision – Type: int, Range: [0 to 255]

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

BrickletDCV2.getResponseExpected(functionId[, errorCallback])¶

Parameters:	functionId – Type: int, Range: See constants
Returns:	responseExpected – Type: boolean

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

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

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

The following constants are available for this function:

For function_id:

• BrickletDCV2.FUNCTION_SET_ENABLED = 1
• BrickletDCV2.FUNCTION_SET_VELOCITY = 3
• BrickletDCV2.FUNCTION_SET_MOTION = 6
• BrickletDCV2.FUNCTION_FULL_BRAKE = 8
• BrickletDCV2.FUNCTION_SET_DRIVE_MODE = 9
• BrickletDCV2.FUNCTION_SET_PWM_FREQUENCY = 11
• BrickletDCV2.FUNCTION_SET_ERROR_LED_CONFIG = 14
• BrickletDCV2.FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION = 16
• BrickletDCV2.FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION = 18
• BrickletDCV2.FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION = 20
• BrickletDCV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletDCV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletDCV2.FUNCTION_RESET = 243
• BrickletDCV2.FUNCTION_WRITE_UID = 248

BrickletDCV2.setResponseExpected(functionId, responseExpected[, errorCallback])¶

Parameters:	functionId – Type: int, Range: See constants responseExpected – Type: boolean
Returns:	undefined

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

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

The following constants are available for this function:

For function_id:

• BrickletDCV2.FUNCTION_SET_ENABLED = 1
• BrickletDCV2.FUNCTION_SET_VELOCITY = 3
• BrickletDCV2.FUNCTION_SET_MOTION = 6
• BrickletDCV2.FUNCTION_FULL_BRAKE = 8
• BrickletDCV2.FUNCTION_SET_DRIVE_MODE = 9
• BrickletDCV2.FUNCTION_SET_PWM_FREQUENCY = 11
• BrickletDCV2.FUNCTION_SET_ERROR_LED_CONFIG = 14
• BrickletDCV2.FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION = 16
• BrickletDCV2.FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION = 18
• BrickletDCV2.FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION = 20
• BrickletDCV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletDCV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletDCV2.FUNCTION_RESET = 243
• BrickletDCV2.FUNCTION_WRITE_UID = 248

BrickletDCV2.setResponseExpectedAll(responseExpected)¶

Parameters:	responseExpected – Type: boolean
Returns:	undefined

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

Internal Functions¶

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

BrickletDCV2.setBootloaderMode(mode[, returnCallback][, errorCallback])¶

Parameters:	mode – Type: int, Range: See constants
Callback Parameters:	status – Type: int, Range: See constants
Returns:	undefined

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.

The following constants are available for this function:

For mode:

• BrickletDCV2.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletDCV2.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletDCV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletDCV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletDCV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

• BrickletDCV2.BOOTLOADER_STATUS_OK = 0
• BrickletDCV2.BOOTLOADER_STATUS_INVALID_MODE = 1
• BrickletDCV2.BOOTLOADER_STATUS_NO_CHANGE = 2
• BrickletDCV2.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
• BrickletDCV2.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
• BrickletDCV2.BOOTLOADER_STATUS_CRC_MISMATCH = 5

BrickletDCV2.getBootloaderMode([returnCallback][, errorCallback])¶

Callback Parameters:	mode – Type: int, Range: See constants
Returns:	undefined

Returns the current bootloader mode, see setBootloaderMode().

The following constants are available for this function:

For mode:

• BrickletDCV2.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletDCV2.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletDCV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletDCV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletDCV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

BrickletDCV2.setWriteFirmwarePointer(pointer[, returnCallback][, errorCallback])¶

Parameters:	pointer – Type: int, Unit: 1 B, Range: [0 to 232 - 1]
Callback Parameters:	undefined
Returns:	undefined

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

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

BrickletDCV2.writeFirmware(data[, returnCallback][, errorCallback])¶

Parameters:	data – Type: [int, ...], Length: 64, Range: [0 to 255]
Callback Parameters:	status – Type: int, Range: [0 to 255]
Returns:	undefined

Writes 64 Bytes of firmware at the position as written by setWriteFirmwarePointer() before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

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

BrickletDCV2.writeUID(uid[, returnCallback][, errorCallback])¶

Parameters:	uid – Type: int, Range: [0 to 232 - 1]
Callback Parameters:	undefined
Returns:	undefined

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.

BrickletDCV2.readUID([returnCallback][, errorCallback])¶

Callback Parameters:	uid – Type: int, Range: [0 to 232 - 1]
Returns:	undefined

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

Constants¶

BrickletDCV2.DEVICE_IDENTIFIER¶

This constant is used to identify a DC Bricklet 2.0.

The getIdentity() function and the IPConnection.CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

BrickletDCV2.DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a DC Bricklet 2.0.