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Software / API Bindings / Java / API Reference and Examples / Bricklets / Performance DC Bricklet

Java - Performance DC Bricklet

This is the description of the Java API bindings for the Performance DC Bricklet. General information and technical specifications for the Performance DC Bricklet are summarized in its hardware description.

An installation guide for the Java API bindings is part of their general description.

Examples

The example code below is Public Domain (CC0 1.0).

Configuration

Download (ExampleConfiguration.java)

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import com.tinkerforge.IPConnection;
import com.tinkerforge.BrickletPerformanceDC;

public class ExampleConfiguration {
    private static final String HOST = "localhost";
    private static final int PORT = 4223;

    // Change XYZ to the UID of your Performance DC Bricklet
    private static final String UID = "XYZ";

    // Note: To make the example code cleaner we do not handle exceptions. Exceptions
    //       you might normally want to catch are described in the documentation
    public static void main(String args[]) throws Exception {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletPerformanceDC pdc = new BrickletPerformanceDC(UID, ipcon); // Create device object

        ipcon.connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        pdc.setDriveMode(BrickletPerformanceDC.DRIVE_MODE_DRIVE_COAST);
        pdc.setPWMFrequency(10000); // Use PWM frequency of 10 kHz
        pdc.setMotion(4096, 4096); // Slow ac-/deceleration (12.5 %/s)
        pdc.setVelocity(32767); // Full speed forward (100 %)
        pdc.setEnabled(true); // Enable motor power

        System.out.println("Press key to exit"); System.in.read();

        // Stop motor before disabling motor power
        pdc.setMotion(4096, 16384); // Fast decceleration (50 %/s) for stopping
        pdc.setVelocity(0); // Request motor stop
        Thread.sleep(2000); // Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
        pdc.setEnabled(false); // Disable motor power

        ipcon.disconnect();
    }
}

Callback

Download (ExampleCallback.java)

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import com.tinkerforge.IPConnection;
import com.tinkerforge.BrickletPerformanceDC;
import com.tinkerforge.TinkerforgeException;

public class ExampleCallback {
    private static final String HOST = "localhost";
    private static final int PORT = 4223;

    // Change XYZ to the UID of your Performance DC Bricklet
    private static final String UID = "XYZ";

    // Note: To make the example code cleaner we do not handle exceptions. Exceptions
    //       you might normally want to catch are described in the documentation
    public static void main(String args[]) throws Exception {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        // Note: Declare pdc as final, so the listener can access it
        final BrickletPerformanceDC pdc = new BrickletPerformanceDC(UID, ipcon); // Create device object

        ipcon.connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        // Use velocity reached callback to swing back and forth
        // between full speed forward and full speed backward
        pdc.addVelocityReachedListener(new BrickletPerformanceDC.VelocityReachedListener() {
            public void velocityReached(int velocity) {
                if(velocity == 32767) {
                    System.out.println("Velocity: Full speed forward, now turning backward");
                    try {
                        pdc.setVelocity(-32767);
                    } catch(TinkerforgeException e) {
                    }
                } else if(velocity == -32767) {
                    System.out.println("Velocity: Full speed backward, now turning forward");
                    try {
                        pdc.setVelocity(32767);
                    } catch(TinkerforgeException e) {
                    }
                } else {
                    System.out.println("Error"); // Can only happen if another program sets velocity
                }
            }
        });

        // Enable velocity reached callback
        pdc.setVelocityReachedCallbackConfiguration(true);

        // 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
        pdc.setMotion(4096, 4096); // Slow acceleration (12.5 %/s)
        pdc.setVelocity(32767); // Full speed forward (100 %)

        // Enable motor power
        pdc.setEnabled(true);

        System.out.println("Press key to exit"); System.in.read();

        // Stop motor before disabling motor power
        pdc.setMotion(4096, 16384); // Fast decceleration (50 %/s) for stopping
        pdc.setVelocity(0); // Request motor stop
        Thread.sleep(2000); // Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
        pdc.setEnabled(false); // Disable motor power

        ipcon.disconnect();
    }
}

API

Generally, every method of the Java bindings that returns a value can throw a TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody unplugs the device). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Beside the TimeoutException there is also a NotConnectedException that is thrown if a method needs to communicate with the device while the IP Connection is not connected.

Since Java does not support multiple return values and return by reference is not possible for primitive types, we use small classes that only consist of member variables. The member variables of the returned objects are described in the corresponding method descriptions.

The package for all Brick/Bricklet bindings and the IP Connection is com.tinkerforge.*

All methods listed below are thread-safe.

Basic Functions

class BrickletPerformanceDC(String uid, IPConnection ipcon)
Parameters:
  • uid – Type: String
  • ipcon – Type: IPConnection
Returns:
  • performanceDC – Type: BrickletPerformanceDC

Creates an object with the unique device ID uid:

BrickletPerformanceDC performanceDC = new BrickletPerformanceDC("YOUR_DEVICE_UID", ipcon);

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

void BrickletPerformanceDC.setEnabled(boolean enabled)
Parameters:
  • enabled – Type: boolean

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

boolean BrickletPerformanceDC.getEnabled()
Returns:
  • enabled – Type: boolean, Default: false

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

void BrickletPerformanceDC.setVelocity(int velocity)
Parameters:
  • velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1], Default: 0

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().

int BrickletPerformanceDC.getVelocity()
Returns:
  • velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1], Default: 0

Returns the velocity as set by setVelocity().

int BrickletPerformanceDC.getCurrentVelocity()
Returns:
  • velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1], Default: 0

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().

void BrickletPerformanceDC.setMotion(int acceleration, int deceleration)
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

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.

BrickletPerformanceDC.Motion BrickletPerformanceDC.getMotion()
Return Object:
  • 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 the acceleration/deceleration as set by setMotion().

void BrickletPerformanceDC.fullBrake()

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.

int BrickletPerformanceDC.getPWMFrequency()
Returns:
  • frequency – Type: int, Unit: 1 Hz, Range: [1 to 20000], Default: 15000

Returns the PWM frequency as set by setPWMFrequency().

BrickletPerformanceDC.PowerStatistics BrickletPerformanceDC.getPowerStatistics()
Return Object:
  • voltage – Type: int, Unit: 1 mV, Range: [0 to 216 - 1]
  • current – Type: int, Unit: 1 mA, Range: [0 to 216 - 1]
  • temperature – Type: int, Unit: 1/10 °, Range: [-215 to 215 - 1]

Returns input voltage, current usage and temperature of the driver.

void BrickletPerformanceDC.setThermalShutdown(int temperature)
Parameters:
  • temperature – Type: int, Unit: 1 °, Range: [0 to 255], Default: 125

Sets a temperature threshold that is used for thermal shutdown.

Additionally to this user defined threshold the driver chip will shut down at a temperature of 150°C.

If a thermal shutdown is triggered the driver is disabled and has to be explicitly re-enabled with setEnabled().

int BrickletPerformanceDC.getThermalShutdown()
Returns:
  • temperature – Type: int, Unit: 1 °, Range: [0 to 255]

Returns the thermal shutdown temperature as set by setThermalShutdown().

void BrickletPerformanceDC.setGPIOConfiguration(int channel, int debounce, int stopDeceleration)
Parameters:
  • channel – Type: int, Range: [0 to 1]
  • debounce – Type: int, Unit: 1 ms, Range: [0 to 216 - 1], Default: 200
  • stopDeceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 216 - 1

Sets the GPIO configuration for the given channel. You can configure a debounce and the deceleration that is used if the action is configured as normal stop. See setGPIOAction().

BrickletPerformanceDC.GPIOConfiguration BrickletPerformanceDC.getGPIOConfiguration(int channel)
Parameters:
  • channel – Type: int, Range: [0 to 1]
Return Object:
  • debounce – Type: int, Unit: 1 ms, Range: [0 to 216 - 1], Default: 200
  • stopDeceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 216 - 1

Returns the GPIO configuration for a channel as set by setGPIOConfiguration().

void BrickletPerformanceDC.setGPIOAction(int channel, long action)
Parameters:
  • channel – Type: int, Range: [0 to 1]
  • action – Type: long, Range: See constants, Default: 0

Sets the GPIO action for the given channel.

The action can be a normal stop, a full brake or a listener. Each for a rising edge or falling edge. The actions are a bitmask they can be used at the same time. You can for example trigger a full brake and a listener at the same time or for rising and falling edge.

The deceleration speed for the normal stop can be configured with setGPIOConfiguration().

The following constants are available for this function:

For action:

  • BrickletPerformanceDC.GPIO_ACTION_NONE = 0
  • BrickletPerformanceDC.GPIO_ACTION_NORMAL_STOP_RISING_EDGE = 1
  • BrickletPerformanceDC.GPIO_ACTION_NORMAL_STOP_FALLING_EDGE = 2
  • BrickletPerformanceDC.GPIO_ACTION_FULL_BRAKE_RISING_EDGE = 4
  • BrickletPerformanceDC.GPIO_ACTION_FULL_BRAKE_FALLING_EDGE = 8
  • BrickletPerformanceDC.GPIO_ACTION_CALLBACK_RISING_EDGE = 16
  • BrickletPerformanceDC.GPIO_ACTION_CALLBACK_FALLING_EDGE = 32
long BrickletPerformanceDC.getGPIOAction(int channel)
Parameters:
  • channel – Type: int, Range: [0 to 1]
Returns:
  • action – Type: long, Range: See constants, Default: 0

Returns the GPIO action for a channel as set by setGPIOAction().

The following constants are available for this function:

For action:

  • BrickletPerformanceDC.GPIO_ACTION_NONE = 0
  • BrickletPerformanceDC.GPIO_ACTION_NORMAL_STOP_RISING_EDGE = 1
  • BrickletPerformanceDC.GPIO_ACTION_NORMAL_STOP_FALLING_EDGE = 2
  • BrickletPerformanceDC.GPIO_ACTION_FULL_BRAKE_RISING_EDGE = 4
  • BrickletPerformanceDC.GPIO_ACTION_FULL_BRAKE_FALLING_EDGE = 8
  • BrickletPerformanceDC.GPIO_ACTION_CALLBACK_RISING_EDGE = 16
  • BrickletPerformanceDC.GPIO_ACTION_CALLBACK_FALLING_EDGE = 32
boolean[] BrickletPerformanceDC.getGPIOState()
Returns:
  • gpioState – Type: boolean[], Length: 2

Returns the GPIO state for both channels. True if the state is high and false if the state is low.

Advanced Functions

void BrickletPerformanceDC.setDriveMode(int mode)
Parameters:
  • mode – Type: int, Range: See constants, Default: 0

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:

  • BrickletPerformanceDC.DRIVE_MODE_DRIVE_BRAKE = 0
  • BrickletPerformanceDC.DRIVE_MODE_DRIVE_COAST = 1
int BrickletPerformanceDC.getDriveMode()
Returns:
  • mode – Type: int, Range: See constants, Default: 0

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

The following constants are available for this function:

For mode:

  • BrickletPerformanceDC.DRIVE_MODE_DRIVE_BRAKE = 0
  • BrickletPerformanceDC.DRIVE_MODE_DRIVE_COAST = 1
void BrickletPerformanceDC.setPWMFrequency(int frequency)
Parameters:
  • frequency – Type: int, Unit: 1 Hz, Range: [1 to 20000], Default: 15000

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.

void BrickletPerformanceDC.setErrorLEDConfig(int config)
Parameters:
  • config – Type: int, Range: See constants, Default: 3

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:

  • BrickletPerformanceDC.ERROR_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC.ERROR_LED_CONFIG_ON = 1
  • BrickletPerformanceDC.ERROR_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC.ERROR_LED_CONFIG_SHOW_ERROR = 3
int BrickletPerformanceDC.getErrorLEDConfig()
Returns:
  • config – Type: int, Range: See constants, Default: 3

Returns the LED configuration as set by setErrorLEDConfig()

The following constants are available for this function:

For config:

  • BrickletPerformanceDC.ERROR_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC.ERROR_LED_CONFIG_ON = 1
  • BrickletPerformanceDC.ERROR_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC.ERROR_LED_CONFIG_SHOW_ERROR = 3
void BrickletPerformanceDC.setCWLEDConfig(int config)
Parameters:
  • config – Type: int, Range: See constants, Default: 3

Configures the CW LED to be either turned off, turned on, blink in heartbeat mode or if the motor turn clockwise.

The following constants are available for this function:

For config:

  • BrickletPerformanceDC.CW_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC.CW_LED_CONFIG_ON = 1
  • BrickletPerformanceDC.CW_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC.CW_LED_CONFIG_SHOW_CW_AS_FORWARD = 3
  • BrickletPerformanceDC.CW_LED_CONFIG_SHOW_CW_AS_BACKWARD = 4
int BrickletPerformanceDC.getCWLEDConfig()
Returns:
  • config – Type: int, Range: See constants, Default: 3

Returns the LED configuration as set by setCWLEDConfig()

The following constants are available for this function:

For config:

  • BrickletPerformanceDC.CW_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC.CW_LED_CONFIG_ON = 1
  • BrickletPerformanceDC.CW_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC.CW_LED_CONFIG_SHOW_CW_AS_FORWARD = 3
  • BrickletPerformanceDC.CW_LED_CONFIG_SHOW_CW_AS_BACKWARD = 4
void BrickletPerformanceDC.setCCWLEDConfig(int config)
Parameters:
  • config – Type: int, Range: See constants, Default: 3

Configures the CCW LED to be either turned off, turned on, blink in heartbeat mode or if the motor turn counter-clockwise.

The following constants are available for this function:

For config:

  • BrickletPerformanceDC.CCW_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC.CCW_LED_CONFIG_ON = 1
  • BrickletPerformanceDC.CCW_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC.CCW_LED_CONFIG_SHOW_CCW_AS_FORWARD = 3
  • BrickletPerformanceDC.CCW_LED_CONFIG_SHOW_CCW_AS_BACKWARD = 4
int BrickletPerformanceDC.getCCWLEDConfig()
Returns:
  • config – Type: int, Range: See constants, Default: 3

Returns the LED configuration as set by setCCWLEDConfig()

The following constants are available for this function:

For config:

  • BrickletPerformanceDC.CCW_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC.CCW_LED_CONFIG_ON = 1
  • BrickletPerformanceDC.CCW_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC.CCW_LED_CONFIG_SHOW_CCW_AS_FORWARD = 3
  • BrickletPerformanceDC.CCW_LED_CONFIG_SHOW_CCW_AS_BACKWARD = 4
void BrickletPerformanceDC.setGPIOLEDConfig(int channel, int config)
Parameters:
  • channel – Type: int, Range: [0 to 1]
  • config – Type: int, Range: See constants, Default: 4

Configures the GPIO LED to be either turned off, turned on, blink in heartbeat mode or the GPIO state.

The GPIO LED can be configured for both channels.

The following constants are available for this function:

For config:

  • BrickletPerformanceDC.GPIO_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC.GPIO_LED_CONFIG_ON = 1
  • BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_HIGH = 3
  • BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_LOW = 4
int BrickletPerformanceDC.getGPIOLEDConfig(int channel)
Parameters:
  • channel – Type: int, Range: [0 to 1]
Returns:
  • config – Type: int, Range: See constants, Default: 4

Returns the LED configuration as set by setGPIOLEDConfig()

The following constants are available for this function:

For config:

  • BrickletPerformanceDC.GPIO_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC.GPIO_LED_CONFIG_ON = 1
  • BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_HIGH = 3
  • BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_LOW = 4
BrickletPerformanceDC.SPITFPErrorCount BrickletPerformanceDC.getSPITFPErrorCount()
Return Object:
  • errorCountAckChecksum – Type: long, Range: [0 to 232 - 1]
  • errorCountMessageChecksum – Type: long, Range: [0 to 232 - 1]
  • errorCountFrame – Type: long, Range: [0 to 232 - 1]
  • errorCountOverflow – Type: long, Range: [0 to 232 - 1]

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.

void BrickletPerformanceDC.setStatusLEDConfig(int config)
Parameters:
  • config – Type: int, Range: See constants, Default: 3

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:

  • BrickletPerformanceDC.STATUS_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC.STATUS_LED_CONFIG_ON = 1
  • BrickletPerformanceDC.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC.STATUS_LED_CONFIG_SHOW_STATUS = 3
int BrickletPerformanceDC.getStatusLEDConfig()
Returns:
  • config – Type: int, Range: See constants, Default: 3

Returns the configuration as set by setStatusLEDConfig()

The following constants are available for this function:

For config:

  • BrickletPerformanceDC.STATUS_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC.STATUS_LED_CONFIG_ON = 1
  • BrickletPerformanceDC.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC.STATUS_LED_CONFIG_SHOW_STATUS = 3
int BrickletPerformanceDC.getChipTemperature()
Returns:
  • temperature – Type: int, Unit: 1 °C, Range: [-215 to 215 - 1]

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.

void BrickletPerformanceDC.reset()

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!

BrickletPerformanceDC.Identity BrickletPerformanceDC.getIdentity()
Return Object:
  • uid – Type: String, Length: up to 8
  • connectedUid – Type: String, Length: up to 8
  • position – Type: char, Range: ['a' to 'h', 'z']
  • hardwareVersion – Type: short[], Length: 3
    • 0: major – Type: short, Range: [0 to 255]
    • 1: minor – Type: short, Range: [0 to 255]
    • 2: revision – Type: short, Range: [0 to 255]
  • firmwareVersion – Type: short[], Length: 3
    • 0: major – Type: short, Range: [0 to 255]
    • 1: minor – Type: short, Range: [0 to 255]
    • 2: revision – Type: short, Range: [0 to 255]
  • deviceIdentifier – Type: int, Range: [0 to 216 - 1]

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.

Listener Configuration Functions

void BrickletPerformanceDC.setEmergencyShutdownCallbackConfiguration(boolean enabled)
Parameters:
  • enabled – Type: boolean, Default: false

Enable/Disable EmergencyShutdownListener listener.

boolean BrickletPerformanceDC.getEmergencyShutdownCallbackConfiguration()
Returns:
  • enabled – Type: boolean, Default: true

Returns the listener configuration as set by setEmergencyShutdownCallbackConfiguration().

void BrickletPerformanceDC.setVelocityReachedCallbackConfiguration(boolean enabled)
Parameters:
  • enabled – Type: boolean, Default: false

Enable/Disable VelocityReachedListener listener.

boolean BrickletPerformanceDC.getVelocityReachedCallbackConfiguration()
Returns:
  • enabled – Type: boolean, Default: false

Returns the listener configuration as set by setVelocityReachedCallbackConfiguration().

void BrickletPerformanceDC.setCurrentVelocityCallbackConfiguration(long period, boolean valueHasToChange)
Parameters:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
  • valueHasToChange – Type: boolean, Default: false

The period is the period with which the CurrentVelocityListener listener is triggered periodically. A value of 0 turns the listener off.

If the value has to change-parameter is set to true, the listener is only triggered after the value has changed. If the value didn't change within the period, the listener is triggered immediately on change.

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

BrickletPerformanceDC.CurrentVelocityCallbackConfiguration BrickletPerformanceDC.getCurrentVelocityCallbackConfiguration()
Return Object:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
  • valueHasToChange – Type: boolean, Default: false

Returns the listener configuration as set by setCurrentVelocityCallbackConfiguration().

Listeners

Listeners can be registered to receive time critical or recurring data from the device. The registration is done with add*Listener() functions of the device object.

The parameter is a listener class object, for example:

device.addExampleListener(new BrickletPerformanceDC.ExampleListener() {
    public void property(int value) {
        System.out.println("Value: " + value);
    }
});

The available listener classes with inherent methods to be overwritten are described below. It is possible to add several listeners and to remove them with the corresponding remove*Listener() function.

Note

Using listeners for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

class BrickletPerformanceDC.EmergencyShutdownListener()

This listener can be added with the addEmergencyShutdownListener() function. An added listener can be removed with the removeEmergencyShutdownListener() function.

void emergencyShutdown()

This listener is triggered if either the current consumption is too high or the temperature of the driver chip is too high (above 150°C) or the user defined thermal shutdown is triggered (see setThermalShutdown()). n case of a voltage below 6V (input voltage) this listener is triggered as well.

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

class BrickletPerformanceDC.VelocityReachedListener()

This listener can be added with the addVelocityReachedListener() function. An added listener can be removed with the removeVelocityReachedListener() function.

void velocityReached(int velocity)
Parameters:
  • velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1]

This listener 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 VelocityReachedListener listener 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 listener will be triggered too early.

class BrickletPerformanceDC.CurrentVelocityListener()

This listener can be added with the addCurrentVelocityListener() function. An added listener can be removed with the removeCurrentVelocityListener() function.

void currentVelocity(int velocity)
Parameters:
  • velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1]

This listener is triggered with the period that is set by setCurrentVelocityCallbackConfiguration(). The parameter is the current velocity used by the motor.

The CurrentVelocityListener listener is only triggered after the set period if there is a change in the velocity.

class BrickletPerformanceDC.GPIOStateListener()

This listener can be added with the addGPIOStateListener() function. An added listener can be removed with the removeGPIOStateListener() function.

void gpioState(boolean[] gpioState)
Parameters:
  • gpioState – Type: boolean[], Length: 2

This listener is triggered by GPIO changes if it is activated through setGPIOAction().

New in version 2.0.1 (Plugin).

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.

short[] BrickletPerformanceDC.getAPIVersion()
Return Object:
  • apiVersion – Type: short[], Length: 3
    • 0: major – Type: short, Range: [0 to 255]
    • 1: minor – Type: short, Range: [0 to 255]
    • 2: revision – Type: short, 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.

boolean BrickletPerformanceDC.getResponseExpected(byte functionId)
Parameters:
  • functionId – Type: byte, 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 listener 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 functionId:

  • BrickletPerformanceDC.FUNCTION_SET_ENABLED = 1
  • BrickletPerformanceDC.FUNCTION_SET_VELOCITY = 3
  • BrickletPerformanceDC.FUNCTION_SET_MOTION = 6
  • BrickletPerformanceDC.FUNCTION_FULL_BRAKE = 8
  • BrickletPerformanceDC.FUNCTION_SET_DRIVE_MODE = 9
  • BrickletPerformanceDC.FUNCTION_SET_PWM_FREQUENCY = 11
  • BrickletPerformanceDC.FUNCTION_SET_THERMAL_SHUTDOWN = 14
  • BrickletPerformanceDC.FUNCTION_SET_GPIO_CONFIGURATION = 16
  • BrickletPerformanceDC.FUNCTION_SET_GPIO_ACTION = 18
  • BrickletPerformanceDC.FUNCTION_SET_ERROR_LED_CONFIG = 21
  • BrickletPerformanceDC.FUNCTION_SET_CW_LED_CONFIG = 23
  • BrickletPerformanceDC.FUNCTION_SET_CCW_LED_CONFIG = 25
  • BrickletPerformanceDC.FUNCTION_SET_GPIO_LED_CONFIG = 27
  • BrickletPerformanceDC.FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION = 29
  • BrickletPerformanceDC.FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION = 31
  • BrickletPerformanceDC.FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION = 33
  • BrickletPerformanceDC.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletPerformanceDC.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletPerformanceDC.FUNCTION_RESET = 243
  • BrickletPerformanceDC.FUNCTION_WRITE_UID = 248
void BrickletPerformanceDC.setResponseExpected(byte functionId, boolean responseExpected)
Parameters:
  • functionId – Type: byte, Range: See constants
  • responseExpected – Type: boolean

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 listener 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 functionId:

  • BrickletPerformanceDC.FUNCTION_SET_ENABLED = 1
  • BrickletPerformanceDC.FUNCTION_SET_VELOCITY = 3
  • BrickletPerformanceDC.FUNCTION_SET_MOTION = 6
  • BrickletPerformanceDC.FUNCTION_FULL_BRAKE = 8
  • BrickletPerformanceDC.FUNCTION_SET_DRIVE_MODE = 9
  • BrickletPerformanceDC.FUNCTION_SET_PWM_FREQUENCY = 11
  • BrickletPerformanceDC.FUNCTION_SET_THERMAL_SHUTDOWN = 14
  • BrickletPerformanceDC.FUNCTION_SET_GPIO_CONFIGURATION = 16
  • BrickletPerformanceDC.FUNCTION_SET_GPIO_ACTION = 18
  • BrickletPerformanceDC.FUNCTION_SET_ERROR_LED_CONFIG = 21
  • BrickletPerformanceDC.FUNCTION_SET_CW_LED_CONFIG = 23
  • BrickletPerformanceDC.FUNCTION_SET_CCW_LED_CONFIG = 25
  • BrickletPerformanceDC.FUNCTION_SET_GPIO_LED_CONFIG = 27
  • BrickletPerformanceDC.FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION = 29
  • BrickletPerformanceDC.FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION = 31
  • BrickletPerformanceDC.FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION = 33
  • BrickletPerformanceDC.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletPerformanceDC.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletPerformanceDC.FUNCTION_RESET = 243
  • BrickletPerformanceDC.FUNCTION_WRITE_UID = 248
void BrickletPerformanceDC.setResponseExpectedAll(boolean responseExpected)
Parameters:
  • responseExpected – Type: boolean

Changes the response expected flag for all setter and listener 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.

int BrickletPerformanceDC.setBootloaderMode(int mode)
Parameters:
  • mode – Type: int, Range: See constants
Returns:
  • status – Type: int, Range: See constants

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:

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

For status:

  • BrickletPerformanceDC.BOOTLOADER_STATUS_OK = 0
  • BrickletPerformanceDC.BOOTLOADER_STATUS_INVALID_MODE = 1
  • BrickletPerformanceDC.BOOTLOADER_STATUS_NO_CHANGE = 2
  • BrickletPerformanceDC.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • BrickletPerformanceDC.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • BrickletPerformanceDC.BOOTLOADER_STATUS_CRC_MISMATCH = 5
int BrickletPerformanceDC.getBootloaderMode()
Returns:
  • mode – Type: int, Range: See constants

Returns the current bootloader mode, see setBootloaderMode().

The following constants are available for this function:

For mode:

  • BrickletPerformanceDC.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletPerformanceDC.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletPerformanceDC.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletPerformanceDC.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletPerformanceDC.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
void BrickletPerformanceDC.setWriteFirmwarePointer(long pointer)
Parameters:
  • pointer – Type: long, Unit: 1 B, Range: [0 to 232 - 1]

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.

int BrickletPerformanceDC.writeFirmware(int[] data)
Parameters:
  • data – Type: int[], Length: 64, Range: [0 to 255]
Returns:
  • status – Type: int, Range: [0 to 255]

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.

void BrickletPerformanceDC.writeUID(long uid)
Parameters:
  • uid – Type: long, Range: [0 to 232 - 1]

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.

long BrickletPerformanceDC.readUID()
Returns:
  • uid – Type: long, Range: [0 to 232 - 1]

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

Constants

int BrickletPerformanceDC.DEVICE_IDENTIFIER

This constant is used to identify a Performance DC Bricklet.

The getIdentity() function and the IPConnection.EnumerateListener listener of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

String BrickletPerformanceDC.DEVICE_DISPLAY_NAME

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