Delphi/Lazarus - Rotary Encoder Bricklet 2.0¶

Simple¶

Download (ExampleSimple.pas)

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program ExampleSimple;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletRotaryEncoderV2;

type
  TExample = class
  private
    ipcon: TIPConnection;
    re: TBrickletRotaryEncoderV2;
  public
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your Rotary Encoder Bricklet 2.0 }

var
  e: TExample;

procedure TExample.Execute;
var count: longint;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  re := TBrickletRotaryEncoderV2.Create(UID, ipcon);

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

  { Get current count without reset }
  count := re.GetCount(false);
  WriteLn(Format('Count: %d', [count]));

  WriteLn('Press key to exit');
  ReadLn;
  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

Callback¶

Download (ExampleCallback.pas)

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program ExampleCallback;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletRotaryEncoderV2;

type
  TExample = class
  private
    ipcon: TIPConnection;
    re: TBrickletRotaryEncoderV2;
  public
    procedure CountCB(sender: TBrickletRotaryEncoderV2; const count: longint);
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your Rotary Encoder Bricklet 2.0 }

var
  e: TExample;

{ Callback procedure for count callback }
procedure TExample.CountCB(sender: TBrickletRotaryEncoderV2; const count: longint);
begin
  WriteLn(Format('Count: %d', [count]));
end;

procedure TExample.Execute;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  re := TBrickletRotaryEncoderV2.Create(UID, ipcon);

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

  { Register count callback to procedure CountCB }
  re.OnCount := {$ifdef FPC}@{$endif}CountCB;

  { Set period for count callback to 1s (1000ms) without a threshold }
  re.SetCountCallbackConfiguration(1000, false, 'x', 0, 0);

  WriteLn('Press key to exit');
  ReadLn;
  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

Basic Functions¶

constructor TBrickletRotaryEncoderV2.Create(const uid: string; ipcon: TIPConnection)¶

Parameters:	uid – Type: string ipcon – Type: TIPConnection
Returns:	rotaryEncoderV2 – Type: TBrickletRotaryEncoderV2

Creates an object with the unique device ID uid:

rotaryEncoderV2 := TBrickletRotaryEncoderV2.Create('YOUR_DEVICE_UID', ipcon);

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

function TBrickletRotaryEncoderV2.GetCount(const reset: boolean): longint¶

Parameters:	reset – Type: boolean
Returns:	count – Type: longint, Range: [-231 to 231 - 1]

Returns the current count of the encoder. If you set reset to true, the count is set back to 0 directly after the current count is read.

The encoder has 24 steps per rotation.

Turning the encoder to the left decrements the counter, so a negative count is possible.

If you want to get the value periodically, it is recommended to use the OnCount callback. You can set the callback configuration with SetCountCallbackConfiguration.

function TBrickletRotaryEncoderV2.IsPressed: boolean¶

Returns:	pressed – Type: boolean

Returns true if the button is pressed and false otherwise.

It is recommended to use the OnPressed and OnReleased callbacks to handle the button.

Advanced Functions¶

procedure TBrickletRotaryEncoderV2.GetSPITFPErrorCount(out errorCountAckChecksum: longword; out errorCountMessageChecksum: longword; out errorCountFrame: longword; out errorCountOverflow: longword)¶

Output Parameters:	errorCountAckChecksum – Type: longword, Range: [0 to 232 - 1] errorCountMessageChecksum – Type: longword, Range: [0 to 232 - 1] errorCountFrame – Type: longword, Range: [0 to 232 - 1] errorCountOverflow – Type: longword, 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.

procedure TBrickletRotaryEncoderV2.SetStatusLEDConfig(const config: byte)¶

Parameters:	config – Type: byte, 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:

• BRICKLET_ROTARY_ENCODER_V2_STATUS_LED_CONFIG_OFF = 0
• BRICKLET_ROTARY_ENCODER_V2_STATUS_LED_CONFIG_ON = 1
• BRICKLET_ROTARY_ENCODER_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BRICKLET_ROTARY_ENCODER_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3

function TBrickletRotaryEncoderV2.GetStatusLEDConfig: byte¶

Returns:	config – Type: byte, Range: See constants, Default: 3

Returns the configuration as set by SetStatusLEDConfig

The following constants are available for this function:

For config:

• BRICKLET_ROTARY_ENCODER_V2_STATUS_LED_CONFIG_OFF = 0
• BRICKLET_ROTARY_ENCODER_V2_STATUS_LED_CONFIG_ON = 1
• BRICKLET_ROTARY_ENCODER_V2_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BRICKLET_ROTARY_ENCODER_V2_STATUS_LED_CONFIG_SHOW_STATUS = 3

function TBrickletRotaryEncoderV2.GetChipTemperature: smallint¶

Returns:	temperature – Type: smallint, 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.

procedure TBrickletRotaryEncoderV2.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!

procedure TBrickletRotaryEncoderV2.GetIdentity(out uid: string; out connectedUid: string; out position: char; out hardwareVersion: array [0..2] of byte; out firmwareVersion: array [0..2] of byte; out deviceIdentifier: word)¶

Output 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: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] firmwareVersion – Type: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] deviceIdentifier – Type: word, 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.

Callback Configuration Functions¶

procedure TBrickletRotaryEncoderV2.SetCountCallbackConfiguration(const period: longword; const valueHasToChange: boolean; const option: char; const min: longint; const max: longint)¶

Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: longint, Range: [-231 to 231 - 1], Default: 0 max – Type: longint, Range: [-231 to 231 - 1], Default: 0

The period is the period with which the OnCount 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.

It is furthermore possible to constrain the callback with thresholds.

The option-parameter together with min/max sets a threshold for the OnCount callback.

The following options are possible:

Option	Description
'x'	Threshold is turned off
'o'	Threshold is triggered when the value is outside the min and max values
'i'	Threshold is triggered when the value is inside or equal to the min and max values
'<'	Threshold is triggered when the value is smaller than the min value (max is ignored)
'>'	Threshold is triggered when the value is greater than the min value (max is ignored)

If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.

The following constants are available for this function:

For option:

• BRICKLET_ROTARY_ENCODER_V2_THRESHOLD_OPTION_OFF = 'x'
• BRICKLET_ROTARY_ENCODER_V2_THRESHOLD_OPTION_OUTSIDE = 'o'
• BRICKLET_ROTARY_ENCODER_V2_THRESHOLD_OPTION_INSIDE = 'i'
• BRICKLET_ROTARY_ENCODER_V2_THRESHOLD_OPTION_SMALLER = '<'
• BRICKLET_ROTARY_ENCODER_V2_THRESHOLD_OPTION_GREATER = '>'

procedure TBrickletRotaryEncoderV2.GetCountCallbackConfiguration(out period: longword; out valueHasToChange: boolean; out option: char; out min: longint; out max: longint)¶

Output Parameters:	period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: longint, Range: [-231 to 231 - 1], Default: 0 max – Type: longint, Range: [-231 to 231 - 1], Default: 0

Returns the callback configuration as set by SetCountCallbackConfiguration.

The following constants are available for this function:

For option:

• BRICKLET_ROTARY_ENCODER_V2_THRESHOLD_OPTION_OFF = 'x'
• BRICKLET_ROTARY_ENCODER_V2_THRESHOLD_OPTION_OUTSIDE = 'o'
• BRICKLET_ROTARY_ENCODER_V2_THRESHOLD_OPTION_INSIDE = 'i'
• BRICKLET_ROTARY_ENCODER_V2_THRESHOLD_OPTION_SMALLER = '<'
• BRICKLET_ROTARY_ENCODER_V2_THRESHOLD_OPTION_GREATER = '>'

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a procedure to an callback property of the device object:

procedure TExample.MyCallback(sender: TBrickletRotaryEncoderV2; const value: longint);
begin
  WriteLn(Format('Value: %d', [value]));
end;

rotaryEncoderV2.OnExample := {$ifdef FPC}@{$endif}example.MyCallback;

The available callback properties and their parameter types are described below.

property TBrickletRotaryEncoderV2.OnCount¶

procedure(sender: TBrickletRotaryEncoderV2; const count: longint) of object;

Callback Parameters:	sender – Type: TBrickletRotaryEncoderV2 count – Type: longint, Range: [-231 to 231 - 1]

This callback is triggered periodically according to the configuration set by SetCountCallbackConfiguration.

The parameter is the same as GetCount.

property TBrickletRotaryEncoderV2.OnPressed¶

procedure(sender: TBrickletRotaryEncoderV2) of object;

Callback Parameters:	sender – Type: TBrickletRotaryEncoderV2

This callback is triggered when the button is pressed.

property TBrickletRotaryEncoderV2.OnReleased¶

procedure(sender: TBrickletRotaryEncoderV2) of object;

Callback Parameters:	sender – Type: TBrickletRotaryEncoderV2

This callback is triggered when the button is released.

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.

function TBrickletRotaryEncoderV2.GetAPIVersion: array [0..2] of byte¶

Output Parameters:	apiVersion – Type: array [0..2] of byte 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, 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.

function TBrickletRotaryEncoderV2.GetResponseExpected(const functionId: byte): boolean¶

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 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 functionId:

• BRICKLET_ROTARY_ENCODER_V2_FUNCTION_SET_COUNT_CALLBACK_CONFIGURATION = 2
• BRICKLET_ROTARY_ENCODER_V2_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BRICKLET_ROTARY_ENCODER_V2_FUNCTION_SET_STATUS_LED_CONFIG = 239
• BRICKLET_ROTARY_ENCODER_V2_FUNCTION_RESET = 243
• BRICKLET_ROTARY_ENCODER_V2_FUNCTION_WRITE_UID = 248

procedure TBrickletRotaryEncoderV2.SetResponseExpected(const functionId: byte; const responseExpected: boolean)¶

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 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 functionId:

• BRICKLET_ROTARY_ENCODER_V2_FUNCTION_SET_COUNT_CALLBACK_CONFIGURATION = 2
• BRICKLET_ROTARY_ENCODER_V2_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BRICKLET_ROTARY_ENCODER_V2_FUNCTION_SET_STATUS_LED_CONFIG = 239
• BRICKLET_ROTARY_ENCODER_V2_FUNCTION_RESET = 243
• BRICKLET_ROTARY_ENCODER_V2_FUNCTION_WRITE_UID = 248

procedure TBrickletRotaryEncoderV2.SetResponseExpectedAll(const responseExpected: boolean)¶

Parameters:	responseExpected – Type: boolean

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.

function TBrickletRotaryEncoderV2.SetBootloaderMode(const mode: byte): byte¶

Parameters:	mode – Type: byte, Range: See constants
Returns:	status – Type: byte, 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:

• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_MODE_BOOTLOADER = 0
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_MODE_FIRMWARE = 1
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_STATUS_OK = 0
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_STATUS_INVALID_MODE = 1
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_STATUS_NO_CHANGE = 2
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_STATUS_CRC_MISMATCH = 5

function TBrickletRotaryEncoderV2.GetBootloaderMode: byte¶

Returns:	mode – Type: byte, Range: See constants

Returns the current bootloader mode, see SetBootloaderMode.

The following constants are available for this function:

For mode:

• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_MODE_BOOTLOADER = 0
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_MODE_FIRMWARE = 1
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BRICKLET_ROTARY_ENCODER_V2_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

procedure TBrickletRotaryEncoderV2.SetWriteFirmwarePointer(const pointer: longword)¶

Parameters:	pointer – Type: longword, 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.

function TBrickletRotaryEncoderV2.WriteFirmware(const data: array [0..63] of byte): byte¶

Parameters:	data – Type: array [0..63] of byte, Range: [0 to 255]
Returns:	status – Type: byte, 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.

procedure TBrickletRotaryEncoderV2.WriteUID(const uid: longword)¶

Parameters:	uid – Type: longword, 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.

function TBrickletRotaryEncoderV2.ReadUID: longword¶

Returns:	uid – Type: longword, Range: [0 to 232 - 1]

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

Constants¶

const BRICKLET_ROTARY_ENCODER_V2_DEVICE_IDENTIFIER¶

This constant is used to identify a Rotary Encoder Bricklet 2.0.

The GetIdentity function and the TIPConnection.OnEnumerate callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

const BRICKLET_ROTARY_ENCODER_V2_DEVICE_DISPLAY_NAME¶

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