Visual Basic .NET - Rotary Encoder Bricklet 2.0¶

Simple¶

Download (ExampleSimple.vb)

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Imports System
Imports Tinkerforge

Module ExampleSimple
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Rotary Encoder Bricklet 2.0

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim re As New BrickletRotaryEncoderV2(UID, ipcon) ' Create device object

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

        ' Get current count without reset
        Dim count As Integer = re.GetCount(False)
        Console.WriteLine("Count: " + count.ToString())

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

Callback¶

Download (ExampleCallback.vb)

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Imports System
Imports Tinkerforge

Module ExampleCallback
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Rotary Encoder Bricklet 2.0

    ' Callback subroutine for count callback
    Sub CountCB(ByVal sender As BrickletRotaryEncoderV2, ByVal count As Integer)
        Console.WriteLine("Count: " + count.ToString())
    End Sub

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim re As New BrickletRotaryEncoderV2(UID, ipcon) ' Create device object

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

        ' Register count callback to subroutine CountCB
        AddHandler re.CountCallback, AddressOf CountCB

        ' Set period for count callback to 1s (1000ms) without a threshold
        re.SetCountCallbackConfiguration(1000, False, "x"C, 0, 0)

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

Basic Functions¶

Class BrickletRotaryEncoderV2(ByVal uid As String, ByVal ipcon As IPConnection)¶

Creates an object with the unique device ID uid:

Dim rotaryEncoderV2 As New BrickletRotaryEncoderV2("YOUR_DEVICE_UID", ipcon)

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

Function BrickletRotaryEncoderV2.GetCount(ByVal reset As Boolean) As Integer¶

Parameters:	reset – Type: Boolean
Returns:	count – Type: Integer, 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 CountCallback callback. You can set the callback configuration with SetCountCallbackConfiguration().

Function BrickletRotaryEncoderV2.IsPressed() As Boolean¶

Returns:	pressed – Type: Boolean

Returns true if the button is pressed and false otherwise.

It is recommended to use the PressedCallback and ReleasedCallback callbacks to handle the button.

Advanced Functions¶

Sub BrickletRotaryEncoderV2.GetSPITFPErrorCount(ByRef errorCountAckChecksum As Long, ByRef errorCountMessageChecksum As Long, ByRef errorCountFrame As Long, ByRef errorCountOverflow As Long)¶

Output Parameters:	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.

Sub BrickletRotaryEncoderV2.SetStatusLEDConfig(ByVal config As 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:

• BrickletRotaryEncoderV2.STATUS_LED_CONFIG_OFF = 0
• BrickletRotaryEncoderV2.STATUS_LED_CONFIG_ON = 1
• BrickletRotaryEncoderV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletRotaryEncoderV2.STATUS_LED_CONFIG_SHOW_STATUS = 3

Function BrickletRotaryEncoderV2.GetStatusLEDConfig() As 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:

• BrickletRotaryEncoderV2.STATUS_LED_CONFIG_OFF = 0
• BrickletRotaryEncoderV2.STATUS_LED_CONFIG_ON = 1
• BrickletRotaryEncoderV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletRotaryEncoderV2.STATUS_LED_CONFIG_SHOW_STATUS = 3

Function BrickletRotaryEncoderV2.GetChipTemperature() As Short¶

Returns:	temperature – Type: Short, 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.

Sub BrickletRotaryEncoderV2.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!

Sub BrickletRotaryEncoderV2.GetIdentity(ByRef uid As String, ByRef connectedUid As String, ByRef position As Char, ByRef hardwareVersion() As Byte, ByRef firmwareVersion() As Byte, ByRef deviceIdentifier As Integer)¶

Output Parameters:

uid – Type: String, Length: up to 8 connectedUid – Type: String, Length: up to 8 position – Type: Char, Range: ["a"C to "h"C, "z"C] hardwareVersion – Type: Byte Array, Length: 3 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: Byte Array, Length: 3 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: Integer, 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¶

Sub BrickletRotaryEncoderV2.SetCountCallbackConfiguration(ByVal period As Long, ByVal valueHasToChange As Boolean, ByVal option As Char, ByVal min As Integer, ByVal max As Integer)¶

Parameters:	period – Type: Long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: Boolean, Default: false option – Type: Char, Range: See constants, Default: "x"C min – Type: Integer, Range: [-231 to 231 - 1], Default: 0 max – Type: Integer, Range: [-231 to 231 - 1], Default: 0

The period is the period with which the CountCallback 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 CountCallback 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:

• BrickletRotaryEncoderV2.THRESHOLD_OPTION_OFF = "x"C
• BrickletRotaryEncoderV2.THRESHOLD_OPTION_OUTSIDE = "o"C
• BrickletRotaryEncoderV2.THRESHOLD_OPTION_INSIDE = "i"C
• BrickletRotaryEncoderV2.THRESHOLD_OPTION_SMALLER = "<"C
• BrickletRotaryEncoderV2.THRESHOLD_OPTION_GREATER = ">"C

Sub BrickletRotaryEncoderV2.GetCountCallbackConfiguration(ByRef period As Long, ByRef valueHasToChange As Boolean, ByRef option As Char, ByRef min As Integer, ByRef max As Integer)¶

Output Parameters:	period – Type: Long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: Boolean, Default: false option – Type: Char, Range: See constants, Default: "x"C min – Type: Integer, Range: [-231 to 231 - 1], Default: 0 max – Type: Integer, 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:

• BrickletRotaryEncoderV2.THRESHOLD_OPTION_OFF = "x"C
• BrickletRotaryEncoderV2.THRESHOLD_OPTION_OUTSIDE = "o"C
• BrickletRotaryEncoderV2.THRESHOLD_OPTION_INSIDE = "i"C
• BrickletRotaryEncoderV2.THRESHOLD_OPTION_SMALLER = "<"C
• BrickletRotaryEncoderV2.THRESHOLD_OPTION_GREATER = ">"C

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:

Sub MyCallback(ByVal sender As BrickletRotaryEncoderV2, ByVal value As Short)
    Console.WriteLine("Value: {0}", value)
End Sub

AddHandler rotaryEncoderV2.ExampleCallback, AddressOf MyCallback

The available callback property and their type of parameters are described below.

Event BrickletRotaryEncoderV2.CountCallback(ByVal sender As BrickletRotaryEncoderV2, ByVal count As Integer)¶

Callback Parameters:	sender – Type: BrickletRotaryEncoderV2 count – Type: Integer, Range: [-231 to 231 - 1]

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

The parameter is the same as GetCount().

Event BrickletRotaryEncoderV2.PressedCallback(ByVal sender As BrickletRotaryEncoderV2)¶

Callback Parameters:	sender – Type: BrickletRotaryEncoderV2

This callback is triggered when the button is pressed.

Event BrickletRotaryEncoderV2.ReleasedCallback(ByVal sender As BrickletRotaryEncoderV2)¶

Callback Parameters:	sender – Type: BrickletRotaryEncoderV2

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 BrickletRotaryEncoderV2.GetAPIVersion() As Byte()¶

Output Parameters:	apiVersion – Type: Byte Array, Length: 3 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 BrickletRotaryEncoderV2.GetResponseExpected(ByVal functionId As Byte) As 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:

• BrickletRotaryEncoderV2.FUNCTION_SET_COUNT_CALLBACK_CONFIGURATION = 2
• BrickletRotaryEncoderV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletRotaryEncoderV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletRotaryEncoderV2.FUNCTION_RESET = 243
• BrickletRotaryEncoderV2.FUNCTION_WRITE_UID = 248

Sub BrickletRotaryEncoderV2.SetResponseExpected(ByVal functionId As Byte, ByVal responseExpected As 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:

• BrickletRotaryEncoderV2.FUNCTION_SET_COUNT_CALLBACK_CONFIGURATION = 2
• BrickletRotaryEncoderV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletRotaryEncoderV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletRotaryEncoderV2.FUNCTION_RESET = 243
• BrickletRotaryEncoderV2.FUNCTION_WRITE_UID = 248

Sub BrickletRotaryEncoderV2.SetResponseExpectedAll(ByVal responseExpected As 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 BrickletRotaryEncoderV2.SetBootloaderMode(ByVal mode As Byte) As 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:

• BrickletRotaryEncoderV2.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletRotaryEncoderV2.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletRotaryEncoderV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletRotaryEncoderV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletRotaryEncoderV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

• BrickletRotaryEncoderV2.BOOTLOADER_STATUS_OK = 0
• BrickletRotaryEncoderV2.BOOTLOADER_STATUS_INVALID_MODE = 1
• BrickletRotaryEncoderV2.BOOTLOADER_STATUS_NO_CHANGE = 2
• BrickletRotaryEncoderV2.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
• BrickletRotaryEncoderV2.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
• BrickletRotaryEncoderV2.BOOTLOADER_STATUS_CRC_MISMATCH = 5

Function BrickletRotaryEncoderV2.GetBootloaderMode() As 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:

• BrickletRotaryEncoderV2.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletRotaryEncoderV2.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletRotaryEncoderV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletRotaryEncoderV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletRotaryEncoderV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

Sub BrickletRotaryEncoderV2.SetWriteFirmwarePointer(ByVal pointer As Long)¶

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.

Function BrickletRotaryEncoderV2.WriteFirmware(ByVal data() As Byte) As Byte¶

Parameters:	data – Type: Byte Array, Length: 64, 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.

Sub BrickletRotaryEncoderV2.WriteUID(ByVal uid As Long)¶

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.

Function BrickletRotaryEncoderV2.ReadUID() As Long¶

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¶

Const BrickletRotaryEncoderV2.DEVICE_IDENTIFIER¶

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

The GetIdentity() function and the IPConnection.EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

Const BrickletRotaryEncoderV2.DEVICE_DISPLAY_NAME¶

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