Perl - Rotary Encoder Bricklet¶

Simple¶

Download (example_simple.pl)

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#!/usr/bin/perl

use strict;
use Tinkerforge::IPConnection;
use Tinkerforge::BrickletRotaryEncoder;

use constant HOST => 'localhost';
use constant PORT => 4223;
use constant UID => 'XYZ'; # Change XYZ to the UID of your Rotary Encoder Bricklet

my $ipcon = Tinkerforge::IPConnection->new(); # Create IP connection
my $re = Tinkerforge::BrickletRotaryEncoder->new(&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
my $count = $re->get_count(0);
print "Count: $count\n";

print "Press key to exit\n";
<STDIN>;
$ipcon->disconnect();

Callback¶

Download (example_callback.pl)

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#!/usr/bin/perl

use strict;
use Tinkerforge::IPConnection;
use Tinkerforge::BrickletRotaryEncoder;

use constant HOST => 'localhost';
use constant PORT => 4223;
use constant UID => 'XYZ'; # Change XYZ to the UID of your Rotary Encoder Bricklet

# Callback subroutine for count callback
sub cb_count
{
    my ($count) = @_;

    print "Count: $count\n";
}

my $ipcon = Tinkerforge::IPConnection->new(); # Create IP connection
my $re = Tinkerforge::BrickletRotaryEncoder->new(&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 cb_count
$re->register_callback($re->CALLBACK_COUNT, 'cb_count');

# Set period for count callback to 0.05s (50ms)
# Note: The count callback is only called every 0.05 seconds
#       if the count has changed since the last call!
$re->set_count_callback_period(50);

print "Press key to exit\n";
<STDIN>;
$ipcon->disconnect();

Basic Functions¶

BrickletRotaryEncoder->new($uid, $ipcon)¶

Parameters:	$uid – Type: string $ipcon – Type: IPConnection
Returns:	$rotary_encoder – Type: BrickletRotaryEncoder

Creates an object with the unique device ID $uid:

$rotary_encoder = BrickletRotaryEncoder->new("YOUR_DEVICE_UID", $ipcon);

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

BrickletRotaryEncoder->get_count($reset)¶

Parameters:	$reset – Type: bool
Returns:	$count – Type: int, 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.

BrickletRotaryEncoder->is_pressed()¶

Returns:	$pressed – Type: bool

Returns true if the button is pressed and false otherwise.

It is recommended to use the CALLBACK_PRESSED and CALLBACK_RELEASED callbacks to handle the button.

Advanced Functions¶

BrickletRotaryEncoder->get_identity()¶

Return Array:

0: $uid – Type: string, Length: up to 8 1: $connected_uid – Type: string, Length: up to 8 2: $position – Type: char, Range: ['a' to 'h', 'z'] 3: \@hardware_version – 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] 4: \@firmware_version – 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] 5: $device_identifier – 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.

Callback Configuration Functions¶

BrickletRotaryEncoder->register_callback($callback_id, $function)¶

Parameters:	$callback_id – Type: int $function – Type: string
Returns:	undef

Registers the given $function name with the given $callback_id.

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

BrickletRotaryEncoder->set_count_callback_period($period)¶

Parameters:	$period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Returns:	undef

Sets the period with which the CALLBACK_COUNT callback is triggered periodically. A value of 0 turns the callback off.

The CALLBACK_COUNT callback is only triggered if the count has changed since the last triggering.

BrickletRotaryEncoder->get_count_callback_period()¶

Returns:	$period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by set_count_callback_period().

BrickletRotaryEncoder->set_count_callback_threshold($option, $min, $max)¶

Parameters:	$option – Type: char, Range: See constants, Default: 'x' $min – Type: int, Range: [-231 to 231 - 1], Default: 0 $max – Type: int, Range: [-231 to 231 - 1], Default: 0
Returns:	undef

Sets the thresholds for the CALLBACK_COUNT_REACHED callback.

The following options are possible:

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

The following constants are available for this function:

For $option:

• BrickletRotaryEncoder->THRESHOLD_OPTION_OFF = 'x'
• BrickletRotaryEncoder->THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletRotaryEncoder->THRESHOLD_OPTION_INSIDE = 'i'
• BrickletRotaryEncoder->THRESHOLD_OPTION_SMALLER = '<'
• BrickletRotaryEncoder->THRESHOLD_OPTION_GREATER = '>'

BrickletRotaryEncoder->get_count_callback_threshold()¶

Return Array:	0: $option – Type: char, Range: See constants, Default: 'x' 1: $min – Type: int, Range: [-231 to 231 - 1], Default: 0 2: $max – Type: int, Range: [-231 to 231 - 1], Default: 0

Returns the threshold as set by set_count_callback_threshold().

The following constants are available for this function:

For $option:

• BrickletRotaryEncoder->THRESHOLD_OPTION_OFF = 'x'
• BrickletRotaryEncoder->THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletRotaryEncoder->THRESHOLD_OPTION_INSIDE = 'i'
• BrickletRotaryEncoder->THRESHOLD_OPTION_SMALLER = '<'
• BrickletRotaryEncoder->THRESHOLD_OPTION_GREATER = '>'

BrickletRotaryEncoder->set_debounce_period($debounce)¶

Parameters:	$debounce – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100
Returns:	undef

Sets the period with which the threshold callback

• CALLBACK_COUNT_REACHED

is triggered, if the thresholds

• set_count_callback_threshold()

keeps being reached.

BrickletRotaryEncoder->get_debounce_period()¶

Returns:	$debounce – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Returns the debounce period as set by set_debounce_period().

Callbacks¶

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

sub my_callback
{
    print "@_[0]";
}

$rotary_encoder->register_callback(BrickletRotaryEncoder->CALLBACK_EXAMPLE, 'my_callback')

The callback function will be called from an internal thread of the IP Connection. In contrast to many other programming languages, variables are not automatically shared between threads in Perl. If you want to share a global variable between a callback function and the rest for your program it has to be marked as :shared. See the documentation of the threads::shared Perl module for more details.

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

BrickletRotaryEncoder->CALLBACK_COUNT¶

Callback Parameters:	$count – Type: int, Range: [-231 to 231 - 1]

This callback is triggered periodically with the period that is set by set_count_callback_period(). The parameter is the count of the encoder.

The CALLBACK_COUNT callback is only triggered if the count has changed since the last triggering.

BrickletRotaryEncoder->CALLBACK_COUNT_REACHED¶

Callback Parameters:	$count – Type: int, Range: [-231 to 231 - 1]

This callback is triggered when the threshold as set by set_count_callback_threshold() is reached. The parameter is the count of the encoder.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by set_debounce_period().

BrickletRotaryEncoder->CALLBACK_PRESSED¶

Callback Parameters:	no parameters

This callback is triggered when the button is pressed.

BrickletRotaryEncoder->CALLBACK_RELEASED¶

Callback Parameters:	no parameters

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.

BrickletRotaryEncoder->get_api_version()¶

Return Array:	0: \@api_version – 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.

BrickletRotaryEncoder->get_response_expected($function_id)¶

Parameters:	$function_id – Type: int, Range: See constants
Returns:	$response_expected – Type: bool

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 set_response_expected(). 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:

• BrickletRotaryEncoder->FUNCTION_SET_COUNT_CALLBACK_PERIOD = 2
• BrickletRotaryEncoder->FUNCTION_SET_COUNT_CALLBACK_THRESHOLD = 4
• BrickletRotaryEncoder->FUNCTION_SET_DEBOUNCE_PERIOD = 6

BrickletRotaryEncoder->set_response_expected($function_id, $response_expected)¶

Parameters:	$function_id – Type: int, Range: See constants $response_expected – Type: bool
Returns:	undef

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:

• BrickletRotaryEncoder->FUNCTION_SET_COUNT_CALLBACK_PERIOD = 2
• BrickletRotaryEncoder->FUNCTION_SET_COUNT_CALLBACK_THRESHOLD = 4
• BrickletRotaryEncoder->FUNCTION_SET_DEBOUNCE_PERIOD = 6

BrickletRotaryEncoder->set_response_expected_all($response_expected)¶

Parameters:	$response_expected – Type: bool
Returns:	undef

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

Constants¶

BrickletRotaryEncoder->DEVICE_IDENTIFIER¶

This constant is used to identify a Rotary Encoder Bricklet.

The get_identity() 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.

BrickletRotaryEncoder->DEVICE_DISPLAY_NAME¶

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