Visual Basic .NET - Rotary Encoder Bricklet¶

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

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim re As New BrickletRotaryEncoder(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

    ' Callback subroutine for count callback
    Sub CountCB(ByVal sender As BrickletRotaryEncoder, 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 BrickletRotaryEncoder(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 0.05s (50ms)
        ' Note: The count callback is only called every 0.05 seconds
        '       if the count has changed since the last call!
        re.SetCountCallbackPeriod(50)

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

Basic Functions¶

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

Creates an object with the unique device ID uid:

Dim rotaryEncoder As New BrickletRotaryEncoder("YOUR_DEVICE_UID", ipcon)

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

Function BrickletRotaryEncoder.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.

Function BrickletRotaryEncoder.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 BrickletRotaryEncoder.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 BrickletRotaryEncoder.SetCountCallbackPeriod(ByVal period As Long)¶

Parameters:	period – Type: Long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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

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

Function BrickletRotaryEncoder.GetCountCallbackPeriod() As Long¶

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

Returns the period as set by SetCountCallbackPeriod().

Sub BrickletRotaryEncoder.SetCountCallbackThreshold(ByVal option As Char, ByVal min As Integer, ByVal max As Integer)¶

Parameters:	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

Sets the thresholds for the CountReachedCallback 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"C
• BrickletRotaryEncoder.THRESHOLD_OPTION_OUTSIDE = "o"C
• BrickletRotaryEncoder.THRESHOLD_OPTION_INSIDE = "i"C
• BrickletRotaryEncoder.THRESHOLD_OPTION_SMALLER = "<"C
• BrickletRotaryEncoder.THRESHOLD_OPTION_GREATER = ">"C

Sub BrickletRotaryEncoder.GetCountCallbackThreshold(ByRef option As Char, ByRef min As Integer, ByRef max As Integer)¶

Output Parameters:	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 threshold as set by SetCountCallbackThreshold().

The following constants are available for this function:

For option:

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

Sub BrickletRotaryEncoder.SetDebouncePeriod(ByVal debounce As Long)¶

Parameters:	debounce – Type: Long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Sets the period with which the threshold callback

• CountReachedCallback

is triggered, if the thresholds

• SetCountCallbackThreshold()

keeps being reached.

Function BrickletRotaryEncoder.GetDebouncePeriod() As Long¶

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

Returns the debounce period as set by SetDebouncePeriod().

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

AddHandler rotaryEncoder.ExampleCallback, AddressOf MyCallback

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

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

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

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

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

Event BrickletRotaryEncoder.CountReachedCallback(ByVal sender As BrickletRotaryEncoder, ByVal count As Integer)¶

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

This callback is triggered when the threshold as set by SetCountCallbackThreshold() 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 SetDebouncePeriod().

Event BrickletRotaryEncoder.PressedCallback(ByVal sender As BrickletRotaryEncoder)¶

Callback Parameters:	sender – Type: BrickletRotaryEncoder

This callback is triggered when the button is pressed.

Event BrickletRotaryEncoder.ReleasedCallback(ByVal sender As BrickletRotaryEncoder)¶

Callback Parameters:	sender – Type: BrickletRotaryEncoder

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 BrickletRotaryEncoder.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 BrickletRotaryEncoder.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:

• BrickletRotaryEncoder.FUNCTION_SET_COUNT_CALLBACK_PERIOD = 2
• BrickletRotaryEncoder.FUNCTION_SET_COUNT_CALLBACK_THRESHOLD = 4
• BrickletRotaryEncoder.FUNCTION_SET_DEBOUNCE_PERIOD = 6

Sub BrickletRotaryEncoder.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:

• BrickletRotaryEncoder.FUNCTION_SET_COUNT_CALLBACK_PERIOD = 2
• BrickletRotaryEncoder.FUNCTION_SET_COUNT_CALLBACK_THRESHOLD = 4
• BrickletRotaryEncoder.FUNCTION_SET_DEBOUNCE_PERIOD = 6

Sub BrickletRotaryEncoder.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.

Constants¶

Const BrickletRotaryEncoder.DEVICE_IDENTIFIER¶

This constant is used to identify a Rotary Encoder Bricklet.

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 BrickletRotaryEncoder.DEVICE_DISPLAY_NAME¶

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