Delphi/Lazarus - Stepper Brick¶

Configuration¶

Download (ExampleConfiguration.pas)

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program ExampleConfiguration;

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

uses
  SysUtils, IPConnection, BrickStepper;

type
  TExample = class
  private
    ipcon: TIPConnection;
    stepper: TBrickStepper;
  public
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XXYYZZ'; { Change XXYYZZ to the UID of your Stepper Brick }

var
  e: TExample;

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

  { Create device object }
  stepper := TBrickStepper.Create(UID, ipcon);

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

  stepper.SetMotorCurrent(800); { 800 mA }
  stepper.SetStepMode(8); { 1/8 step mode }
  stepper.SetMaxVelocity(2000); { Velocity 2000 steps/s }

  { Slow acceleration (500 steps/s^2),
    Fast deacceleration (5000 steps/s^2) }
  stepper.SetSpeedRamping(500, 5000);

  stepper.Enable; { Enable motor power }
  stepper.SetSteps(60000); { Drive 60000 steps forward }

  WriteLn('Press key to exit');
  ReadLn;

  { Stop motor before disabling motor power }
  stepper.Stop; { Request motor stop }
  stepper.SetSpeedRamping(500,
                          5000); { Fast deacceleration (5000 steps/s^2) for stopping }
  Sleep(400); { Wait for motor to actually stop: max velocity (2000 steps/s) / decceleration (5000 steps/s^2) = 0.4 s }
  stepper.Disable; { Disable motor power }

  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, BrickStepper;

type
  TExample = class
  private
    ipcon: TIPConnection;
    stepper: TBrickStepper;
  public
    procedure PositionReachedCB(sender: TBrickStepper; const position: longint);
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XXYYZZ'; { Change XXYYZZ to the UID of your Stepper Brick }

var
  e: TExample;

{ Use position reached callback to program random movement }
procedure TExample.PositionReachedCB(sender: TBrickStepper; const position: longint);
var steps: longint; vel: smallint; acc, dec: word;
begin
  if (Random(2) = 0) then begin
    steps := Random(4000) + 1000; { steps (forward) }
    WriteLn(Format('Driving forward: %d steps', [steps]));
  end
  else begin
    steps := -(Random(4000) + 1000); { steps (backward) }
    WriteLn(Format('Driving backward: %d steps', [steps]));
  end;

  vel := Random(1800) + 200; { steps/s }
  acc := Random(900) + 100; { steps/s^2 }
  dec := Random(900) + 100; { steps/s^2 }
  WriteLn(Format('Configuration (vel, acc, dec): %d, %d %d', [vel, acc, dec]));

  sender.SetSpeedRamping(acc, dec);
  sender.SetMaxVelocity(vel);
  sender.SetSteps(steps);
end;

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

  { Create device object }
  stepper := TBrickStepper.Create(UID, ipcon);

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

  { Register position reached callback to procedure PositionReachedCB }
  stepper.OnPositionReached := {$ifdef FPC}@{$endif}PositionReachedCB;

  stepper.Enable; { Enable motor power }
  stepper.SetSteps(1); { Drive one step forward to get things going }

  WriteLn('Press key to exit');
  ReadLn;

  { Stop motor before disabling motor power }
  stepper.Stop; { Request motor stop }
  stepper.SetSpeedRamping(500,
                          5000); { Fast deacceleration (5000 steps/s^2) for stopping }
  Sleep(400); { Wait for motor to actually stop: max velocity (2000 steps/s) / decceleration (5000 steps/s^2) = 0.4 s }
  stepper.Disable; { Disable motor power }

  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

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

Basic Functions¶

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

Parameters:	uid – Type: string ipcon – Type: TIPConnection
Returns:	stepper – Type: TBrickStepper

Creates an object with the unique device ID uid:

stepper := TBrickStepper.Create('YOUR_DEVICE_UID', ipcon);

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

procedure TBrickStepper.SetMaxVelocity(const velocity: word)¶

Parameters:	velocity – Type: word, Unit: 1 1/s, Range: [0 to 216 - 1]

Sets the maximum velocity of the stepper motor. This function does not start the motor, it merely sets the maximum velocity the stepper motor is accelerated to. To get the motor running use either SetTargetPosition, SetSteps, DriveForward or DriveBackward.

function TBrickStepper.GetMaxVelocity: word¶

Returns:	velocity – Type: word, Unit: 1 1/s, Range: [0 to 216 - 1]

Returns the velocity as set by SetMaxVelocity.

function TBrickStepper.GetCurrentVelocity: word¶

Returns:	velocity – Type: word, Unit: 1 1/s, Range: [0 to 216 - 1]

Returns the current velocity of the stepper motor.

procedure TBrickStepper.SetSpeedRamping(const acceleration: word; const deacceleration: word)¶

Parameters:	acceleration – Type: word, Unit: 1 1/s², Range: [0 to 216 - 1], Default: 1000 deacceleration – Type: word, Unit: 1 1/s², Range: [0 to 216 - 1], Default: 1000

Sets the acceleration and deacceleration of the stepper motor. An acceleration of 1000 means, that every second the velocity is increased by 1000 steps/s.

For example: If the current velocity is 0 and you want to accelerate to a velocity of 8000 steps/s in 10 seconds, you should set an acceleration of 800 steps/s².

An acceleration/deacceleration of 0 means instantaneous acceleration/deacceleration (not recommended)

procedure TBrickStepper.GetSpeedRamping(out acceleration: word; out deacceleration: word)¶

Output Parameters:	acceleration – Type: word, Unit: 1 1/s², Range: [0 to 216 - 1], Default: 1000 deacceleration – Type: word, Unit: 1 1/s², Range: [0 to 216 - 1], Default: 1000

Returns the acceleration and deacceleration as set by SetSpeedRamping.

procedure TBrickStepper.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 Stop if you just want to stop the motor.

procedure TBrickStepper.SetSteps(const steps: longint)¶

Parameters:	steps – Type: longint, Range: [-231 to 231 - 1]

Sets the number of steps the stepper motor should run. Positive values will drive the motor forward and negative values backward. The velocity, acceleration and deacceleration as set by SetMaxVelocity and SetSpeedRamping will be used.

function TBrickStepper.GetSteps: longint¶

Returns:	steps – Type: longint, Range: [-231 to 231 - 1]

Returns the last steps as set by SetSteps.

function TBrickStepper.GetRemainingSteps: longint¶

Returns:	steps – Type: longint, Range: [-231 to 231 - 1]

Returns the remaining steps of the last call of SetSteps. For example, if SetSteps is called with 2000 and GetRemainingSteps is called after the motor has run for 500 steps, it will return 1500.

procedure TBrickStepper.DriveForward¶

Drives the stepper motor forward until DriveBackward or Stop is called. The velocity, acceleration and deacceleration as set by SetMaxVelocity and SetSpeedRamping will be used.

procedure TBrickStepper.DriveBackward¶

Drives the stepper motor backward until DriveForward or Stop is triggered. The velocity, acceleration and deacceleration as set by SetMaxVelocity and SetSpeedRamping will be used.

procedure TBrickStepper.Stop¶

Stops the stepper motor with the deacceleration as set by SetSpeedRamping.

procedure TBrickStepper.SetMotorCurrent(const current: word)¶

Parameters:	current – Type: word, Unit: 1 mA, Range: [100 to 2291], Default: 800

Sets the current with which the motor will be driven.

Warning

Do not set this value above the specifications of your stepper motor. Otherwise it may damage your motor.

function TBrickStepper.GetMotorCurrent: word¶

Returns:	current – Type: word, Unit: 1 mA, Range: [100 to 2291], Default: 800

Returns the current as set by SetMotorCurrent.

procedure TBrickStepper.Enable¶

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

procedure TBrickStepper.Disable¶

Disables the driver chip. The configurations are kept (maximum velocity, acceleration, etc) but the motor is not driven until it is enabled again.

Warning

Disabling the driver chip while the motor is still turning can damage the driver chip. The motor should be stopped calling Stop function before disabling the motor power. The Stop function will not wait until the motor is actually stopped. You have to explicitly wait for the appropriate time after calling the Stop function before calling the Disable function.

function TBrickStepper.IsEnabled: boolean¶

Returns:	enabled – Type: boolean, Default: false

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

Advanced Functions¶

procedure TBrickStepper.SetCurrentPosition(const position: longint)¶

Parameters:	position – Type: longint, Range: [-231 to 231 - 1]

Sets the current steps of the internal step counter. This can be used to set the current position to 0 when some kind of starting position is reached (e.g. when a CNC machine reaches a corner).

function TBrickStepper.GetCurrentPosition: longint¶

Returns:	position – Type: longint, Range: [-231 to 231 - 1]

Returns the current position of the stepper motor in steps. On startup the position is 0. The steps are counted with all possible driving functions (SetTargetPosition, SetSteps, DriveForward or DriveBackward). It also is possible to reset the steps to 0 or set them to any other desired value with SetCurrentPosition.

procedure TBrickStepper.SetTargetPosition(const position: longint)¶

Parameters:	position – Type: longint, Range: [-231 to 231 - 1]

Sets the target position of the stepper motor in steps. For example, if the current position of the motor is 500 and SetTargetPosition is called with 1000, the stepper motor will drive 500 steps forward. It will use the velocity, acceleration and deacceleration as set by SetMaxVelocity and SetSpeedRamping.

A call of SetTargetPosition with the parameter x is equivalent to a call of SetSteps with the parameter (x - GetCurrentPosition).

function TBrickStepper.GetTargetPosition: longint¶

Returns:	position – Type: longint, Range: [-231 to 231 - 1]

Returns the last target position as set by SetTargetPosition.

procedure TBrickStepper.SetStepMode(const mode: byte)¶

Parameters:	mode – Type: byte, Range: See constants, Default: 8

Sets the step mode of the stepper motor. Possible values are:

• Full Step = 1
• Half Step = 2
• Quarter Step = 4
• Eighth Step = 8

A higher value will increase the resolution and decrease the torque of the stepper motor.

The following constants are available for this function:

For mode:

• BRICK_STEPPER_STEP_MODE_FULL_STEP = 1
• BRICK_STEPPER_STEP_MODE_HALF_STEP = 2
• BRICK_STEPPER_STEP_MODE_QUARTER_STEP = 4
• BRICK_STEPPER_STEP_MODE_EIGHTH_STEP = 8

function TBrickStepper.GetStepMode: byte¶

Returns:	mode – Type: byte, Range: See constants, Default: 8

Returns the step mode as set by SetStepMode.

The following constants are available for this function:

For mode:

• BRICK_STEPPER_STEP_MODE_FULL_STEP = 1
• BRICK_STEPPER_STEP_MODE_HALF_STEP = 2
• BRICK_STEPPER_STEP_MODE_QUARTER_STEP = 4
• BRICK_STEPPER_STEP_MODE_EIGHTH_STEP = 8

function TBrickStepper.GetStackInputVoltage: word¶

Returns:	voltage – Type: word, Unit: 1 mV, Range: [0 to 216 - 1]

Returns the stack input voltage. The stack input voltage is the voltage that is supplied via the stack, i.e. it is given by a Step-Down or Step-Up Power Supply.

function TBrickStepper.GetExternalInputVoltage: word¶

Returns:	voltage – Type: word, Unit: 1 mV, Range: [0 to 216 - 1]

Returns the external input voltage. The external input voltage is given via the black power input connector on the Stepper Brick.

If there is an external input voltage and a stack input voltage, the motor will be driven by the external input voltage. If there is only a stack voltage present, the motor will be driven by this voltage.

Warning

This means, if you have a high stack voltage and a low external voltage, the motor will be driven with the low external voltage. If you then remove the external connection, it will immediately be driven by the high stack voltage

function TBrickStepper.GetCurrentConsumption: word¶

Returns:	current – Type: word, Unit: 1 mA, Range: [0 to 216 - 1]

Returns the current consumption of the motor.

procedure TBrickStepper.SetDecay(const decay: word)¶

Parameters:	decay – Type: word, Range: [0 to 216 - 1], Default: 10000

Sets the decay mode of the stepper motor. A value of 0 sets the fast decay mode, a value of 65535 sets the slow decay mode and a value in between sets the mixed decay mode.

Changing the decay mode is only possible if synchronous rectification is enabled (see SetSyncRect).

For a good explanation of the different decay modes see this blog post by Avayan.

A good decay mode is unfortunately different for every motor. The best way to work out a good decay mode for your stepper motor, if you can't measure the current with an oscilloscope, is to listen to the sound of the motor. If the value is too low, you often hear a high pitched sound and if it is too high you can often hear a humming sound.

Generally, fast decay mode (small value) will be noisier but also allow higher motor speeds.

Note

There is unfortunately no formula to calculate a perfect decay mode for a given stepper motor. If you have problems with loud noises or the maximum motor speed is too slow, you should try to tinker with the decay value

function TBrickStepper.GetDecay: word¶

Returns:	decay – Type: word, Range: [0 to 216 - 1], Default: 10000

Returns the decay mode as set by SetDecay.

procedure TBrickStepper.SetSyncRect(const syncRect: boolean)¶

Parameters:	syncRect – Type: boolean, Default: false

Turns synchronous rectification on or off (true or false).

With synchronous rectification on, the decay can be changed (see SetDecay). Without synchronous rectification fast decay is used.

For an explanation of synchronous rectification see here.

Warning

If you want to use high speeds (> 10000 steps/s) for a large stepper motor with a large inductivity we strongly suggest that you disable synchronous rectification. Otherwise the Brick may not be able to cope with the load and overheat.

function TBrickStepper.IsSyncRect: boolean¶

Returns:	syncRect – Type: boolean, Default: false

Returns true if synchronous rectification is enabled, false otherwise.

procedure TBrickStepper.SetTimeBase(const timeBase: longword)¶

Parameters:	timeBase – Type: longword, Unit: 1 s, Range: [0 to 232 - 1], Default: 1

Sets the time base of the velocity and the acceleration of the stepper brick.

For example, if you want to make one step every 1.5 seconds, you can set the time base to 15 and the velocity to 10. Now the velocity is 10steps/15s = 1steps/1.5s.

function TBrickStepper.GetTimeBase: longword¶

Returns:	timeBase – Type: longword, Unit: 1 s, Range: [0 to 232 - 1], Default: 1

Returns the time base as set by SetTimeBase.

procedure TBrickStepper.GetAllData(out currentVelocity: word; out currentPosition: longint; out remainingSteps: longint; out stackVoltage: word; out externalVoltage: word; out currentConsumption: word)¶

Output Parameters:	currentVelocity – Type: word, Unit: 1 1/s, Range: [0 to 216 - 1] currentPosition – Type: longint, Range: [-231 to 231 - 1] remainingSteps – Type: longint, Range: [-231 to 231 - 1] stackVoltage – Type: word, Unit: 1 mV, Range: [0 to 216 - 1] externalVoltage – Type: word, Unit: 1 mV, Range: [0 to 216 - 1] currentConsumption – Type: word, Unit: 1 mA, Range: [0 to 216 - 1]

Returns the following parameters: The current velocity, the current position, the remaining steps, the stack voltage, the external voltage and the current consumption of the stepper motor.

There is also a callback for this function, see OnAllData callback.

procedure TBrickStepper.SetSPITFPBaudrateConfig(const enableDynamicBaudrate: boolean; const minimumDynamicBaudrate: longword)¶

Parameters:	enableDynamicBaudrate – Type: boolean, Default: true minimumDynamicBaudrate – Type: longword, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000

The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred.

The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received.

This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.

In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance.

The maximum value of the baudrate can be set per port with the function SetSPITFPBaudrate. If the dynamic baudrate is disabled, the baudrate as set by SetSPITFPBaudrate will be used statically.

New in version 2.3.6 (Firmware).

procedure TBrickStepper.GetSPITFPBaudrateConfig(out enableDynamicBaudrate: boolean; out minimumDynamicBaudrate: longword)¶

Output Parameters:	enableDynamicBaudrate – Type: boolean, Default: true minimumDynamicBaudrate – Type: longword, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000

Returns the baudrate config, see SetSPITFPBaudrateConfig.

New in version 2.3.6 (Firmware).

function TBrickStepper.GetSendTimeoutCount(const communicationMethod: byte): longword¶

Parameters:	communicationMethod – Type: byte, Range: See constants
Returns:	timeoutCount – Type: longword, Range: [0 to 232 - 1]

Returns the timeout count for the different communication methods.

The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.

This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0.

The following constants are available for this function:

For communicationMethod:

• BRICK_STEPPER_COMMUNICATION_METHOD_NONE = 0
• BRICK_STEPPER_COMMUNICATION_METHOD_USB = 1
• BRICK_STEPPER_COMMUNICATION_METHOD_SPI_STACK = 2
• BRICK_STEPPER_COMMUNICATION_METHOD_CHIBI = 3
• BRICK_STEPPER_COMMUNICATION_METHOD_RS485 = 4
• BRICK_STEPPER_COMMUNICATION_METHOD_WIFI = 5
• BRICK_STEPPER_COMMUNICATION_METHOD_ETHERNET = 6
• BRICK_STEPPER_COMMUNICATION_METHOD_WIFI_V2 = 7

New in version 2.3.4 (Firmware).

procedure TBrickStepper.SetSPITFPBaudrate(const brickletPort: char; const baudrate: longword)¶

Parameters:	brickletPort – Type: char, Range: ['a' to 'b'] baudrate – Type: longword, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000

Sets the baudrate for a specific Bricklet port.

If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (see GetSPITFPErrorCount) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see SetSPITFPBaudrateConfig).

Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate.

New in version 2.3.3 (Firmware).

function TBrickStepper.GetSPITFPBaudrate(const brickletPort: char): longword¶

Parameters:	brickletPort – Type: char, Range: ['a' to 'b']
Returns:	baudrate – Type: longword, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000

Returns the baudrate for a given Bricklet port, see SetSPITFPBaudrate.

New in version 2.3.3 (Firmware).

procedure TBrickStepper.GetSPITFPErrorCount(const brickletPort: char; out errorCountACKChecksum: longword; out errorCountMessageChecksum: longword; out errorCountFrame: longword; out errorCountOverflow: longword)¶

Parameters:	brickletPort – Type: char, Range: ['a' to 'b']
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 Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.

New in version 2.3.3 (Firmware).

procedure TBrickStepper.EnableStatusLED¶

Enables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

procedure TBrickStepper.DisableStatusLED¶

Disables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

function TBrickStepper.IsStatusLEDEnabled: boolean¶

Returns:	enabled – Type: boolean, Default: true

Returns true if the status LED is enabled, false otherwise.

New in version 2.3.1 (Firmware).

function TBrickStepper.GetChipTemperature: smallint¶

Returns:	temperature – Type: smallint, Unit: 1/10 °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 an accuracy of ±15%. Practically it is only useful as an indicator for temperature changes.

procedure TBrickStepper.Reset¶

Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

procedure TBrickStepper.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: ['0' to '8'] 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 Brick is connected to, the position, the hardware and firmware version as well as the device identifier.

The position is the position in the stack from '0' (bottom) to '8' (top).

The device identifier numbers can be found here. There is also a constant for the device identifier of this Brick.

Callback Configuration Functions¶

procedure TBrickStepper.SetMinimumVoltage(const voltage: word)¶

Parameters:	voltage – Type: word, Unit: 1 mV, Range: [0 to 216 - 1], Default: 8000

Sets the minimum voltage, below which the OnUnderVoltage callback is triggered. The minimum possible value that works with the Stepper Brick is 8V. You can use this function to detect the discharge of a battery that is used to drive the stepper motor. If you have a fixed power supply, you likely do not need this functionality.

function TBrickStepper.GetMinimumVoltage: word¶

Returns:	voltage – Type: word, Unit: 1 mV, Range: [0 to 216 - 1], Default: 8000

Returns the minimum voltage as set by SetMinimumVoltage.

procedure TBrickStepper.SetAllDataPeriod(const period: longword)¶

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

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

function TBrickStepper.GetAllDataPeriod: longword¶

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

Returns the period as set by SetAllDataPeriod.

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: TBrickStepper; const value: longint);
begin
  WriteLn(Format('Value: %d', [value]));
end;

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

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

property TBrickStepper.OnUnderVoltage¶

procedure(sender: TBrickStepper; const voltage: word) of object;

Callback Parameters:	sender – Type: TBrickStepper voltage – Type: word, Unit: 1 mV, Range: [0 to 216 - 1]

This callback is triggered when the input voltage drops below the value set by SetMinimumVoltage. The parameter is the current voltage.

property TBrickStepper.OnPositionReached¶

procedure(sender: TBrickStepper; const position: longint) of object;

Callback Parameters:	sender – Type: TBrickStepper position – Type: longint, Range: [-231 to 231 - 1]

This callback is triggered when a position set by SetSteps or SetTargetPosition is reached.

Note

Since we can't get any feedback from the stepper motor, this only works if the acceleration (see SetSpeedRamping) is set smaller or equal to the maximum acceleration of the motor. Otherwise the motor will lag behind the control value and the callback will be triggered too early.

property TBrickStepper.OnAllData¶

procedure(sender: TBrickStepper; const currentVelocity: word; const currentPosition: longint; const remainingSteps: longint; const stackVoltage: word; const externalVoltage: word; const currentConsumption: word) of object;

Callback Parameters:

sender – Type: TBrickStepper currentVelocity – Type: word, Unit: 1 1/s, Range: [0 to 216 - 1] currentPosition – Type: longint, Range: [-231 to 231 - 1] remainingSteps – Type: longint, Range: [-231 to 231 - 1] stackVoltage – Type: word, Unit: 1 mV, Range: [0 to 216 - 1] externalVoltage – Type: word, Unit: 1 mV, Range: [0 to 216 - 1] currentConsumption – Type: word, Unit: 1 mA, Range: [0 to 216 - 1]

This callback is triggered periodically with the period that is set by SetAllDataPeriod. The parameters are: the current velocity, the current position, the remaining steps, the stack voltage, the external voltage and the current consumption of the stepper motor.

property TBrickStepper.OnNewState¶

procedure(sender: TBrickStepper; const stateNew: byte; const statePrevious: byte) of object;

Callback Parameters:	sender – Type: TBrickStepper stateNew – Type: byte, Range: See constants statePrevious – Type: byte, Range: See constants

This callback is triggered whenever the Stepper Brick enters a new state. It returns the new state as well as the previous state.

The following constants are available for this function:

For stateNew:

• BRICK_STEPPER_STATE_STOP = 1
• BRICK_STEPPER_STATE_ACCELERATION = 2
• BRICK_STEPPER_STATE_RUN = 3
• BRICK_STEPPER_STATE_DEACCELERATION = 4
• BRICK_STEPPER_STATE_DIRECTION_CHANGE_TO_FORWARD = 5
• BRICK_STEPPER_STATE_DIRECTION_CHANGE_TO_BACKWARD = 6

For statePrevious:

• BRICK_STEPPER_STATE_STOP = 1
• BRICK_STEPPER_STATE_ACCELERATION = 2
• BRICK_STEPPER_STATE_RUN = 3
• BRICK_STEPPER_STATE_DEACCELERATION = 4
• BRICK_STEPPER_STATE_DIRECTION_CHANGE_TO_FORWARD = 5
• BRICK_STEPPER_STATE_DIRECTION_CHANGE_TO_BACKWARD = 6

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 TBrickStepper.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 TBrickStepper.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:

• BRICK_STEPPER_FUNCTION_SET_MAX_VELOCITY = 1
• BRICK_STEPPER_FUNCTION_SET_SPEED_RAMPING = 4
• BRICK_STEPPER_FUNCTION_FULL_BRAKE = 6
• BRICK_STEPPER_FUNCTION_SET_CURRENT_POSITION = 7
• BRICK_STEPPER_FUNCTION_SET_TARGET_POSITION = 9
• BRICK_STEPPER_FUNCTION_SET_STEPS = 11
• BRICK_STEPPER_FUNCTION_SET_STEP_MODE = 14
• BRICK_STEPPER_FUNCTION_DRIVE_FORWARD = 16
• BRICK_STEPPER_FUNCTION_DRIVE_BACKWARD = 17
• BRICK_STEPPER_FUNCTION_STOP = 18
• BRICK_STEPPER_FUNCTION_SET_MOTOR_CURRENT = 22
• BRICK_STEPPER_FUNCTION_ENABLE = 24
• BRICK_STEPPER_FUNCTION_DISABLE = 25
• BRICK_STEPPER_FUNCTION_SET_DECAY = 27
• BRICK_STEPPER_FUNCTION_SET_MINIMUM_VOLTAGE = 29
• BRICK_STEPPER_FUNCTION_SET_SYNC_RECT = 33
• BRICK_STEPPER_FUNCTION_SET_TIME_BASE = 35
• BRICK_STEPPER_FUNCTION_SET_ALL_DATA_PERIOD = 38
• BRICK_STEPPER_FUNCTION_SET_SPITFP_BAUDRATE_CONFIG = 231
• BRICK_STEPPER_FUNCTION_SET_SPITFP_BAUDRATE = 234
• BRICK_STEPPER_FUNCTION_ENABLE_STATUS_LED = 238
• BRICK_STEPPER_FUNCTION_DISABLE_STATUS_LED = 239
• BRICK_STEPPER_FUNCTION_RESET = 243
• BRICK_STEPPER_FUNCTION_WRITE_BRICKLET_PLUGIN = 246

procedure TBrickStepper.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:

• BRICK_STEPPER_FUNCTION_SET_MAX_VELOCITY = 1
• BRICK_STEPPER_FUNCTION_SET_SPEED_RAMPING = 4
• BRICK_STEPPER_FUNCTION_FULL_BRAKE = 6
• BRICK_STEPPER_FUNCTION_SET_CURRENT_POSITION = 7
• BRICK_STEPPER_FUNCTION_SET_TARGET_POSITION = 9
• BRICK_STEPPER_FUNCTION_SET_STEPS = 11
• BRICK_STEPPER_FUNCTION_SET_STEP_MODE = 14
• BRICK_STEPPER_FUNCTION_DRIVE_FORWARD = 16
• BRICK_STEPPER_FUNCTION_DRIVE_BACKWARD = 17
• BRICK_STEPPER_FUNCTION_STOP = 18
• BRICK_STEPPER_FUNCTION_SET_MOTOR_CURRENT = 22
• BRICK_STEPPER_FUNCTION_ENABLE = 24
• BRICK_STEPPER_FUNCTION_DISABLE = 25
• BRICK_STEPPER_FUNCTION_SET_DECAY = 27
• BRICK_STEPPER_FUNCTION_SET_MINIMUM_VOLTAGE = 29
• BRICK_STEPPER_FUNCTION_SET_SYNC_RECT = 33
• BRICK_STEPPER_FUNCTION_SET_TIME_BASE = 35
• BRICK_STEPPER_FUNCTION_SET_ALL_DATA_PERIOD = 38
• BRICK_STEPPER_FUNCTION_SET_SPITFP_BAUDRATE_CONFIG = 231
• BRICK_STEPPER_FUNCTION_SET_SPITFP_BAUDRATE = 234
• BRICK_STEPPER_FUNCTION_ENABLE_STATUS_LED = 238
• BRICK_STEPPER_FUNCTION_DISABLE_STATUS_LED = 239
• BRICK_STEPPER_FUNCTION_RESET = 243
• BRICK_STEPPER_FUNCTION_WRITE_BRICKLET_PLUGIN = 246

procedure TBrickStepper.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.

procedure TBrickStepper.GetProtocol1BrickletName(const port: char; out protocolVersion: byte; out firmwareVersion: array [0..2] of byte; out name: string)¶

Parameters:	port – Type: char, Range: ['a' to 'b']
Output Parameters:	protocolVersion – 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] name – Type: string, Length: up to 40

Returns the firmware and protocol version and the name of the Bricklet for a given port.

This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.

procedure TBrickStepper.WriteBrickletPlugin(const port: char; const offset: byte; const chunk: array [0..31] of byte)¶

Parameters:	port – Type: char, Range: ['a' to 'b'] offset – Type: byte, Range: [0 to 255] chunk – Type: array [0..31] of byte, Range: [0 to 255]

Writes 32 bytes of firmware to the bricklet attached at the given port. The bytes are written to the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

function TBrickStepper.ReadBrickletPlugin(const port: char; const offset: byte): array [0..31] of byte¶

Parameters:	port – Type: char, Range: ['a' to 'b'] offset – Type: byte, Range: [0 to 255]
Returns:	chunk – Type: array [0..31] of byte, Range: [0 to 255]

Reads 32 bytes of firmware from the bricklet attached at the given port. The bytes are read starting at the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

Constants¶

const BRICK_STEPPER_DEVICE_IDENTIFIER¶

This constant is used to identify a Stepper Brick.

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 BRICK_STEPPER_DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a Stepper Brick.