Struct tinkerforge::stepper_brick::StepperBrick

pub struct StepperBrick { /* private fields */ }

Drives one bipolar stepper motor with up to 38V and 2.5A per phase

Implementations

impl StepperBrick

pub const DEVICE_IDENTIFIER: u16 = 15u16

pub const DEVICE_DISPLAY_NAME: &'static str = "Stepper Brick"

pub fn new(uid: &str, ip_connection: &IpConnection) -> StepperBrick

Creates an object with the unique device ID uid. This object can then be used after the IP Connection ip_connection is connected.

pub fn get_response_expected(
    &mut self,
    fun: StepperBrickFunction
) -> Result<bool, GetResponseExpectedError>

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 send and errors are silently ignored, because they cannot be detected.

See set_response_expected for the list of function ID constants available for this function.

pub fn set_response_expected(
    &mut self,
    fun: StepperBrickFunction,
    response_expected: bool
) -> Result<(), SetResponseExpectedError>

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 send and errors are silently ignored, because they cannot be detected.

pub fn set_response_expected_all(&mut self, response_expected: bool)

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

pub fn get_under_voltage_callback_receiver(
    &self
) -> ConvertingCallbackReceiver<u16>

This receiver is triggered when the input voltage drops below the value set by Set Minimum Voltage. The parameter is the current voltage given in mV.

pub fn get_position_reached_callback_receiver(
    &self
) -> ConvertingCallbackReceiver<i32>

This receiver is triggered when a position set by Set Steps or Set Target Position is reached.

Note

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

pub fn get_all_data_callback_receiver(
    &self
) -> ConvertingCallbackReceiver<AllDataEvent>

This receiver is triggered periodically with the period that is set by Set All Data Period. 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.

pub fn get_new_state_callback_receiver(
    &self
) -> ConvertingCallbackReceiver<NewStateEvent>

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

pub fn set_max_velocity(&self, velocity: u16) -> ConvertingReceiver<()>

Sets the maximum velocity of the stepper motor in steps per second. 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 Set Target Position, Set Steps, Drive Forward or Drive Backward.

pub fn get_max_velocity(&self) -> ConvertingReceiver<u16>

Returns the velocity as set by Set Max Velocity.

pub fn get_current_velocity(&self) -> ConvertingReceiver<u16>

Returns the current velocity of the stepper motor in steps per second.

pub fn set_speed_ramping(
    &self,
    acceleration: u16,
    deacceleration: u16
) -> ConvertingReceiver<()>

Sets the acceleration and deacceleration of the stepper motor. The values are given in steps/s². 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)

The default value is 1000 for both

pub fn get_speed_ramping(&self) -> ConvertingReceiver<SpeedRamping>

Returns the acceleration and deacceleration as set by Set Speed Ramping.

pub fn full_brake(&self) -> ConvertingReceiver<()>

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.

pub fn set_current_position(&self, position: i32) -> ConvertingReceiver<()>

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).

pub fn get_current_position(&self) -> ConvertingReceiver<i32>

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 (Set Target Position, Set Steps, Drive Forward or Drive Backward). It also is possible to reset the steps to 0 or set them to any other desired value with Set Current Position.

pub fn set_target_position(&self, position: i32) -> ConvertingReceiver<()>

Sets the target position of the stepper motor in steps. For example, if the current position of the motor is 500 and Set Target Position is called with 1000, the stepper motor will drive 500 steps forward. It will use the velocity, acceleration and deacceleration as set by Set Max Velocity and Set Speed Ramping.

A call of Set Target Position with the parameter x is equivalent to a call of Set Steps with the parameter (x - Get Current Position).

pub fn get_target_position(&self) -> ConvertingReceiver<i32>

Returns the last target position as set by Set Target Position.

pub fn set_steps(&self, steps: i32) -> ConvertingReceiver<()>

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 Set Max Velocity and Set Speed Ramping will be used.

pub fn get_steps(&self) -> ConvertingReceiver<i32>

Returns the last steps as set by Set Steps.

pub fn get_remaining_steps(&self) -> ConvertingReceiver<i32>

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

pub fn set_step_mode(&self, mode: u8) -> ConvertingReceiver<()>

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 default value is 8 (Eighth Step).

Associated constants:

• STEPPERBRICK_STEP_MODE_FULL_STEP
• STEPPERBRICK_STEP_MODE_HALF_STEP
• STEPPERBRICK_STEP_MODE_QUARTER_STEP
• STEPPERBRICK_STEP_MODE_EIGHTH_STEP

pub fn get_step_mode(&self) -> ConvertingReceiver<u8>

Returns the step mode as set by Set Step Mode.

Associated constants:

• STEPPERBRICK_STEP_MODE_FULL_STEP
• STEPPERBRICK_STEP_MODE_HALF_STEP
• STEPPERBRICK_STEP_MODE_QUARTER_STEP
• STEPPERBRICK_STEP_MODE_EIGHTH_STEP

pub fn drive_forward(&self) -> ConvertingReceiver<()>

Drives the stepper motor forward until Drive Backward or Stop is called. The velocity, acceleration and deacceleration as set by Set Max Velocity and Set Speed Ramping will be used.

pub fn drive_backward(&self) -> ConvertingReceiver<()>

Drives the stepper motor backward until Drive Forward or Stop is triggered. The velocity, acceleration and deacceleration as set by Set Max Velocity and Set Speed Ramping will be used.

pub fn stop(&self) -> ConvertingReceiver<()>

Stops the stepper motor with the deacceleration as set by Set Speed Ramping.

pub fn get_stack_input_voltage(&self) -> ConvertingReceiver<u16>

Returns the stack input voltage in mV. 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.

pub fn get_external_input_voltage(&self) -> ConvertingReceiver<u16>

Returns the external input voltage in mV. 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

pub fn get_current_consumption(&self) -> ConvertingReceiver<u16>

Returns the current consumption of the motor in mA.

pub fn set_motor_current(&self, current: u16) -> ConvertingReceiver<()>

Sets the current in mA with which the motor will be driven. The minimum value is 100mA, the maximum value 2291mA and the default value is 800mA.

Warning

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

pub fn get_motor_current(&self) -> ConvertingReceiver<u16>

Returns the current as set by Set Motor Current.

pub fn enable(&self) -> ConvertingReceiver<()>

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

pub fn disable(&self) -> ConvertingReceiver<()>

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

pub fn is_enabled(&self) -> ConvertingReceiver<bool>

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

pub fn set_decay(&self, decay: u16) -> ConvertingReceiver<()>

Sets the decay mode of the stepper motor. The possible value range is between 0 and 65535. 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 [Set Sync Rect`).

For a good explanation of the different decay modes see `this](http://ebldc.com/?p=86/)__ 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.

The default value is 10000.

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

pub fn get_decay(&self) -> ConvertingReceiver<u16>

Returns the decay mode as set by Set Decay.

pub fn set_minimum_voltage(&self, voltage: u16) -> ConvertingReceiver<()>

Sets the minimum voltage in mV, below which the get_under_voltage_callback_receiver receiver 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.

The default value is 8V.

pub fn get_minimum_voltage(&self) -> ConvertingReceiver<u16>

Returns the minimum voltage as set by Set Minimum Voltage.

pub fn set_sync_rect(&self, sync_rect: bool) -> ConvertingReceiver<()>

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

With synchronous rectification on, the decay can be changed (see [Set Decay`). Without synchronous rectification fast decay is used.

For an explanation of synchronous rectification see `here](https://en.wikipedia.org/wiki/Active_rectification)__.

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.

The default value is false.

pub fn is_sync_rect(&self) -> ConvertingReceiver<bool>

Returns true if synchronous rectification is enabled, false otherwise.

pub fn set_time_base(&self, time_base: u32) -> ConvertingReceiver<()>

Sets the time base of the velocity and the acceleration of the stepper brick (in seconds).

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.

The default value is 1.

pub fn get_time_base(&self) -> ConvertingReceiver<u32>

Returns the time base as set by Set Time Base.

pub fn get_all_data(&self) -> ConvertingReceiver<AllData>

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 receiver for this function, see get_all_data_callback_receiver receiver.

pub fn set_all_data_period(&self, period: u32) -> ConvertingReceiver<()>

Sets the period in ms with which the get_all_data_callback_receiver receiver is triggered periodically. A value of 0 turns the receiver off.

pub fn get_all_data_period(&self) -> ConvertingReceiver<u32>

Returns the period as set by Set All Data Period.

pub fn set_spitfp_baudrate_config(
    &self,
    enable_dynamic_baudrate: bool,
    minimum_dynamic_baudrate: u32
) -> ConvertingReceiver<()>

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 send/received and decreased linearly if little data is send/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 Set SPITFP Baudrate. If the dynamic baudrate is disabled, the baudrate as set by Set SPITFP Baudrate will be used statically.

The minimum dynamic baudrate has a value range of 400000 to 2000000 baud.

By default dynamic baudrate is enabled and the minimum dynamic baudrate is 400000.

.. versionadded:: 2.3.6$nbsp;(Firmware)

pub fn get_spitfp_baudrate_config(
    &self
) -> ConvertingReceiver<SpitfpBaudrateConfig>

Returns the baudrate config, see Set SPITFP Baudrate Config.

.. versionadded:: 2.3.6$nbsp;(Firmware)

pub fn get_send_timeout_count(
    &self,
    communication_method: u8
) -> ConvertingReceiver<u32>

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.

.. versionadded:: 2.3.4$nbsp;(Firmware)

Associated constants:

• STEPPERBRICK_COMMUNICATION_METHOD_NONE
• STEPPERBRICK_COMMUNICATION_METHOD_USB
• STEPPERBRICK_COMMUNICATION_METHOD_SPI_STACK
• STEPPERBRICK_COMMUNICATION_METHOD_CHIBI
• STEPPERBRICK_COMMUNICATION_METHOD_RS485
• STEPPERBRICK_COMMUNICATION_METHOD_WIFI
• STEPPERBRICK_COMMUNICATION_METHOD_ETHERNET
• STEPPERBRICK_COMMUNICATION_METHOD_WIFI_V2

pub fn set_spitfp_baudrate(
    &self,
    bricklet_port: char,
    baudrate: u32
) -> ConvertingReceiver<()>

Sets the baudrate for a specific Bricklet port (‘a’ - ‘d’). The baudrate can be in the range 400000 to 2000000.

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 Get SPITFP Error Count) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see Set SPITFP Baudrate Config).

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

The default baudrate for all ports is 1400000.

.. versionadded:: 2.3.3$nbsp;(Firmware)

pub fn get_spitfp_baudrate(&self, bricklet_port: char) -> ConvertingReceiver<u32>

Returns the baudrate for a given Bricklet port, see Set SPITFP Baudrate.

.. versionadded:: 2.3.3$nbsp;(Firmware)

pub fn get_spitfp_error_count(
    &self,
    bricklet_port: char
) -> ConvertingReceiver<SpitfpErrorCount>

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.

.. versionadded:: 2.3.3$nbsp;(Firmware)

pub fn enable_status_led(&self) -> ConvertingReceiver<()>

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.

.. versionadded:: 2.3.1$nbsp;(Firmware)

pub fn disable_status_led(&self) -> ConvertingReceiver<()>

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.

.. versionadded:: 2.3.1$nbsp;(Firmware)

pub fn is_status_led_enabled(&self) -> ConvertingReceiver<bool>

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

.. versionadded:: 2.3.1$nbsp;(Firmware)

pub fn get_protocol1_bricklet_name(
    &self,
    port: char
) -> ConvertingReceiver<Protocol1BrickletName>

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.

pub fn get_chip_temperature(&self) -> ConvertingReceiver<i16>

Returns the temperature in °C/10 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.

pub fn reset(&self) -> ConvertingReceiver<()>

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!

pub fn get_identity(&self) -> ConvertingReceiver<Identity>

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 can be ‘0’-‘8’ (stack position).

The device identifier numbers can be found here. |device_identifier_constant|

Trait Implementations

impl Clone for StepperBrick

fn clone(&self) -> StepperBrick

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.