Struct DcV2Bricklet

pub struct DcV2Bricklet { /* private fields */ }

Drives one brushed DC motor with up to 28V and 5A (peak)

Implementations

impl DcV2Bricklet

pub const DEVICE_IDENTIFIER: u16 = 2_165u16

pub const DEVICE_DISPLAY_NAME: &'static str = "DC Bricklet 2.0"

pub fn new(uid: Uid, connection: AsyncIpConnection) -> DcV2Bricklet

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: DcV2BrickletFunction, ) -> 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 sent 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: DcV2BrickletFunction, 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 sent 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_api_version(&self) -> [u8; 3]

Returns the version of the API definition (major, minor, revision) 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.

pub async fn get_emergency_shutdown_callback_receiver( &mut self, ) -> impl Stream<Item = ()>

This receiver is triggered if either the current consumption is too high (above 5A) or the temperature of the driver chip is too high (above 175°C). These two possibilities are essentially the same, since the temperature will reach this threshold immediately if the motor consumes too much current. In case of a voltage below 3.3V (external or stack) this receiver is triggered as well.

If this receiver is triggered, the driver chip gets disabled at the same time. That means, set_enabled has to be called to drive the motor again.

Note

This receiver only works in Drive/Brake mode (see set_drive_mode). In Drive/Coast mode it is unfortunately impossible to reliably read the overcurrent/overtemperature signal from the driver chip.

pub async fn get_velocity_reached_callback_receiver( &mut self, ) -> impl Stream<Item = i16>

This receiver is triggered whenever a set velocity is reached. For example: If a velocity of 0 is present, acceleration is set to 5000 and velocity to 10000, the [get_velocity_reached_callback_receiver] receiver will be triggered after about 2 seconds, when the set velocity is actually reached.

Note

Since we can’t get any feedback from the DC motor, this only works if the acceleration (see [set_motion]) 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 async fn get_current_velocity_callback_receiver( &mut self, ) -> impl Stream<Item = i16>

This receiver is triggered with the period that is set by [set_current_velocity_callback_configuration]. The parameter is the current velocity used by the motor.

The [get_current_velocity_callback_receiver] receiver is only triggered after the set period if there is a change in the velocity.

pub async fn set_enabled( &mut self, enabled: bool, ) -> Result<(), TinkerforgeError>

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

pub async fn get_enabled(&mut self) -> Result<bool, TinkerforgeError>

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

pub async fn set_velocity( &mut self, velocity: i16, ) -> Result<(), TinkerforgeError>

Sets the velocity of the motor. Whereas -32767 is full speed backward, 0 is stop and 32767 is full speed forward. Depending on the acceleration (see [set_motion]), the motor is not immediately brought to the velocity but smoothly accelerated.

The velocity describes the duty cycle of the PWM with which the motor is controlled, e.g. a velocity of 3277 sets a PWM with a 10% duty cycle. You can not only control the duty cycle of the PWM but also the frequency, see [set_pwm_frequency].

pub async fn get_velocity(&mut self) -> Result<i16, TinkerforgeError>

Returns the velocity as set by [set_velocity].

pub async fn get_current_velocity(&mut self) -> Result<i16, TinkerforgeError>

Returns the current velocity of the motor. This value is different from [get_velocity] whenever the motor is currently accelerating to a goal set by [set_velocity].

pub async fn set_motion( &mut self, acceleration: u16, deceleration: u16, ) -> Result<(), TinkerforgeError>

Sets the acceleration and deceleration of the motor. It is given in velocity/s. An acceleration of 10000 means, that every second the velocity is increased by 10000 (or about 30% duty cycle).

For example: If the current velocity is 0 and you want to accelerate to a velocity of 16000 (about 50% duty cycle) in 10 seconds, you should set an acceleration of 1600.

If acceleration and deceleration is set to 0, there is no speed ramping, i.e. a new velocity is immediately given to the motor.

pub async fn get_motion(&mut self) -> Result<Motion, TinkerforgeError>

Returns the acceleration/deceleration as set by [set_motion].

pub async fn full_brake(&mut self) -> Result<(), TinkerforgeError>

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 [set_velocity] with 0 if you just want to stop the motor.

pub async fn set_drive_mode(&mut self, mode: u8) -> Result<(), TinkerforgeError>

Sets the drive mode. Possible modes are:

• 0 = Drive/Brake
• 1 = Drive/Coast

These modes are different kinds of motor controls.

In Drive/Brake mode, the motor is always either driving or braking. There is no freewheeling. Advantages are: A more linear correlation between PWM and velocity, more exact accelerations and the possibility to drive with slower velocities.

In Drive/Coast mode, the motor is always either driving or freewheeling. Advantages are: Less current consumption and less demands on the motor and driver chip.

Associated constants:

• DC_V2_BRICKLET_DRIVE_MODE_DRIVE_BRAKE
• DC_V2_BRICKLET_DRIVE_MODE_DRIVE_COAST

pub async fn get_drive_mode(&mut self) -> Result<u8, TinkerforgeError>

Returns the drive mode, as set by [set_drive_mode].

Associated constants:

• DC_V2_BRICKLET_DRIVE_MODE_DRIVE_BRAKE
• DC_V2_BRICKLET_DRIVE_MODE_DRIVE_COAST

pub async fn set_pwm_frequency( &mut self, frequency: u16, ) -> Result<(), TinkerforgeError>

Sets the frequency of the PWM with which the motor is driven. Often a high frequency is less noisy and the motor runs smoother. However, with a low frequency there are less switches and therefore fewer switching losses. Also with most motors lower frequencies enable higher torque.

If you have no idea what all this means, just ignore this function and use the default frequency, it will very likely work fine.

pub async fn get_pwm_frequency(&mut self) -> Result<u16, TinkerforgeError>

Returns the PWM frequency as set by [set_pwm_frequency].

pub async fn get_power_statistics( &mut self, ) -> Result<PowerStatistics, TinkerforgeError>

Returns input voltage and current usage of the driver.

pub async fn set_error_led_config( &mut self, config: u8, ) -> Result<(), TinkerforgeError>

Configures the error LED to be either turned off, turned on, blink in heartbeat mode or show an error.

If the LED is configured to show errors it has three different states:

• Off: No error present.
• 1s interval blinking: Input voltage too low (below 6V).
• 250ms interval blinking: Overtemperature or overcurrent.

Associated constants:

• DC_V2_BRICKLET_ERROR_LED_CONFIG_OFF
• DC_V2_BRICKLET_ERROR_LED_CONFIG_ON
• DC_V2_BRICKLET_ERROR_LED_CONFIG_SHOW_HEARTBEAT
• DC_V2_BRICKLET_ERROR_LED_CONFIG_SHOW_ERROR

pub async fn get_error_led_config(&mut self) -> Result<u8, TinkerforgeError>

Returns the LED configuration as set by [set_error_led_config]

Associated constants:

• DC_V2_BRICKLET_ERROR_LED_CONFIG_OFF
• DC_V2_BRICKLET_ERROR_LED_CONFIG_ON
• DC_V2_BRICKLET_ERROR_LED_CONFIG_SHOW_HEARTBEAT
• DC_V2_BRICKLET_ERROR_LED_CONFIG_SHOW_ERROR

pub async fn set_emergency_shutdown_callback_configuration( &mut self, enabled: bool, ) -> Result<(), TinkerforgeError>

Enable/Disable [get_emergency_shutdown_callback_receiver] receiver.

pub async fn get_emergency_shutdown_callback_configuration( &mut self, ) -> Result<bool, TinkerforgeError>

Returns the receiver configuration as set by [set_emergency_shutdown_callback_configuration].

pub async fn set_velocity_reached_callback_configuration( &mut self, enabled: bool, ) -> Result<(), TinkerforgeError>

Enable/Disable [get_velocity_reached_callback_receiver] receiver.

pub async fn get_velocity_reached_callback_configuration( &mut self, ) -> Result<bool, TinkerforgeError>

Returns the receiver configuration as set by [set_velocity_reached_callback_configuration].

pub async fn set_current_velocity_callback_configuration( &mut self, period: u32, value_has_to_change: bool, ) -> Result<(), TinkerforgeError>

The period is the period with which the [get_current_velocity_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

If the value has to change-parameter is set to true, the receiver is only triggered after the value has changed. If the value didn’t change within the period, the receiver is triggered immediately on change.

If it is set to false, the receiver is continuously triggered with the period, independent of the value.

pub async fn get_current_velocity_callback_configuration( &mut self, ) -> Result<CurrentVelocityCallbackConfiguration, TinkerforgeError>

Returns the receiver configuration as set by [set_current_velocity_callback_configuration].

pub async fn get_spitfp_error_count( &mut self, ) -> Result<SpitfpErrorCount, TinkerforgeError>

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.

pub async fn set_bootloader_mode( &mut self, mode: u8, ) -> Result<u8, TinkerforgeError>

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.

Associated constants:

• DC_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER
• DC_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE
• DC_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
• DC_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
• DC_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
• DC_V2_BRICKLET_BOOTLOADER_STATUS_OK
• DC_V2_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE
• DC_V2_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE
• DC_V2_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
• DC_V2_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
• DC_V2_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH

pub async fn get_bootloader_mode(&mut self) -> Result<u8, TinkerforgeError>

Returns the current bootloader mode, see [set_bootloader_mode].

Associated constants:

• DC_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER
• DC_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE
• DC_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
• DC_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
• DC_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT

pub async fn set_write_firmware_pointer( &mut self, pointer: u32, ) -> Result<(), TinkerforgeError>

Sets the firmware pointer for [write_firmware]. 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.

pub async fn write_firmware( &mut self, data: &[u8; 64], ) -> Result<u8, TinkerforgeError>

Writes 64 Bytes of firmware at the position as written by [set_write_firmware_pointer] 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.

pub async fn set_status_led_config( &mut self, config: u8, ) -> Result<(), TinkerforgeError>

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.

Associated constants:

• DC_V2_BRICKLET_STATUS_LED_CONFIG_OFF
• DC_V2_BRICKLET_STATUS_LED_CONFIG_ON
• DC_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
• DC_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS

pub async fn get_status_led_config(&mut self) -> Result<u8, TinkerforgeError>

Returns the configuration as set by [set_status_led_config]

Associated constants:

• DC_V2_BRICKLET_STATUS_LED_CONFIG_OFF
• DC_V2_BRICKLET_STATUS_LED_CONFIG_ON
• DC_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
• DC_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS

pub async fn get_chip_temperature(&mut self) -> Result<i16, TinkerforgeError>

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.

pub async fn reset(&mut self) -> Result<(), TinkerforgeError>

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!

pub async fn write_uid(&mut self, uid: u32) -> Result<(), TinkerforgeError>

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.

pub async fn read_uid(&mut self) -> Result<u32, TinkerforgeError>

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

pub async fn get_identity(&mut self) -> Result<Identity, TinkerforgeError>

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. |device_identifier_constant|

Trait Implementations

impl Clone for DcV2Bricklet

fn clone(&self) -> DcV2Bricklet

Returns a copy of the value.

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

Performs copy-assignment from source.