C# - Rotary Encoder Bricklet¶

Simple¶

Download (ExampleSimple.cs)

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using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Rotary Encoder Bricklet

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletRotaryEncoder re = 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
        int count = re.GetCount(false);
        Console.WriteLine("Count: " + count);

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

Callback¶

Download (ExampleCallback.cs)

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using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Rotary Encoder Bricklet

    // Callback function for count callback
    static void CountCB(BrickletRotaryEncoder sender, int count)
    {
        Console.WriteLine("Count: " + count);
    }

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletRotaryEncoder re = 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 function CountCB
        re.CountCallback += 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 enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

Basic Functions¶

class BrickletRotaryEncoder(string uid, IPConnection ipcon)¶

Parameters:	uid – Type: string ipcon – Type: IPConnection
Returns:	rotaryEncoder – Type: BrickletRotaryEncoder

Creates an object with the unique device ID uid:

BrickletRotaryEncoder rotaryEncoder = new BrickletRotaryEncoder("YOUR_DEVICE_UID", ipcon);

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

int BrickletRotaryEncoder.GetCount(bool 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.

bool BrickletRotaryEncoder.IsPressed()¶

Returns:	pressed – Type: bool

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¶

void BrickletRotaryEncoder.GetIdentity(out string uid, out string connectedUid, out char position, out byte[] hardwareVersion, out byte[] firmwareVersion, out int deviceIdentifier)¶

Output Parameters:

uid – Type: string, Length: up to 8 connectedUid – Type: string, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: byte[], 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[], 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: 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¶

void BrickletRotaryEncoder.SetCountCallbackPeriod(long period)¶

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.

long BrickletRotaryEncoder.GetCountCallbackPeriod()¶

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

Returns the period as set by SetCountCallbackPeriod().

void BrickletRotaryEncoder.SetCountCallbackThreshold(char option, int min, int 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

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'
• BrickletRotaryEncoder.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletRotaryEncoder.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletRotaryEncoder.THRESHOLD_OPTION_SMALLER = '<'
• BrickletRotaryEncoder.THRESHOLD_OPTION_GREATER = '>'

void BrickletRotaryEncoder.GetCountCallbackThreshold(out char option, out int min, out int max)¶

Output 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 the threshold as set by SetCountCallbackThreshold().

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 = '>'

void BrickletRotaryEncoder.SetDebouncePeriod(long debounce)¶

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.

long BrickletRotaryEncoder.GetDebouncePeriod()¶

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 appending your callback handler to the corresponding event:

void MyCallback(BrickletRotaryEncoder sender, int value)
{
    System.Console.WriteLine("Value: " + value);
}

rotaryEncoder.ExampleCallback += MyCallback;

The available events are described below.

event BrickletRotaryEncoder.CountCallback(BrickletRotaryEncoder sender, int count)¶

Callback Parameters:	sender – Type: BrickletRotaryEncoder count – Type: int, 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(BrickletRotaryEncoder sender, int count)¶

Callback Parameters:	sender – Type: BrickletRotaryEncoder count – Type: int, 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(BrickletRotaryEncoder sender)¶

Callback Parameters:	sender – Type: BrickletRotaryEncoder

This callback is triggered when the button is pressed.

event BrickletRotaryEncoder.ReleasedCallback(BrickletRotaryEncoder sender)¶

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.

byte[] BrickletRotaryEncoder.GetAPIVersion()¶

Output Parameters:	apiVersion – Type: byte[], 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.

bool BrickletRotaryEncoder.GetResponseExpected(byte functionId)¶

Parameters:	functionId – Type: byte, Range: See constants
Returns:	responseExpected – 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 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

void BrickletRotaryEncoder.SetResponseExpected(byte functionId, bool responseExpected)¶

Parameters:	functionId – Type: byte, Range: See constants responseExpected – Type: bool

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

void BrickletRotaryEncoder.SetResponseExpectedAll(bool responseExpected)¶

Parameters:	responseExpected – Type: bool

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

Constants¶

int 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.

string BrickletRotaryEncoder.DEVICE_DISPLAY_NAME¶

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