Mathematica - Accelerometer Bricklet

This is the description of the Mathematica API bindings for the Accelerometer Bricklet. General information and technical specifications for the Accelerometer Bricklet are summarized in its hardware description.

An installation guide for the Mathematica API bindings is part of their general description.

Examples

The example code below is Public Domain (CC0 1.0).

Simple

Download (ExampleSimple.nb)

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Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XYZ"(*Change XYZ to the UID of your Accelerometer Bricklet*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
a=NETNew["Tinkerforge.BrickletAccelerometer",uid,ipcon]
ipcon@Connect[host,port]

(*Get current acceleration*)
x=0;y=0;z=0
a@GetAcceleration[x,y,z]

Print["Acceleration [X]: "<>ToString[N[Quantity[x,"g/1000"]]]]
Print["Acceleration [Y]: "<>ToString[N[Quantity[y,"g/1000"]]]]
Print["Acceleration [Z]: "<>ToString[N[Quantity[z,"g/1000"]]]]

(*Clean up*)
ipcon@Disconnect[]
ReleaseNETObject[a]
ReleaseNETObject[ipcon]

Callback

Download (ExampleCallback.nb)

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Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XYZ"(*Change XYZ to the UID of your Accelerometer Bricklet*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
a=NETNew["Tinkerforge.BrickletAccelerometer",uid,ipcon]
ipcon@Connect[host,port]

(*Callback function for acceleration callback*)
AccelerationCB[sender_,x_,y_,z_]:=
 Module[{},
  Print["Acceleration [X]: "<>ToString[N[Quantity[x,"g/1000"]]]];
  Print["Acceleration [Y]: "<>ToString[N[Quantity[y,"g/1000"]]]];
  Print["Acceleration [Z]: "<>ToString[N[Quantity[z,"g/1000"]]]]
 ]

AddEventHandler[a@AccelerationCallback,AccelerationCB]

(*Set period for acceleration callback to 1s (1000ms)*)
(*Note: The acceleration callback is only called every second*)
(*if the acceleration has changed since the last call!*)
a@SetAccelerationCallbackPeriod[1000]

Input["Click OK to exit"]

(*Clean up*)
ipcon@Disconnect[]
ReleaseNETObject[a]
ReleaseNETObject[ipcon]

Threshold

Download (ExampleThreshold.nb)

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Needs["NETLink`"]
LoadNETAssembly["Tinkerforge",NotebookDirectory[]<>"../../.."]

host="localhost"
port=4223
uid="XYZ"(*Change XYZ to the UID of your Accelerometer Bricklet*)

(*Create IPConnection and device object*)
ipcon=NETNew["Tinkerforge.IPConnection"]
a=NETNew["Tinkerforge.BrickletAccelerometer",uid,ipcon]
ipcon@Connect[host,port]

(*Get threshold callbacks with a debounce time of 10 seconds (10000ms)*)
a@SetDebouncePeriod[10000]

(*Callback function for acceleration reached callback*)
AccelerationReachedCB[sender_,x_,y_,z_]:=
 Module[{},
  Print["Acceleration [X]: "<>ToString[N[Quantity[x,"g/1000"]]]];
  Print["Acceleration [Y]: "<>ToString[N[Quantity[y,"g/1000"]]]];
  Print["Acceleration [Z]: "<>ToString[N[Quantity[z,"g/1000"]]]]
 ]

AddEventHandler[a@AccelerationReachedCallback,AccelerationReachedCB]

(*Configure threshold for acceleration "greater than 2 g, 2 g, 2 g"*)
option=Tinkerforge`BrickletAccelerometer`THRESHOLDUOPTIONUGREATER
a@SetAccelerationCallbackThreshold[option,2*1000,0,2*1000,0,2*1000,0]

Input["Click OK to exit"]

(*Clean up*)
ipcon@Disconnect[]
ReleaseNETObject[a]
ReleaseNETObject[ipcon]

API

Generally, every method of the Mathematica bindings that returns a value can throw a Tinkerforge.TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody plugs the device out). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Since .NET/Link does not support multiple return values directly, we use the out keyword to return multiple values from a method. For further information about the out keyword in .NET/Link see the corresponding Mathematica .NET/Link documentation.

The namespace for all Brick/Bricklet bindings and the IPConnection is Tinkerforge.*.

Basic Functions

BrickletAccelerometer[uid, ipcon] → accelerometer
Parameters:
  • uid -- String
  • ipcon -- NETObject[IPConnection]
Returns:
  • accelerometer -- NETObject[BrickletAccelerometer]

Creates an object with the unique device ID uid:

accelerometer=NETNew["Tinkerforge.BrickletAccelerometer","YOUR_DEVICE_UID",ipcon]

This object can then be used after the IP Connection is connected (see examples above).

The .NET runtime has built-in garbage collection that frees objects that are no longer in use by a program. But because Mathematica can not automatically tell when a Mathematica "program" doesn't use a .NET object anymore, this has to be done by the program. For this the ReleaseNETObject[] function is used in the examples.

For further information about object management in .NET/Link see the corresponding Mathematica .NET/Link documentation.

BrickletAccelerometer@GetAcceleration[out x, out y, out z] → Null
Parameters:
  • x -- Integer
  • y -- Integer
  • z -- Integer

Returns the acceleration in x, y and z direction. The values are given in g/1000 (1g = 9.80665m/s²), not to be confused with grams.

If you want to get the acceleration periodically, it is recommended to use the AccelerationCallback callback and set the period with SetAccelerationCallbackPeriod[].

BrickletAccelerometer@GetTemperature[] → temperature
Returns:
  • temperature -- Integer

Returns the temperature of the accelerometer in °C.

BrickletAccelerometer@LEDOn[] → Null

Enables the LED on the Bricklet.

BrickletAccelerometer@LEDOff[] → Null

Disables the LED on the Bricklet.

BrickletAccelerometer@IsLEDOn[] → on
Returns:
  • on -- True/False

Returns true if the LED is enabled, false otherwise.

Advanced Functions

BrickletAccelerometer@SetConfiguration[dataRate, fullScale, filterBandwidth] → Null
Parameters:
  • dataRate -- Integer
  • fullScale -- Integer
  • filterBandwidth -- Integer

Configures the data rate, full scale range and filter bandwidth. Possible values are:

  • Data rate of 0Hz to 1600Hz.
  • Full scale range of -2G to +2G up to -16G to +16G.
  • Filter bandwidth between 50Hz and 800Hz.

Decreasing data rate or full scale range will also decrease the noise on the data.

The default values are 100Hz data rate, -4G to +4G range and 200Hz filter bandwidth.

The following constants are available for this function:

  • BrickletAccelerometer`DATAURATEUOFF = 0
  • BrickletAccelerometer`DATAURATEU3HZ = 1
  • BrickletAccelerometer`DATAURATEU6HZ = 2
  • BrickletAccelerometer`DATAURATEU12HZ = 3
  • BrickletAccelerometer`DATAURATEU25HZ = 4
  • BrickletAccelerometer`DATAURATEU50HZ = 5
  • BrickletAccelerometer`DATAURATEU100HZ = 6
  • BrickletAccelerometer`DATAURATEU400HZ = 7
  • BrickletAccelerometer`DATAURATEU800HZ = 8
  • BrickletAccelerometer`DATAURATEU1600HZ = 9
  • BrickletAccelerometer`FULLUSCALEU2G = 0
  • BrickletAccelerometer`FULLUSCALEU4G = 1
  • BrickletAccelerometer`FULLUSCALEU6G = 2
  • BrickletAccelerometer`FULLUSCALEU8G = 3
  • BrickletAccelerometer`FULLUSCALEU16G = 4
  • BrickletAccelerometer`FILTERUBANDWIDTHU800HZ = 0
  • BrickletAccelerometer`FILTERUBANDWIDTHU400HZ = 1
  • BrickletAccelerometer`FILTERUBANDWIDTHU200HZ = 2
  • BrickletAccelerometer`FILTERUBANDWIDTHU50HZ = 3
BrickletAccelerometer@GetConfiguration[out dataRate, out fullScale, out filterBandwidth] → Null
Parameters:
  • dataRate -- Integer
  • fullScale -- Integer
  • filterBandwidth -- Integer

Returns the configuration as set by SetConfiguration[].

The following constants are available for this function:

  • BrickletAccelerometer`DATAURATEUOFF = 0
  • BrickletAccelerometer`DATAURATEU3HZ = 1
  • BrickletAccelerometer`DATAURATEU6HZ = 2
  • BrickletAccelerometer`DATAURATEU12HZ = 3
  • BrickletAccelerometer`DATAURATEU25HZ = 4
  • BrickletAccelerometer`DATAURATEU50HZ = 5
  • BrickletAccelerometer`DATAURATEU100HZ = 6
  • BrickletAccelerometer`DATAURATEU400HZ = 7
  • BrickletAccelerometer`DATAURATEU800HZ = 8
  • BrickletAccelerometer`DATAURATEU1600HZ = 9
  • BrickletAccelerometer`FULLUSCALEU2G = 0
  • BrickletAccelerometer`FULLUSCALEU4G = 1
  • BrickletAccelerometer`FULLUSCALEU6G = 2
  • BrickletAccelerometer`FULLUSCALEU8G = 3
  • BrickletAccelerometer`FULLUSCALEU16G = 4
  • BrickletAccelerometer`FILTERUBANDWIDTHU800HZ = 0
  • BrickletAccelerometer`FILTERUBANDWIDTHU400HZ = 1
  • BrickletAccelerometer`FILTERUBANDWIDTHU200HZ = 2
  • BrickletAccelerometer`FILTERUBANDWIDTHU50HZ = 3
BrickletAccelerometer@GetAPIVersion[] → {apiVersion1, apiVersion2, apiVersion3}
Returns:
  • apiVersioni -- Integer

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.

BrickletAccelerometer@GetResponseExpected[functionId] → responseExpected
Parameters:
  • functionId -- Integer
Returns:
  • responseExpected -- True/False

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

See SetResponseExpected[] for the list of function ID constants available for this function.

BrickletAccelerometer@SetResponseExpected[functionId, responseExpected] → Null
Parameters:
  • functionId -- Integer
  • responseExpected -- True/False

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.

The following function ID constants are available for this function:

  • BrickletAccelerometer`FUNCTIONUSETUACCELERATIONUCALLBACKUPERIOD = 2
  • BrickletAccelerometer`FUNCTIONUSETUACCELERATIONUCALLBACKUTHRESHOLD = 4
  • BrickletAccelerometer`FUNCTIONUSETUDEBOUNCEUPERIOD = 6
  • BrickletAccelerometer`FUNCTIONUSETUCONFIGURATION = 9
  • BrickletAccelerometer`FUNCTIONULEDUON = 11
  • BrickletAccelerometer`FUNCTIONULEDUOFF = 12
BrickletAccelerometer@SetResponseExpectedAll[responseExpected] → Null
Parameters:
  • responseExpected -- True/False

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

BrickletAccelerometer@GetIdentity[out uid, out connectedUid, out position, out {hardwareVersion1, hardwareVersion2, hardwareVersion3}, out {firmwareVersion1, firmwareVersion2, firmwareVersion3}, out deviceIdentifier] → Null
Parameters:
  • uid -- String
  • connectedUid -- String
  • position -- Integer
  • hardwareVersioni -- Integer
  • firmwareVersioni -- Integer
  • deviceIdentifier -- Integer

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' or 'd'.

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

Callback Configuration Functions

BrickletAccelerometer@SetAccelerationCallbackPeriod[period] → Null
Parameters:
  • period -- Integer

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

The AccelerationCallback callback is only triggered if the acceleration has changed since the last triggering.

The default value is 0.

BrickletAccelerometer@GetAccelerationCallbackPeriod[] → period
Returns:
  • period -- Integer

Returns the period as set by SetAccelerationCallbackPeriod[].

BrickletAccelerometer@SetAccelerationCallbackThreshold[option, minX, maxX, minY, maxY, minZ, maxZ] → Null
Parameters:
  • option -- Integer
  • minX -- Integer
  • maxX -- Integer
  • minY -- Integer
  • maxY -- Integer
  • minZ -- Integer
  • maxZ -- Integer

Sets the thresholds for the AccelerationReachedCallback callback.

The following options are possible:

Option Description
'x' Callback is turned off
'o' Callback is triggered when the acceleration is outside the min and max values
'i' Callback is triggered when the acceleration is inside the min and max values
'<' Callback is triggered when the acceleration is smaller than the min value (max is ignored)
'>' Callback is triggered when the acceleration is greater than the min value (max is ignored)

The default value is ('x', 0, 0, 0, 0, 0, 0).

The following constants are available for this function:

  • BrickletAccelerometer`THRESHOLDUOPTIONUOFF = ToCharacterCode["x"][[0]]
  • BrickletAccelerometer`THRESHOLDUOPTIONUOUTSIDE = ToCharacterCode["o"][[0]]
  • BrickletAccelerometer`THRESHOLDUOPTIONUINSIDE = ToCharacterCode["i"][[0]]
  • BrickletAccelerometer`THRESHOLDUOPTIONUSMALLER = ToCharacterCode["<"][[0]]
  • BrickletAccelerometer`THRESHOLDUOPTIONUGREATER = ToCharacterCode[">"][[0]]
BrickletAccelerometer@GetAccelerationCallbackThreshold[out option, out minX, out maxX, out minY, out maxY, out minZ, out maxZ] → Null
Parameters:
  • option -- Integer
  • minX -- Integer
  • maxX -- Integer
  • minY -- Integer
  • maxY -- Integer
  • minZ -- Integer
  • maxZ -- Integer

Returns the threshold as set by SetAccelerationCallbackThreshold[].

The following constants are available for this function:

  • BrickletAccelerometer`THRESHOLDUOPTIONUOFF = ToCharacterCode["x"][[0]]
  • BrickletAccelerometer`THRESHOLDUOPTIONUOUTSIDE = ToCharacterCode["o"][[0]]
  • BrickletAccelerometer`THRESHOLDUOPTIONUINSIDE = ToCharacterCode["i"][[0]]
  • BrickletAccelerometer`THRESHOLDUOPTIONUSMALLER = ToCharacterCode["<"][[0]]
  • BrickletAccelerometer`THRESHOLDUOPTIONUGREATER = ToCharacterCode[">"][[0]]
BrickletAccelerometer@SetDebouncePeriod[debounce] → Null
Parameters:
  • debounce -- Integer

Sets the period in ms with which the threshold callback

is triggered, if the threshold

keeps being reached.

The default value is 100.

BrickletAccelerometer@GetDebouncePeriod[] → debounce
Returns:
  • debounce -- Integer

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 function to a callback property of the device object:

MyCallback[sender_,value_]:=Print["Value: "<>ToString[value]]

AddEventHandler[accelerometer@ExampleCallback,MyCallback]

For further information about event handling using .NET/Link see the corresponding Mathematica .NET/Link documentation.

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

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

event BrickletAccelerometer@AccelerationCallback[sender, x, y, z]
Parameters:
  • sender -- NETObject[BrickletAccelerometer]
  • x -- Integer
  • y -- Integer
  • z -- Integer

This callback is triggered periodically with the period that is set by SetAccelerationCallbackPeriod[]. The parameters are the X, Y and Z acceleration.

The AccelerationCallback callback is only triggered if the acceleration has changed since the last triggering.

event BrickletAccelerometer@AccelerationReachedCallback[sender, x, y, z]
Parameters:
  • sender -- NETObject[BrickletAccelerometer]
  • x -- Integer
  • y -- Integer
  • z -- Integer

This callback is triggered when the threshold as set by SetAccelerationCallbackThreshold[] is reached. The parameters are the X, Y and Z acceleration.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by SetDebouncePeriod[].

Constants

BrickletAccelerometer`DEVICEUIDENTIFIER

This constant is used to identify a Accelerometer Bricklet.

The GetIdentity[] function and the EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

BrickletAccelerometer`DEVICEDISPLAYNAME

This constant represents the human readable name of a Accelerometer Bricklet.