TCP/IP - Motorized Linear Poti Bricklet

This is the description of the TCP/IP protocol for the Motorized Linear Poti Bricklet. General information and technical specifications for the Motorized Linear Poti Bricklet are summarized in its hardware description.

API

A general description of the TCP/IP protocol structure can be found here.

Basic Functions

BrickletMotorizedLinearPoti.get_position
Function ID:

1

Request:

empty payload

Response:
  • position -- uint16

Returns the position of the linear potentiometer. The value is between 0 (slider down) and 100 (slider up).

If you want to get the value periodically, it is recommended to use the CALLBACK_POSITION callback. You can set the callback configuration with set_position_callback_configuration.

BrickletMotorizedLinearPoti.set_motor_position
Function ID:

5

Request:
  • position -- uint16
  • drive_mode -- uint8
  • hold_position -- bool
Response:

no response

Sets the position of the potentiometer. The motorized potentiometer will immediately start to approach the position. Depending on the chosen drive mode, the position will either be reached as fast as possible or in a slow but smooth motion.

The position has to be between 0 (slider down) and 100 (slider up).

If you set the hold position parameter to true, the position will automatically be retained. If a user changes the position of the potentiometer, it will automatically drive back to the original set point.

If the hold position parameter is set to false, the potentiometer can be changed again by the user as soon as the set point was reached once.

The following meanings are defined for the parameters of this function:

  • 0: fast, for drive_mode
  • 1: smooth, for drive_mode
BrickletMotorizedLinearPoti.get_motor_position
Function ID:

6

Request:

empty payload

Response:
  • position -- uint16
  • drive_mode -- uint8
  • hold_position -- bool
  • position_reached -- bool

Returns the last motor position as set by set_motor_position. This is not the current position (use get_position to get the current position). This is the last used set point and configuration.

The position reached parameter is true if the position has been reached at one point. The position may have been changed again in the meantime by the user.

The following meanings are defined for the parameters of this function:

  • 0: fast, for drive_mode
  • 1: smooth, for drive_mode

Advanced Functions

BrickletMotorizedLinearPoti.calibrate
Function ID:7
Request:empty payload
Response:no response

Starts a calibration procedure. The potentiometer will be driven to the extreme points to calibrate the potentiometer.

The calibration is saved in flash, it does not have to be called on every start up.

The Motorized Linear Poti Bricklet is already factory-calibrated during testing at Tinkerforge.

BrickletMotorizedLinearPoti.get_spitfp_error_count
Function ID:

234

Request:

empty payload

Response:
  • error_count_ack_checksum -- uint32
  • error_count_message_checksum -- uint32
  • error_count_frame -- uint32
  • error_count_overflow -- uint32

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.

BrickletMotorizedLinearPoti.set_bootloader_mode
Function ID:

235

Request:
  • mode -- uint8
Response:
  • status -- uint8

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.

The following meanings are defined for the parameters of this function:

  • 0: bootloader, for mode
  • 1: firmware, for mode
  • 2: bootloader wait for reboot, for mode
  • 3: firmware wait for reboot, for mode
  • 4: firmware wait for erase and reboot, for mode
  • 0: ok, for status
  • 1: invalid mode, for status
  • 2: no change, for status
  • 3: entry function not present, for status
  • 4: device identifier incorrect, for status
  • 5: crc mismatch, for status
BrickletMotorizedLinearPoti.get_bootloader_mode
Function ID:

236

Request:

empty payload

Response:
  • mode -- uint8

Returns the current bootloader mode, see set_bootloader_mode.

The following meanings are defined for the parameters of this function:

  • 0: bootloader, for mode
  • 1: firmware, for mode
  • 2: bootloader wait for reboot, for mode
  • 3: firmware wait for reboot, for mode
  • 4: firmware wait for erase and reboot, for mode
BrickletMotorizedLinearPoti.set_write_firmware_pointer
Function ID:

237

Request:
  • pointer -- uint32
Response:

no response

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.

BrickletMotorizedLinearPoti.write_firmware
Function ID:

238

Request:
  • data -- uint8[64]
Response:
  • status -- uint8

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.

BrickletMotorizedLinearPoti.set_status_led_config
Function ID:

239

Request:
  • config -- uint8
Response:

no response

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.

The following meanings are defined for the parameters of this function:

  • 0: off, for config
  • 1: on, for config
  • 2: show heartbeat, for config
  • 3: show status, for config
BrickletMotorizedLinearPoti.get_status_led_config
Function ID:

240

Request:

empty payload

Response:
  • config -- uint8

Returns the configuration as set by set_status_led_config

The following meanings are defined for the parameters of this function:

  • 0: off, for config
  • 1: on, for config
  • 2: show heartbeat, for config
  • 3: show status, for config
BrickletMotorizedLinearPoti.get_chip_temperature
Function ID:

242

Request:

empty payload

Response:
  • temperature -- int16

Returns the temperature in °C 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.

BrickletMotorizedLinearPoti.reset
Function ID:243
Request:empty payload
Response:no response

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!

BrickletMotorizedLinearPoti.write_uid
Function ID:

248

Request:
  • uid -- uint32
Response:

no response

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.

BrickletMotorizedLinearPoti.read_uid
Function ID:

249

Request:

empty payload

Response:
  • uid -- uint32

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

BrickletMotorizedLinearPoti.get_identity
Function ID:

255

Request:

empty payload

Response:
  • uid -- char[8]
  • connected_uid -- char[8]
  • position -- char
  • hardware_version -- uint8[3]
  • firmware_version -- uint8[3]
  • device_identifier -- uint16

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

Callback Configuration Functions

BrickletMotorizedLinearPoti.set_position_callback_configuration
Function ID:

2

Request:
  • period -- uint32
  • value_has_to_change -- bool
  • option -- char
  • min -- uint16
  • max -- uint16
Response:

no response

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

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

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

It is furthermore possible to constrain the callback with thresholds.

The option-parameter together with min/max sets a threshold for the CALLBACK_POSITION callback.

The following options are possible:

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

If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.

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

The following meanings are defined for the parameters of this function:

  • x: off, for option
  • o: outside, for option
  • i: inside, for option
  • <: smaller, for option
  • >: greater, for option
BrickletMotorizedLinearPoti.get_position_callback_configuration
Function ID:

3

Request:

empty payload

Response:
  • period -- uint32
  • value_has_to_change -- bool
  • option -- char
  • min -- uint16
  • max -- uint16

Returns the callback configuration as set by set_position_callback_configuration.

The following meanings are defined for the parameters of this function:

  • x: off, for option
  • o: outside, for option
  • i: inside, for option
  • <: smaller, for option
  • >: greater, for option
BrickletMotorizedLinearPoti.set_position_reached_callback_configuration
Function ID:

8

Request:
  • enabled -- bool
Response:

no response

Enables/Disables CALLBACK_POSITION_REACHED callback.

By default the callback is enabled.

BrickletMotorizedLinearPoti.get_position_reached_callback_configuration
Function ID:

9

Request:

empty payload

Response:
  • enabled -- bool

Returns the CALLBACK_POSITION_REACHED callback configuration as set by set_position_reached_callback_configuration.

Callbacks

BrickletMotorizedLinearPoti.CALLBACK_POSITION
Function ID:

4

Response:
  • position -- uint16

This callback is triggered periodically according to the configuration set by set_position_callback_configuration.

The response value is the same as get_position.

BrickletMotorizedLinearPoti.CALLBACK_POSITION_REACHED
Function ID:

10

Response:
  • position -- uint16

This callback is triggered if a new position as set by set_motor_position is reached.

The response value is the current position.