Perl - Performance DC Bricklet

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

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

Examples

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

Configuration

Download (example_configuration.pl)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
#!/usr/bin/perl

use strict;
use Tinkerforge::IPConnection;
use Tinkerforge::BrickletPerformanceDC;

use constant HOST => 'localhost';
use constant PORT => 4223;
use constant UID => 'XYZ'; # Change XYZ to the UID of your Performance DC Bricklet

my $ipcon = Tinkerforge::IPConnection->new(); # Create IP connection
my $pdc = Tinkerforge::BrickletPerformanceDC->new(&UID, $ipcon); # Create device object

$ipcon->connect(&HOST, &PORT); # Connect to brickd
# Don't use device before ipcon is connected

$pdc->set_drive_mode($pdc->DRIVE_MODE_DRIVE_COAST);
$pdc->set_pwm_frequency(10000); # Use PWM frequency of 10 kHz
$pdc->set_motion(4096, 4096); # Slow ac-/deceleration (12.5 %/s)
$pdc->set_velocity(32767); # Full speed forward (100 %)
$pdc->set_enabled(1); # Enable motor power

print "Press key to exit\n";
<STDIN>;

# Stop motor before disabling motor power
$pdc->set_motion(4096, 16384); # Fast decceleration (50 %/s) for stopping
$pdc->set_velocity(0); # Request motor stop
sleep(2); # Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
$pdc->set_enabled(0); # Disable motor power

$ipcon->disconnect();

Callback

Download (example_callback.pl)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
#!/usr/bin/perl

use strict;
use Tinkerforge::IPConnection;
use Tinkerforge::BrickletPerformanceDC;

use constant HOST => 'localhost';
use constant PORT => 4223;
use constant UID => 'XYZ'; # Change XYZ to the UID of your Performance DC Bricklet

my $ipcon = Tinkerforge::IPConnection->new(); # Create IP connection
our $pdc = Tinkerforge::BrickletPerformanceDC->new(&UID, $ipcon); # Create device object

# Use velocity reached callback to swing back and forth
# between full speed forward and full speed backward
sub cb_velocity_reached
{
    my ($velocity) = @_;

    if ($velocity == 32767)
    {
        print "Velocity: Full speed forward, now turning backward\n";
        $pdc->set_velocity(-32767);
    }
    elsif ($velocity == -32767)
    {
        print "Velocity: Full speed backward, now turning forward\n";
        $pdc->set_velocity(32767);
    }
    else
    {
        print "Error\n"; # Can only happen if another program sets velocity
    }
}

$ipcon->connect(&HOST, &PORT); # Connect to brickd
# Don't use device before ipcon is connected

# Register velocity reached callback to subroutine cb_velocity_reached
$pdc->register_callback($pdc->CALLBACK_VELOCITY_REACHED, 'cb_velocity_reached');

# Enable velocity reached callback
$pdc->set_velocity_reached_callback_configuration(1);

# The acceleration has to be smaller or equal to the maximum
# acceleration of the DC motor, otherwise the velocity reached
# callback will be called too early
$pdc->set_motion(4096, 4096); # Slow acceleration (12.5 %/s)
$pdc->set_velocity(32767); # Full speed forward (100 %)

# Enable motor power
$pdc->set_enabled(1);

print "Press key to exit\n";
<STDIN>;

# Stop motor before disabling motor power
$pdc->set_motion(4096, 16384); # Fast decceleration (50 %/s) for stopping
$pdc->set_velocity(0); # Request motor stop
sleep(2); # Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
$pdc->set_enabled(0); # Disable motor power

$ipcon->disconnect();

API

Generally, every subroutine of the Perl bindings can report an error as Tinkerforge::Error object via croak(). The object has a get_code() and a get_message() subroutine. There are different error code:

  • Error->ALREADY_CONNECTED = 11
  • Error->NOT_CONNECTED = 12
  • Error->CONNECT_FAILED = 13
  • Error->INVALID_FUNCTION_ID = 21
  • Error->TIMEOUT = 31
  • Error->INVALID_PARAMETER = 41
  • Error->FUNCTION_NOT_SUPPORTED = 42
  • Error->UNKNOWN_ERROR = 43
  • Error->STREAM_OUT_OF_SYNC = 51
  • Error->INVALID_UID = 61
  • Error->NON_ASCII_CHAR_IN_SECRET = 71
  • Error->WRONG_DEVICE_TYPE = 81
  • Error->DEVICE_REPLACED = 82
  • Error->WRONG_RESPONSE_LENGTH = 83

All functions listed below are thread-safe.

Basic Functions

BrickletPerformanceDC->new($uid, $ipcon)
Parameters:
  • $uid – Type: string
  • $ipcon – Type: IPConnection
Returns:
  • $performance_dc – Type: BrickletPerformanceDC

Creates an object with the unique device ID $uid:

$performance_dc = BrickletPerformanceDC->new("YOUR_DEVICE_UID", $ipcon);

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

BrickletPerformanceDC->set_enabled($enabled)
Parameters:
  • $enabled – Type: bool
Returns:
  • undef

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

BrickletPerformanceDC->get_enabled()
Returns:
  • $enabled – Type: bool, Default: 0

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

BrickletPerformanceDC->set_velocity($velocity)
Parameters:
  • $velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1], Default: 0
Returns:
  • undef

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().

BrickletPerformanceDC->get_velocity()
Returns:
  • $velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1], Default: 0

Returns the velocity as set by set_velocity().

BrickletPerformanceDC->get_current_velocity()
Returns:
  • $velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1], Default: 0

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().

BrickletPerformanceDC->set_motion($acceleration, $deceleration)
Parameters:
  • $acceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 10000
  • $deceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 10000
Returns:
  • undef

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.

BrickletPerformanceDC->get_motion()
Return Array:
  • 0: $acceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 10000
  • 1: $deceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 10000

Returns the acceleration/deceleration as set by set_motion().

BrickletPerformanceDC->full_brake()
Returns:
  • undef

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.

BrickletPerformanceDC->get_pwm_frequency()
Returns:
  • $frequency – Type: int, Unit: 1 Hz, Range: [1 to 20000], Default: 15000

Returns the PWM frequency as set by set_pwm_frequency().

BrickletPerformanceDC->get_power_statistics()
Return Array:
  • 0: $voltage – Type: int, Unit: 1 mV, Range: [0 to 216 - 1]
  • 1: $current – Type: int, Unit: 1 mA, Range: [0 to 216 - 1]
  • 2: $temperature – Type: int, Unit: 1/10 °, Range: [-215 to 215 - 1]

Returns input voltage, current usage and temperature of the driver.

BrickletPerformanceDC->set_thermal_shutdown($temperature)
Parameters:
  • $temperature – Type: int, Unit: 1 °, Range: [0 to 255], Default: 125
Returns:
  • undef

Sets a temperature threshold that is used for thermal shutdown.

Additionally to this user defined threshold the driver chip will shut down at a temperature of 150°C.

If a thermal shutdown is triggered the driver is disabled and has to be explicitly re-enabled with set_enabled().

BrickletPerformanceDC->get_thermal_shutdown()
Returns:
  • $temperature – Type: int, Unit: 1 °, Range: [0 to 255]

Returns the thermal shutdown temperature as set by set_thermal_shutdown().

BrickletPerformanceDC->set_gpio_configuration($channel, $debounce, $stop_deceleration)
Parameters:
  • $channel – Type: int, Range: [0 to 1]
  • $debounce – Type: int, Unit: 1 ms, Range: [0 to 216 - 1], Default: 200
  • $stop_deceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 216 - 1
Returns:
  • undef

Sets the GPIO configuration for the given channel. You can configure a debounce and the deceleration that is used if the action is configured as normal stop. See set_gpio_action().

BrickletPerformanceDC->get_gpio_configuration($channel)
Parameters:
  • $channel – Type: int, Range: [0 to 1]
Return Array:
  • 0: $debounce – Type: int, Unit: 1 ms, Range: [0 to 216 - 1], Default: 200
  • 1: $stop_deceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 216 - 1], Default: 216 - 1

Returns the GPIO configuration for a channel as set by set_gpio_configuration().

BrickletPerformanceDC->set_gpio_action($channel, $action)
Parameters:
  • $channel – Type: int, Range: [0 to 1]
  • $action – Type: int, Range: See constants, Default: 0
Returns:
  • undef

Sets the GPIO action for the given channel.

The action can be a normal stop, a full brake or a callback. Each for a rising edge or falling edge. The actions are a bitmask they can be used at the same time. You can for example trigger a full brake and a callback at the same time or for rising and falling edge.

The deceleration speed for the normal stop can be configured with set_gpio_configuration().

The following constants are available for this function:

For $action:

  • BrickletPerformanceDC->GPIO_ACTION_NONE = 0
  • BrickletPerformanceDC->GPIO_ACTION_NORMAL_STOP_RISING_EDGE = 1
  • BrickletPerformanceDC->GPIO_ACTION_NORMAL_STOP_FALLING_EDGE = 2
  • BrickletPerformanceDC->GPIO_ACTION_FULL_BRAKE_RISING_EDGE = 4
  • BrickletPerformanceDC->GPIO_ACTION_FULL_BRAKE_FALLING_EDGE = 8
  • BrickletPerformanceDC->GPIO_ACTION_CALLBACK_RISING_EDGE = 16
  • BrickletPerformanceDC->GPIO_ACTION_CALLBACK_FALLING_EDGE = 32
BrickletPerformanceDC->get_gpio_action($channel)
Parameters:
  • $channel – Type: int, Range: [0 to 1]
Returns:
  • $action – Type: int, Range: See constants, Default: 0

Returns the GPIO action for a channel as set by set_gpio_action().

The following constants are available for this function:

For $action:

  • BrickletPerformanceDC->GPIO_ACTION_NONE = 0
  • BrickletPerformanceDC->GPIO_ACTION_NORMAL_STOP_RISING_EDGE = 1
  • BrickletPerformanceDC->GPIO_ACTION_NORMAL_STOP_FALLING_EDGE = 2
  • BrickletPerformanceDC->GPIO_ACTION_FULL_BRAKE_RISING_EDGE = 4
  • BrickletPerformanceDC->GPIO_ACTION_FULL_BRAKE_FALLING_EDGE = 8
  • BrickletPerformanceDC->GPIO_ACTION_CALLBACK_RISING_EDGE = 16
  • BrickletPerformanceDC->GPIO_ACTION_CALLBACK_FALLING_EDGE = 32
BrickletPerformanceDC->get_gpio_state()
Returns:
  • @gpio_state – Type: [bool, ...], Length: 2

Returns the GPIO state for both channels. True if the state is high and false if the state is low.

Advanced Functions

BrickletPerformanceDC->set_drive_mode($mode)
Parameters:
  • $mode – Type: int, Range: See constants, Default: 0
Returns:
  • undef

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.

The following constants are available for this function:

For $mode:

  • BrickletPerformanceDC->DRIVE_MODE_DRIVE_BRAKE = 0
  • BrickletPerformanceDC->DRIVE_MODE_DRIVE_COAST = 1
BrickletPerformanceDC->get_drive_mode()
Returns:
  • $mode – Type: int, Range: See constants, Default: 0

Returns the drive mode, as set by set_drive_mode().

The following constants are available for this function:

For $mode:

  • BrickletPerformanceDC->DRIVE_MODE_DRIVE_BRAKE = 0
  • BrickletPerformanceDC->DRIVE_MODE_DRIVE_COAST = 1
BrickletPerformanceDC->set_pwm_frequency($frequency)
Parameters:
  • $frequency – Type: int, Unit: 1 Hz, Range: [1 to 20000], Default: 15000
Returns:
  • undef

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.

BrickletPerformanceDC->set_error_led_config($config)
Parameters:
  • $config – Type: int, Range: See constants, Default: 3
Returns:
  • undef

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.

The following constants are available for this function:

For $config:

  • BrickletPerformanceDC->ERROR_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC->ERROR_LED_CONFIG_ON = 1
  • BrickletPerformanceDC->ERROR_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC->ERROR_LED_CONFIG_SHOW_ERROR = 3
BrickletPerformanceDC->get_error_led_config()
Returns:
  • $config – Type: int, Range: See constants, Default: 3

Returns the LED configuration as set by set_error_led_config()

The following constants are available for this function:

For $config:

  • BrickletPerformanceDC->ERROR_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC->ERROR_LED_CONFIG_ON = 1
  • BrickletPerformanceDC->ERROR_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC->ERROR_LED_CONFIG_SHOW_ERROR = 3
BrickletPerformanceDC->set_cw_led_config($config)
Parameters:
  • $config – Type: int, Range: See constants, Default: 3
Returns:
  • undef

Configures the CW LED to be either turned off, turned on, blink in heartbeat mode or if the motor turn clockwise.

The following constants are available for this function:

For $config:

  • BrickletPerformanceDC->CW_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC->CW_LED_CONFIG_ON = 1
  • BrickletPerformanceDC->CW_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC->CW_LED_CONFIG_SHOW_CW_AS_FORWARD = 3
  • BrickletPerformanceDC->CW_LED_CONFIG_SHOW_CW_AS_BACKWARD = 4
BrickletPerformanceDC->get_cw_led_config()
Returns:
  • $config – Type: int, Range: See constants, Default: 3

Returns the LED configuration as set by set_cw_led_config()

The following constants are available for this function:

For $config:

  • BrickletPerformanceDC->CW_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC->CW_LED_CONFIG_ON = 1
  • BrickletPerformanceDC->CW_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC->CW_LED_CONFIG_SHOW_CW_AS_FORWARD = 3
  • BrickletPerformanceDC->CW_LED_CONFIG_SHOW_CW_AS_BACKWARD = 4
BrickletPerformanceDC->set_ccw_led_config($config)
Parameters:
  • $config – Type: int, Range: See constants, Default: 3
Returns:
  • undef

Configures the CCW LED to be either turned off, turned on, blink in heartbeat mode or if the motor turn counter-clockwise.

The following constants are available for this function:

For $config:

  • BrickletPerformanceDC->CCW_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC->CCW_LED_CONFIG_ON = 1
  • BrickletPerformanceDC->CCW_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC->CCW_LED_CONFIG_SHOW_CCW_AS_FORWARD = 3
  • BrickletPerformanceDC->CCW_LED_CONFIG_SHOW_CCW_AS_BACKWARD = 4
BrickletPerformanceDC->get_ccw_led_config()
Returns:
  • $config – Type: int, Range: See constants, Default: 3

Returns the LED configuration as set by set_ccw_led_config()

The following constants are available for this function:

For $config:

  • BrickletPerformanceDC->CCW_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC->CCW_LED_CONFIG_ON = 1
  • BrickletPerformanceDC->CCW_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC->CCW_LED_CONFIG_SHOW_CCW_AS_FORWARD = 3
  • BrickletPerformanceDC->CCW_LED_CONFIG_SHOW_CCW_AS_BACKWARD = 4
BrickletPerformanceDC->set_gpio_led_config($channel, $config)
Parameters:
  • $channel – Type: int, Range: [0 to 1]
  • $config – Type: int, Range: See constants, Default: 4
Returns:
  • undef

Configures the GPIO LED to be either turned off, turned on, blink in heartbeat mode or the GPIO state.

The GPIO LED can be configured for both channels.

The following constants are available for this function:

For $config:

  • BrickletPerformanceDC->GPIO_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC->GPIO_LED_CONFIG_ON = 1
  • BrickletPerformanceDC->GPIO_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC->GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_HIGH = 3
  • BrickletPerformanceDC->GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_LOW = 4
BrickletPerformanceDC->get_gpio_led_config($channel)
Parameters:
  • $channel – Type: int, Range: [0 to 1]
Returns:
  • $config – Type: int, Range: See constants, Default: 4

Returns the LED configuration as set by set_gpio_led_config()

The following constants are available for this function:

For $config:

  • BrickletPerformanceDC->GPIO_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC->GPIO_LED_CONFIG_ON = 1
  • BrickletPerformanceDC->GPIO_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC->GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_HIGH = 3
  • BrickletPerformanceDC->GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_LOW = 4
BrickletPerformanceDC->get_spitfp_error_count()
Return Array:
  • 0: $error_count_ack_checksum – Type: int, Range: [0 to 232 - 1]
  • 1: $error_count_message_checksum – Type: int, Range: [0 to 232 - 1]
  • 2: $error_count_frame – Type: int, Range: [0 to 232 - 1]
  • 3: $error_count_overflow – Type: int, Range: [0 to 232 - 1]

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.

BrickletPerformanceDC->set_status_led_config($config)
Parameters:
  • $config – Type: int, Range: See constants, Default: 3
Returns:
  • undef

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 constants are available for this function:

For $config:

  • BrickletPerformanceDC->STATUS_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC->STATUS_LED_CONFIG_ON = 1
  • BrickletPerformanceDC->STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC->STATUS_LED_CONFIG_SHOW_STATUS = 3
BrickletPerformanceDC->get_status_led_config()
Returns:
  • $config – Type: int, Range: See constants, Default: 3

Returns the configuration as set by set_status_led_config()

The following constants are available for this function:

For $config:

  • BrickletPerformanceDC->STATUS_LED_CONFIG_OFF = 0
  • BrickletPerformanceDC->STATUS_LED_CONFIG_ON = 1
  • BrickletPerformanceDC->STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletPerformanceDC->STATUS_LED_CONFIG_SHOW_STATUS = 3
BrickletPerformanceDC->get_chip_temperature()
Returns:
  • $temperature – Type: int, Unit: 1 °C, Range: [-215 to 215 - 1]

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.

BrickletPerformanceDC->reset()
Returns:
  • undef

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!

BrickletPerformanceDC->get_identity()
Return Array:
  • 0: $uid – Type: string, Length: up to 8
  • 1: $connected_uid – Type: string, Length: up to 8
  • 2: $position – Type: char, Range: ['a' to 'h', 'z']
  • 3: @hardware_version – Type: [int, ...], Length: 3
    • 0: $major – Type: int, Range: [0 to 255]
    • 1: $minor – Type: int, Range: [0 to 255]
    • 2: $revision – Type: int, Range: [0 to 255]
  • 4: @firmware_version – Type: [int, ...], Length: 3
    • 0: $major – Type: int, Range: [0 to 255]
    • 1: $minor – Type: int, Range: [0 to 255]
    • 2: $revision – Type: int, Range: [0 to 255]
  • 5: $device_identifier – 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

BrickletPerformanceDC->register_callback($callback_id, $function)
Parameters:
  • $callback_id – Type: int
  • $function – Type: string
Returns:
  • undef

Registers the given $function name with the given $callback_id.

The available callback IDs with corresponding function signatures are listed below.

BrickletPerformanceDC->set_emergency_shutdown_callback_configuration($enabled)
Parameters:
  • $enabled – Type: bool, Default: 0
Returns:
  • undef

Enable/Disable CALLBACK_EMERGENCY_SHUTDOWN callback.

BrickletPerformanceDC->get_emergency_shutdown_callback_configuration()
Returns:
  • $enabled – Type: bool, Default: 1

Returns the callback configuration as set by set_emergency_shutdown_callback_configuration().

BrickletPerformanceDC->set_velocity_reached_callback_configuration($enabled)
Parameters:
  • $enabled – Type: bool, Default: 0
Returns:
  • undef

Enable/Disable CALLBACK_VELOCITY_REACHED callback.

BrickletPerformanceDC->get_velocity_reached_callback_configuration()
Returns:
  • $enabled – Type: bool, Default: 0

Returns the callback configuration as set by set_velocity_reached_callback_configuration().

BrickletPerformanceDC->set_current_velocity_callback_configuration($period, $value_has_to_change)
Parameters:
  • $period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
  • $value_has_to_change – Type: bool, Default: 0
Returns:
  • undef

The period is the period with which the CALLBACK_CURRENT_VELOCITY 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.

BrickletPerformanceDC->get_current_velocity_callback_configuration()
Return Array:
  • 0: $period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
  • 1: $value_has_to_change – Type: bool, Default: 0

Returns the callback configuration as set by set_current_velocity_callback_configuration().

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the register_callback() function of the device object. The first parameter is the callback ID and the second parameter the callback function name:

sub my_callback
{
    print "@_[0]";
}

$performance_dc->register_callback(BrickletPerformanceDC->CALLBACK_EXAMPLE, 'my_callback')

The callback function will be called from an internal thread of the IP Connection. In contrast to many other programming languages, variables are not automatically shared between threads in Perl. If you want to share a global variable between a callback function and the rest for your program it has to be marked as :shared. See the documentation of the threads::shared Perl module for more details.

The available constants with inherent number and 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.

BrickletPerformanceDC->CALLBACK_EMERGENCY_SHUTDOWN
Callback Parameters:
  • no parameters

This callback is triggered if either the current consumption is too high or the temperature of the driver chip is too high (above 150°C) or the user defined thermal shutdown is triggered (see set_thermal_shutdown()). n case of a voltage below 6V (input voltage) this callback is triggered as well.

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

BrickletPerformanceDC->CALLBACK_VELOCITY_REACHED
Callback Parameters:
  • $velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1]

This callback 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 CALLBACK_VELOCITY_REACHED callback 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 callback will be triggered too early.

BrickletPerformanceDC->CALLBACK_CURRENT_VELOCITY
Callback Parameters:
  • $velocity – Type: int, Unit: 100/32767 %, Range: [-215 + 1 to 215 - 1]

This callback 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 CALLBACK_CURRENT_VELOCITY callback is only triggered after the set period if there is a change in the velocity.

BrickletPerformanceDC->CALLBACK_GPIO_STATE
Callback Parameters:
  • @gpio_state – Type: [bool, ...], Length: 2

This callback is triggered by GPIO changes if it is activated through set_gpio_action().

New in version 2.0.1 (Plugin).

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.

BrickletPerformanceDC->get_api_version()
Return Array:
  • 0: @api_version – Type: [int, ...], Length: 3
    • 0: $major – Type: int, Range: [0 to 255]
    • 1: $minor – Type: int, Range: [0 to 255]
    • 2: $revision – Type: int, 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.

BrickletPerformanceDC->get_response_expected($function_id)
Parameters:
  • $function_id – Type: int, Range: See constants
Returns:
  • $response_expected – 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 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.

The following constants are available for this function:

For $function_id:

  • BrickletPerformanceDC->FUNCTION_SET_ENABLED = 1
  • BrickletPerformanceDC->FUNCTION_SET_VELOCITY = 3
  • BrickletPerformanceDC->FUNCTION_SET_MOTION = 6
  • BrickletPerformanceDC->FUNCTION_FULL_BRAKE = 8
  • BrickletPerformanceDC->FUNCTION_SET_DRIVE_MODE = 9
  • BrickletPerformanceDC->FUNCTION_SET_PWM_FREQUENCY = 11
  • BrickletPerformanceDC->FUNCTION_SET_THERMAL_SHUTDOWN = 14
  • BrickletPerformanceDC->FUNCTION_SET_GPIO_CONFIGURATION = 16
  • BrickletPerformanceDC->FUNCTION_SET_GPIO_ACTION = 18
  • BrickletPerformanceDC->FUNCTION_SET_ERROR_LED_CONFIG = 21
  • BrickletPerformanceDC->FUNCTION_SET_CW_LED_CONFIG = 23
  • BrickletPerformanceDC->FUNCTION_SET_CCW_LED_CONFIG = 25
  • BrickletPerformanceDC->FUNCTION_SET_GPIO_LED_CONFIG = 27
  • BrickletPerformanceDC->FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION = 29
  • BrickletPerformanceDC->FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION = 31
  • BrickletPerformanceDC->FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION = 33
  • BrickletPerformanceDC->FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletPerformanceDC->FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletPerformanceDC->FUNCTION_RESET = 243
  • BrickletPerformanceDC->FUNCTION_WRITE_UID = 248
BrickletPerformanceDC->set_response_expected($function_id, $response_expected)
Parameters:
  • $function_id – Type: int, Range: See constants
  • $response_expected – Type: bool
Returns:
  • undef

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 $function_id:

  • BrickletPerformanceDC->FUNCTION_SET_ENABLED = 1
  • BrickletPerformanceDC->FUNCTION_SET_VELOCITY = 3
  • BrickletPerformanceDC->FUNCTION_SET_MOTION = 6
  • BrickletPerformanceDC->FUNCTION_FULL_BRAKE = 8
  • BrickletPerformanceDC->FUNCTION_SET_DRIVE_MODE = 9
  • BrickletPerformanceDC->FUNCTION_SET_PWM_FREQUENCY = 11
  • BrickletPerformanceDC->FUNCTION_SET_THERMAL_SHUTDOWN = 14
  • BrickletPerformanceDC->FUNCTION_SET_GPIO_CONFIGURATION = 16
  • BrickletPerformanceDC->FUNCTION_SET_GPIO_ACTION = 18
  • BrickletPerformanceDC->FUNCTION_SET_ERROR_LED_CONFIG = 21
  • BrickletPerformanceDC->FUNCTION_SET_CW_LED_CONFIG = 23
  • BrickletPerformanceDC->FUNCTION_SET_CCW_LED_CONFIG = 25
  • BrickletPerformanceDC->FUNCTION_SET_GPIO_LED_CONFIG = 27
  • BrickletPerformanceDC->FUNCTION_SET_EMERGENCY_SHUTDOWN_CALLBACK_CONFIGURATION = 29
  • BrickletPerformanceDC->FUNCTION_SET_VELOCITY_REACHED_CALLBACK_CONFIGURATION = 31
  • BrickletPerformanceDC->FUNCTION_SET_CURRENT_VELOCITY_CALLBACK_CONFIGURATION = 33
  • BrickletPerformanceDC->FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletPerformanceDC->FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletPerformanceDC->FUNCTION_RESET = 243
  • BrickletPerformanceDC->FUNCTION_WRITE_UID = 248
BrickletPerformanceDC->set_response_expected_all($response_expected)
Parameters:
  • $response_expected – Type: bool
Returns:
  • undef

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

Internal Functions

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

BrickletPerformanceDC->set_bootloader_mode($mode)
Parameters:
  • $mode – Type: int, Range: See constants
Returns:
  • $status – Type: int, Range: See constants

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 constants are available for this function:

For $mode:

  • BrickletPerformanceDC->BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletPerformanceDC->BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletPerformanceDC->BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletPerformanceDC->BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletPerformanceDC->BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For $status:

  • BrickletPerformanceDC->BOOTLOADER_STATUS_OK = 0
  • BrickletPerformanceDC->BOOTLOADER_STATUS_INVALID_MODE = 1
  • BrickletPerformanceDC->BOOTLOADER_STATUS_NO_CHANGE = 2
  • BrickletPerformanceDC->BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • BrickletPerformanceDC->BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • BrickletPerformanceDC->BOOTLOADER_STATUS_CRC_MISMATCH = 5
BrickletPerformanceDC->get_bootloader_mode()
Returns:
  • $mode – Type: int, Range: See constants

Returns the current bootloader mode, see set_bootloader_mode().

The following constants are available for this function:

For $mode:

  • BrickletPerformanceDC->BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletPerformanceDC->BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletPerformanceDC->BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletPerformanceDC->BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletPerformanceDC->BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
BrickletPerformanceDC->set_write_firmware_pointer($pointer)
Parameters:
  • $pointer – Type: int, Unit: 1 B, Range: [0 to 232 - 1]
Returns:
  • undef

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.

BrickletPerformanceDC->write_firmware(@data)
Parameters:
  • @data – Type: [int, ...], Length: 64, Range: [0 to 255]
Returns:
  • $status – Type: int, Range: [0 to 255]

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.

BrickletPerformanceDC->write_uid($uid)
Parameters:
  • $uid – Type: int, Range: [0 to 232 - 1]
Returns:
  • undef

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.

BrickletPerformanceDC->read_uid()
Returns:
  • $uid – Type: int, Range: [0 to 232 - 1]

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

Constants

BrickletPerformanceDC->DEVICE_IDENTIFIER

This constant is used to identify a Performance DC Bricklet.

The get_identity() function and the IPConnection->CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

BrickletPerformanceDC->DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Performance DC Bricklet.