Go - Tilt Bricklet

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

An installation guide for the Go API bindings is part of their general description. Additional documentation can be found on godoc.org.

Examples

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

Simple

Download (example_simple.go)

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package main

import (
    "fmt"
    "github.com/Tinkerforge/go-api-bindings/ipconnection"
    "github.com/Tinkerforge/go-api-bindings/tilt_bricklet"
)

const ADDR string = "localhost:4223"
const UID string = "XYZ" // Change XYZ to the UID of your Tilt Bricklet.

func main() {
    ipcon := ipconnection.New()
    defer ipcon.Close()
    t, _ := tilt_bricklet.New(UID, &ipcon) // Create device object.

    ipcon.Connect(ADDR) // Connect to brickd.
    defer ipcon.Disconnect()
    // Don't use device before ipcon is connected.

    // Get current tilt state.
    state, _ := t.GetTiltState()

    if state == tilt_bricklet.TiltStateClosed {
        fmt.Println("Tilt State: Closed")
    } else if state == tilt_bricklet.TiltStateOpen {
        fmt.Println("Tilt State: Open")
    } else if state == tilt_bricklet.TiltStateClosedVibrating {
        fmt.Println("Tilt State: Closed Vibrating")
    }

    fmt.Print("Press enter to exit.")
    fmt.Scanln()
}

Callback

Download (example_callback.go)

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package main

import (
    "fmt"
    "github.com/Tinkerforge/go-api-bindings/ipconnection"
    "github.com/Tinkerforge/go-api-bindings/tilt_bricklet"
)

const ADDR string = "localhost:4223"
const UID string = "XYZ" // Change XYZ to the UID of your Tilt Bricklet.

func main() {
    ipcon := ipconnection.New()
    defer ipcon.Close()
    t, _ := tilt_bricklet.New(UID, &ipcon) // Create device object.

    ipcon.Connect(ADDR) // Connect to brickd.
    defer ipcon.Disconnect()
    // Don't use device before ipcon is connected.

    // Enable tilt state callback
    t.EnableTiltStateCallback()

    t.RegisterTiltStateCallback(func(state tilt_bricklet.TiltState) {

        if state == tilt_bricklet.TiltStateClosed {
            fmt.Println("Tilt State: Closed")
        } else if state == tilt_bricklet.TiltStateOpen {
            fmt.Println("Tilt State: Open")
        } else if state == tilt_bricklet.TiltStateClosedVibrating {
            fmt.Println("Tilt State: Closed Vibrating")
        }
    })

    fmt.Print("Press enter to exit.")
    fmt.Scanln()
}

API

The Tilt Bricklet API is defined in the package github.com/Tinkerforge/go-api-bindings/tilt_bricklet

Nearly every function of the Go bindings can return an ipconnection.DeviceError, implementing the error interface. The error can have one of the following values:

  • ipconnection.DeviceErrorSuccess = 0
  • ipconnection.DeviceErrorInvalidParameter = 1
  • ipconnection.DeviceErrorFunctionNotSupported = 2
  • ipconnection.DeviceErrorUnknownError = 3

which correspond to the values returned from Bricks and Bricklets.

All functions listed below are thread-safe.

Basic Functions

func tilt_bricklet.New(uid string, ipcon *IPConnection) (device TiltBricklet, err error)
Parameters:
  • uid – Type: string
  • ipcon – Type: *IPConnection
Returns:
  • device – Type: TiltBricklet
  • err – Type: error

Creates a new TiltBricklet object with the unique device ID uid and adds it to the IPConnection ipcon:

device, err := tilt_bricklet.New("YOUR_DEVICE_UID", &ipcon)

This device object can be used after the IPConnection has been connected (see examples above).

func (*TiltBricklet) GetTiltState() (state uint8, err error)
Returns:
  • state – Type: uint8, Range: See constants
  • err – Type: error

Returns the current tilt state. The state can either be

  • 0 = Closed: The ball in the tilt switch closes the circuit.
  • 1 = Open: The ball in the tilt switch does not close the circuit.
  • 2 = Closed Vibrating: The tilt switch is in motion (rapid change between open and close).
Tilt states

The following constants are available for this function:

For state:

  • tilt_bricklet.TiltStateClosed = 0
  • tilt_bricklet.TiltStateOpen = 1
  • tilt_bricklet.TiltStateClosedVibrating = 2

Advanced Functions

func (*TiltBricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)
Returns:
  • uid – Type: string, Length: up to 8
  • connectedUid – Type: string, Length: up to 8
  • position – Type: rune, Range: ['a' to 'h', 'i', 'z']
  • hardwareVersion – Type: [3]uint8
    • 0: major – Type: uint8, Range: [0 to 255]
    • 1: minor – Type: uint8, Range: [0 to 255]
    • 2: revision – Type: uint8, Range: [0 to 255]
  • firmwareVersion – Type: [3]uint8
    • 0: major – Type: uint8, Range: [0 to 255]
    • 1: minor – Type: uint8, Range: [0 to 255]
    • 2: revision – Type: uint8, Range: [0 to 255]
  • deviceIdentifier – Type: uint16, Range: [0 to 216 - 1]
  • err – Type: error

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). The Raspberry Pi HAT (Zero) Brick is always at position 'i' and the Bricklet connected to an Isolator Bricklet is always as 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

func (*TiltBricklet) EnableTiltStateCallback() (err error)
Returns:
  • err – Type: error

Enables the RegisterTiltStateCallback callback.

func (*TiltBricklet) DisableTiltStateCallback() (err error)
Returns:
  • err – Type: error

Disables the RegisterTiltStateCallback callback.

func (*TiltBricklet) IsTiltStateCallbackEnabled() (enabled bool, err error)
Returns:
  • enabled – Type: bool, Default: false
  • err – Type: error

Returns true if the RegisterTiltStateCallback callback is enabled.

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding Register*Callback function, which returns a unique callback ID. This ID can be used to deregister the callback later with the corresponding Deregister*Callback function.

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.

func (*TiltBricklet) RegisterTiltStateCallback(func(state uint8)) (registrationId uint64)
Callback Parameters:
  • state – Type: uint8, Range: See constants
Returns:
  • registrationId – Type: uint64

This callback provides the current tilt state. It is called every time the state changes.

See GetTiltState() for a description of the states.

The following constants are available for this function:

For state:

  • tilt_bricklet.TiltStateClosed = 0
  • tilt_bricklet.TiltStateOpen = 1
  • tilt_bricklet.TiltStateClosedVibrating = 2

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.

func (*TiltBricklet) GetAPIVersion() (apiVersion [3]uint8, err error)
Returns:
  • apiVersion – Type: [3]uint8
    • 0: major – Type: uint8, Range: [0 to 255]
    • 1: minor – Type: uint8, Range: [0 to 255]
    • 2: revision – Type: uint8, Range: [0 to 255]
  • err – Type: error

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.

func (*TiltBricklet) GetResponseExpected(functionId uint8) (responseExpected bool, err error)
Parameters:
  • functionId – Type: uint8, Range: See constants
Returns:
  • responseExpected – Type: bool
  • err – Type: error

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.

The following constants are available for this function:

For functionId:

  • tilt_bricklet.FunctionEnableTiltStateCallback = 2
  • tilt_bricklet.FunctionDisableTiltStateCallback = 3
func (*TiltBricklet) SetResponseExpected(functionId uint8, responseExpected bool) (err error)
Parameters:
  • functionId – Type: uint8, Range: See constants
  • responseExpected – Type: bool
Returns:
  • err – Type: error

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 constants are available for this function:

For functionId:

  • tilt_bricklet.FunctionEnableTiltStateCallback = 2
  • tilt_bricklet.FunctionDisableTiltStateCallback = 3
func (*TiltBricklet) SetResponseExpectedAll(responseExpected bool) (err error)
Parameters:
  • responseExpected – Type: bool
Returns:
  • err – Type: error

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

Constants

tilt_bricklet.DeviceIdentifier

This constant is used to identify a Tilt Bricklet.

The GetIdentity() function and the (*IPConnection) RegisterEnumerateCallback callback of the IPConnection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

tilt_bricklet.DeviceDisplayName

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