Software / API Bindings / Ruby / API Reference and Examples / Bricks (Discontinued) / DC Brick

Ruby - DC Brick¶

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

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

Examples¶

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

Configuration¶

Download (example_configuration.rb)

#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/brick_dc'

include Tinkerforge

HOST = 'localhost'
PORT = 4223
UID = 'XXYYZZ' # Change XXYYZZ to the UID of your DC Brick

ipcon = IPConnection.new # Create IP connection
dc = BrickDC.new UID, ipcon # Create device object

ipcon.connect HOST, PORT # Connect to brickd
# Don't use device before ipcon is connected

dc.set_drive_mode BrickDC::DRIVE_MODE_DRIVE_COAST
dc.set_pwm_frequency 10000 # Use PWM frequency of 10 kHz
dc.set_acceleration 4096 # Slow acceleration (12.5 %/s)
dc.set_velocity 32767 # Full speed forward (100 %)
dc.enable # Enable motor power

puts 'Press key to exit'
$stdin.gets

# Stop motor before disabling motor power
dc.set_acceleration 16384 # Fast decceleration (50 %/s) for stopping
dc.set_velocity 0 # Request motor stop
sleep 2 # Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
dc.disable # Disable motor power

ipcon.disconnect

Callback¶

Download (example_callback.rb)

#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/brick_dc'

include Tinkerforge

HOST = 'localhost'
PORT = 4223
UID = 'XXYYZZ' # Change XXYYZZ to the UID of your DC Brick

ipcon = IPConnection.new # Create IP connection
dc = BrickDC.new UID, ipcon # Create device object

ipcon.connect HOST, PORT # Connect to brickd
# Don't use device before ipcon is connected

# 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
dc.set_acceleration 4096 # Slow acceleration (12.5 %/s)
dc.set_velocity 32767 # Full speed forward (100 %)

# Use velocity reached callback to swing back and forth
# between full speed forward and full speed backward
dc.register_callback(BrickDC::CALLBACK_VELOCITY_REACHED) do |velocity|
  if velocity == 32767
    puts 'Velocity: Full speed forward, now turning backward'
    dc.set_velocity(-32767)
  elsif velocity == -32767
    puts 'Velocity: Full speed backward, now turning forward'
    dc.set_velocity 32767
  else
    puts 'Error' # Can only happen if another program sets velocity
  end
end

# Enable motor power
dc.enable

puts 'Press key to exit'
$stdin.gets

# Stop motor before disabling motor power
dc.set_acceleration 16384 # Fast decceleration (50 %/s) for stopping
dc.set_velocity 0 # Request motor stop
sleep 2 # Wait for motor to actually stop: velocity (100 %) / decceleration (50 %/s) = 2 s
dc.disable # Disable motor power

ipcon.disconnect

API¶

All functions listed below are thread-safe.

Basic Functions¶

BrickDC::new(uid, ipcon) → dc¶

Parameters:	uid – Type: str ipcon – Type: IPConnection
Returns:	dc – Type: BrickDC

Creates an object with the unique device ID uid:

dc = BrickDC.new 'YOUR_DEVICE_UID', ipcon

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

BrickDC#set_velocity(velocity) → nil¶

Parameters:	velocity – Type: int, Unit: 100/32767 %, Range: [-2¹⁵ + 1 to 2¹⁵ - 1], Default: 0

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_acceleration), 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.

BrickDC#get_velocity → int¶

Returns:	velocity – Type: int, Unit: 100/32767 %, Range: [-2¹⁵ + 1 to 2¹⁵ - 1], Default: 0

Returns the velocity as set by #set_velocity.

BrickDC#get_current_velocity → int¶

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.

BrickDC#set_acceleration(acceleration) → nil¶

Parameters:	acceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 2¹⁶ - 1], Default: 10000

Sets the acceleration 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 is set to 0, there is no speed ramping, i.e. a new velocity is immediately given to the motor.

BrickDC#get_acceleration → int¶

Returns:	acceleration – Type: int, Unit: 100/32767 %/s, Range: [0 to 2¹⁶ - 1], Default: 10000

Returns the acceleration as set by #set_acceleration.

BrickDC#full_brake → nil¶

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.

BrickDC#enable → nil¶: Enables the driver chip. The driver parameters can be configured (velocity, acceleration, etc) before it is enabled.

BrickDC#disable → nil¶: Disables the driver chip. The configurations are kept (velocity, acceleration, etc) but the motor is not driven until it is enabled again.

Warning

Disabling the driver chip while the motor is still turning can damage the driver chip. The motor should be stopped calling #set_velocity with 0 before disabling the motor power. The #set_velocity function will not wait until the motor is actually stopped. You have to explicitly wait for the appropriate time after calling the #set_velocity function before calling the #disable function.

BrickDC#is_enabled → bool¶

Returns:	enabled – Type: bool, Default: false

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

Advanced Functions¶

BrickDC#set_pwm_frequency(frequency) → nil¶

Parameters:	frequency – Type: int, Unit: 1 Hz, Range: [1 to 20000], Default: 15000

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.

BrickDC#get_pwm_frequency → int¶

Returns:	frequency – Type: int, Unit: 1 Hz, Range: [1 to 20000], Default: 15000

Returns the PWM frequency as set by #set_pwm_frequency.

BrickDC#get_stack_input_voltage → int¶

Returns:	voltage – Type: int, Unit: 1 mV, Range: [0 to 2¹⁶ - 1]

Returns the stack input voltage. The stack input voltage is the voltage that is supplied via the stack, i.e. it is given by a Step-Down or Step-Up Power Supply.

BrickDC#get_external_input_voltage → int¶

Returns:	voltage – Type: int, Unit: 1 mV, Range: [0 to 2¹⁶ - 1]

Returns the external input voltage. The external input voltage is given via the black power input connector on the DC Brick.

If there is an external input voltage and a stack input voltage, the motor will be driven by the external input voltage. If there is only a stack voltage present, the motor will be driven by this voltage.

Warning

This means, if you have a high stack voltage and a low external voltage, the motor will be driven with the low external voltage. If you then remove the external connection, it will immediately be driven by the high stack voltage.

BrickDC#get_current_consumption → int¶

Returns:	voltage – Type: int, Unit: 1 mA, Range: [0 to 2¹⁶ - 1]

Returns the current consumption of the motor.

BrickDC#set_drive_mode(mode) → nil¶

Parameters:	mode – Type: int, Range: See constants, Default: 0

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:

BrickDC::DRIVE_MODE_DRIVE_BRAKE = 0
BrickDC::DRIVE_MODE_DRIVE_COAST = 1

BrickDC#get_drive_mode → int¶

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:

BrickDC::DRIVE_MODE_DRIVE_BRAKE = 0
BrickDC::DRIVE_MODE_DRIVE_COAST = 1

BrickDC#set_spitfp_baudrate_config(enable_dynamic_baudrate, minimum_dynamic_baudrate) → nil¶

Parameters:	enable_dynamic_baudrate – Type: bool, Default: true minimum_dynamic_baudrate – Type: int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000

The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred.

The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received.

This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.

In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance.

The maximum value of the baudrate can be set per port with the function #set_spitfp_baudrate. If the dynamic baudrate is disabled, the baudrate as set by #set_spitfp_baudrate will be used statically.

New in version 2.3.5 (Firmware).

BrickDC#get_spitfp_baudrate_config → [bool, int]¶

Return Array:	0: enable_dynamic_baudrate – Type: bool, Default: true 1: minimum_dynamic_baudrate – Type: int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000

Returns the baudrate config, see #set_spitfp_baudrate_config.

New in version 2.3.5 (Firmware).

BrickDC#get_send_timeout_count(communication_method) → int¶

Parameters:	communication_method – Type: int, Range: See constants
Returns:	timeout_count – Type: int, Range: [0 to 2³² - 1]

Returns the timeout count for the different communication methods.

The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.

This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0.

The following constants are available for this function:

For communication_method:

BrickDC::COMMUNICATION_METHOD_NONE = 0
BrickDC::COMMUNICATION_METHOD_USB = 1
BrickDC::COMMUNICATION_METHOD_SPI_STACK = 2
BrickDC::COMMUNICATION_METHOD_CHIBI = 3
BrickDC::COMMUNICATION_METHOD_RS485 = 4
BrickDC::COMMUNICATION_METHOD_WIFI = 5
BrickDC::COMMUNICATION_METHOD_ETHERNET = 6
BrickDC::COMMUNICATION_METHOD_WIFI_V2 = 7

New in version 2.3.3 (Firmware).

BrickDC#set_spitfp_baudrate(bricklet_port, baudrate) → nil¶

Parameters:	bricklet_port – Type: chr, Range: ['a' to 'b'] baudrate – Type: int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000

Sets the baudrate for a specific Bricklet port.

If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (see #get_spitfp_error_count) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see #set_spitfp_baudrate_config).

Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate.

New in version 2.3.3 (Firmware).

BrickDC#get_spitfp_baudrate(bricklet_port) → int¶

Parameters:	bricklet_port – Type: chr, Range: ['a' to 'b']
Returns:	baudrate – Type: int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000

Returns the baudrate for a given Bricklet port, see #set_spitfp_baudrate.

New in version 2.3.3 (Firmware).

BrickDC#get_spitfp_error_count(bricklet_port) → [int, int, int, int]¶

Parameters:	bricklet_port – Type: chr, Range: ['a' to 'b']
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 Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.

New in version 2.3.3 (Firmware).

BrickDC#enable_status_led → nil¶

Enables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

BrickDC#disable_status_led → nil¶

Disables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

BrickDC#is_status_led_enabled → bool¶

Returns:	enabled – Type: bool, Default: true

Returns true if the status LED is enabled, false otherwise.

New in version 2.3.1 (Firmware).

BrickDC#get_chip_temperature → int¶

Returns:	temperature – Type: int, Unit: 1/10 °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 an accuracy of ±15%. Practically it is only useful as an indicator for temperature changes.

BrickDC#reset → nil¶

Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

BrickDC#get_identity → [str, str, chr, [int, ...], [int, ...], int]¶

Return Array:

Return Array:	0: uid – Type: str, Length: up to 8 1: connected_uid – Type: str, Length: up to 8 2: position – Type: chr, Range: ['0' to '8'] 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]

0: uid – Type: str, Length: up to 8
1: connected_uid – Type: str, Length: up to 8
2: position – Type: chr, Range: ['0' to '8']
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 Brick is connected to, the position, the hardware and firmware version as well as the device identifier.

The position is the position in the stack from '0' (bottom) to '8' (top).

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

Callback Configuration Functions¶

BrickDC#register_callback(callback_id) { |param [, ...]| block } → nil¶

Parameters:	callback_id – Type: int

Registers the given block with the given callback_id.

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

BrickDC#set_minimum_voltage(voltage) → nil¶

Parameters:	voltage – Type: int, Unit: 1 mV, Range: [0 to 2¹⁶ - 1], Default: 6000

Sets the minimum voltage, below which the ::CALLBACK_UNDER_VOLTAGE callback is triggered. The minimum possible value that works with the DC Brick is 6V. You can use this function to detect the discharge of a battery that is used to drive the motor. If you have a fixed power supply, you likely do not need this functionality.

BrickDC#get_minimum_voltage → int¶

Returns:	voltage – Type: int, Unit: 1 mV, Range: [0 to 2¹⁶ - 1], Default: 6000

Returns the minimum voltage as set by #set_minimum_voltage

BrickDC#set_current_velocity_period(period) → nil¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 2¹⁶ - 1], Default: 0

Sets a period with which the ::CALLBACK_CURRENT_VELOCITY callback is triggered. A period of 0 turns the callback off.

BrickDC#get_current_velocity_period → int¶

Returns:	period – Type: int, Unit: 1 ms, Range: [0 to 2¹⁶ - 1], Default: 0

Returns the period as set by #set_current_velocity_period.

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 is a block:

dc.register_callback BrickDC::CALLBACK_EXAMPLE, do |param|
  puts "#{param}"
end

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.

BrickDC::CALLBACK_UNDER_VOLTAGE¶

Callback Parameters:	voltage – Type: int, Unit: 1 mV, Range: [0 to 2¹⁶ - 1]

This callback is triggered when the input voltage drops below the value set by #set_minimum_voltage. The parameter is the current voltage.

BrickDC::CALLBACK_EMERGENCY_SHUTDOWN¶

Callback Parameters:	no parameters

This callback is triggered if either the current consumption is too high (above 5A) or the temperature of the driver chip is too high (above 175°C). These two possibilities are essentially the same, since the temperature will reach this threshold immediately if the motor consumes too much current. In case of a voltage below 3.3V (external or stack) this callback is triggered as well.

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

Note

This callback only works in Drive/Brake mode (see #set_drive_mode). In Drive/Coast mode it is unfortunately impossible to reliably read the overcurrent/overtemperature signal from the driver chip.

BrickDC::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_acceleration) 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.

BrickDC::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_period. 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.

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.

BrickDC#get_api_version → [int, ...]¶

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.

BrickDC#get_response_expected(function_id) → bool¶

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:

BrickDC::FUNCTION_SET_VELOCITY = 1
BrickDC::FUNCTION_SET_ACCELERATION = 4
BrickDC::FUNCTION_SET_PWM_FREQUENCY = 6
BrickDC::FUNCTION_FULL_BRAKE = 8
BrickDC::FUNCTION_ENABLE = 12
BrickDC::FUNCTION_DISABLE = 13
BrickDC::FUNCTION_SET_MINIMUM_VOLTAGE = 15
BrickDC::FUNCTION_SET_DRIVE_MODE = 17
BrickDC::FUNCTION_SET_CURRENT_VELOCITY_PERIOD = 19
BrickDC::FUNCTION_SET_SPITFP_BAUDRATE_CONFIG = 231
BrickDC::FUNCTION_SET_SPITFP_BAUDRATE = 234
BrickDC::FUNCTION_ENABLE_STATUS_LED = 238
BrickDC::FUNCTION_DISABLE_STATUS_LED = 239
BrickDC::FUNCTION_RESET = 243
BrickDC::FUNCTION_WRITE_BRICKLET_PLUGIN = 246

BrickDC#set_response_expected(function_id, response_expected) → nil¶

Parameters:	function_id – Type: int, Range: See constants response_expected – 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.

The following constants are available for this function:

For function_id:

BrickDC::FUNCTION_SET_VELOCITY = 1
BrickDC::FUNCTION_SET_ACCELERATION = 4
BrickDC::FUNCTION_SET_PWM_FREQUENCY = 6
BrickDC::FUNCTION_FULL_BRAKE = 8
BrickDC::FUNCTION_ENABLE = 12
BrickDC::FUNCTION_DISABLE = 13
BrickDC::FUNCTION_SET_MINIMUM_VOLTAGE = 15
BrickDC::FUNCTION_SET_DRIVE_MODE = 17
BrickDC::FUNCTION_SET_CURRENT_VELOCITY_PERIOD = 19
BrickDC::FUNCTION_SET_SPITFP_BAUDRATE_CONFIG = 231
BrickDC::FUNCTION_SET_SPITFP_BAUDRATE = 234
BrickDC::FUNCTION_ENABLE_STATUS_LED = 238
BrickDC::FUNCTION_DISABLE_STATUS_LED = 239
BrickDC::FUNCTION_RESET = 243
BrickDC::FUNCTION_WRITE_BRICKLET_PLUGIN = 246

BrickDC#set_response_expected_all(response_expected) → nil¶

Parameters:	response_expected – Type: bool

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.

BrickDC#get_protocol1_bricklet_name(port) → [int, [int, ...], str]¶

Parameters:	port – Type: chr, Range: ['a' to 'b']
Return Array:	0: protocol_version – Type: int, Range: [0 to 255] 1: 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] 2: name – Type: str, Length: up to 40

Returns the firmware and protocol version and the name of the Bricklet for a given port.

This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.

BrickDC#write_bricklet_plugin(port, offset, chunk) → nil¶

Parameters:	port – Type: chr, Range: ['a' to 'b'] offset – Type: int, Range: [0 to 255] chunk – Type: [int, ...], Length: 32, Range: [0 to 255]

Writes 32 bytes of firmware to the bricklet attached at the given port. The bytes are written to the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

BrickDC#read_bricklet_plugin(port, offset) → [int, ...]¶

Parameters:	port – Type: chr, Range: ['a' to 'b'] offset – Type: int, Range: [0 to 255]
Returns:	chunk – Type: [int, ...], Length: 32, Range: [0 to 255]

Reads 32 bytes of firmware from the bricklet attached at the given port. The bytes are read starting at the position offset * 32.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

Constants¶

BrickDC::DEVICE_IDENTIFIER¶

This constant is used to identify a DC Brick.

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.

BrickDC::DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a DC Brick.