Mathematica - Stepper Brick

This is the description of the Mathematica API bindings for the Stepper Brick. General information and technical specifications for the Stepper Brick 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).

Configuration

Download (ExampleConfiguration.nb)

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

host="localhost"
port=4223
uid="XXYYZZ"(*Change XXYYZZ to the UID of your Stepper Brick*)

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

stepper@SetMotorCurrent[800](*800mA*)
stepper@SetStepMode[8](*1/8 step mode*)
stepper@SetMaxVelocity[2000](*Velocity 2000 steps/s*)

(*Slow acceleration (500 steps/s^2),*)
(*Fast deacceleration (5000 steps/s^2)*)
stepper@SetSpeedRamping[500,5000]

stepper@Enable[](*Enable motor power*)
stepper@SetSteps[60000](*Drive 60000 steps forward*)

Input["Click OK to exit"]

(*Clean up*)
stepper@Disable[]
ipcon@Disconnect[]
ReleaseNETObject[stepper]
ReleaseNETObject[ipcon]

Callback

Download (ExampleCallback.nb)

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

host="localhost"
port=4223
uid="XXYYZZ"(*Change XXYYZZ to the UID of your Stepper Brick*)

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

(*Use position reached callback to program random movement*)
PositionReachedCB[sender_,position_]:=
 Module[{},
  If[EvenQ[RandomInteger[]],
   steps:=RandomInteger[{1000,5000}];(*steps (forward)*)
   Print["Driving forward: "<>ToString[steps]<>" steps"],
   steps:=RandomInteger[{-5000,-1000}];(*steps (backward)*)
   Print["Driving backward: "<>ToString[steps]<>" steps"]
  ];

  vel=RandomInteger[{200,2000}];(*steps/s*)
  acc=RandomInteger[{100,1000}];(*steps/s^2*)
  dec=RandomInteger[{100,1000}];(*steps/s^2*)

  Print["Configuration (vel, acc, dec): ("<>
        ToString[vel]<>", "<>ToString[acc]<>", "<>ToString[dec]<>")"];

  sender@SetSpeedRamping[acc,dec];
  sender@SetMaxVelocity[vel];
  sender@SetSteps[steps]
 ]

AddEventHandler[stepper@PositionReachedCallback,PositionReachedCB]

stepper@Enable[](*Enable motor power*)
stepper@SetSteps[1](*Drive one step forward to get things going*)

Input["Click OK to exit"]

(*Clean up*)
stepper@Disable[]
ipcon@Disconnect[]
ReleaseNETObject[stepper]
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

BrickStepper[uid, ipcon] → stepper
Parameters:
  • uid -- String
  • ipcon -- NETObject[IPConnection]
Returns:
  • stepper -- NETObject[BrickStepper]

Creates an object with the unique device ID uid:

stepper=NETNew["Tinkerforge.BrickStepper","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.

BrickStepper@SetMaxVelocity[velocity] → Null
Parameters:
  • velocity -- Integer

Sets the maximum velocity of the stepper motor in steps per second. This function does not start the motor, it merely sets the maximum velocity the stepper motor is accelerated to. To get the motor running use either SetTargetPosition[], SetSteps[], DriveForward[] or DriveBackward[].

BrickStepper@GetMaxVelocity[] → velocity
Returns:
  • velocity -- Integer

Returns the velocity as set by SetMaxVelocity[].

BrickStepper@GetCurrentVelocity[] → velocity
Returns:
  • velocity -- Integer

Returns the current velocity of the stepper motor in steps per second.

BrickStepper@SetSpeedRamping[acceleration, deacceleration] → Null
Parameters:
  • acceleration -- Integer
  • deacceleration -- Integer

Sets the acceleration and deacceleration of the stepper motor. The values are given in steps/s². An acceleration of 1000 means, that every second the velocity is increased by 1000 steps/s.

For example: If the current velocity is 0 and you want to accelerate to a velocity of 8000 steps/s in 10 seconds, you should set an acceleration of 800 steps/s².

An acceleration/deacceleration of 0 means instantaneous acceleration/deacceleration (not recommended)

The default value is 1000 for both

BrickStepper@GetSpeedRamping[out acceleration, out deacceleration] → Null
Parameters:
  • acceleration -- Integer
  • deacceleration -- Integer

Returns the acceleration and deacceleration as set by SetSpeedRamping[].

BrickStepper@FullBrake[] → Null

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 Stop[] if you just want to stop the motor.

BrickStepper@SetSteps[steps] → Null
Parameters:
  • steps -- Integer

Sets the number of steps the stepper motor should run. Positive values will drive the motor forward and negative values backward. The velocity, acceleration and deacceleration as set by SetMaxVelocity[] and SetSpeedRamping[] will be used.

BrickStepper@GetSteps[] → steps
Returns:
  • steps -- Integer

Returns the last steps as set by SetSteps[].

BrickStepper@GetRemainingSteps[] → steps
Returns:
  • steps -- Integer

Returns the remaining steps of the last call of SetSteps[]. For example, if SetSteps[] is called with 2000 and GetRemainingSteps[] is called after the motor has run for 500 steps, it will return 1500.

BrickStepper@DriveForward[] → Null

Drives the stepper motor forward until DriveBackward[] or Stop[] is called. The velocity, acceleration and deacceleration as set by SetMaxVelocity[] and SetSpeedRamping[] will be used.

BrickStepper@DriveBackward[] → Null

Drives the stepper motor backward until DriveForward[] or Stop[] is triggered. The velocity, acceleration and deacceleration as set by SetMaxVelocity[] and SetSpeedRamping[] will be used.

BrickStepper@Stop[] → Null

Stops the stepper motor with the deacceleration as set by SetSpeedRamping[].

BrickStepper@SetMotorCurrent[current] → Null
Parameters:
  • current -- Integer

Sets the current in mA with which the motor will be driven. The minimum value is 100mA, the maximum value 2291mA and the default value is 800mA.

Warning

Do not set this value above the specifications of your stepper motor. Otherwise it may damage your motor.

BrickStepper@GetMotorCurrent[] → current
Returns:
  • current -- Integer

Returns the current as set by SetMotorCurrent[].

BrickStepper@Enable[] → Null

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

BrickStepper@Disable[] → Null

Disables the driver chip. The configurations are kept (maximum velocity, acceleration, etc) but the motor is not driven until it is enabled again.

BrickStepper@IsEnabled[] → enabled
Returns:
  • enabled -- True/False

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

Advanced Functions

BrickStepper@SetCurrentPosition[position] → Null
Parameters:
  • position -- Integer

Sets the current steps of the internal step counter. This can be used to set the current position to 0 when some kind of starting position is reached (e.g. when a CNC machine reaches a corner).

BrickStepper@GetCurrentPosition[] → position
Returns:
  • position -- Integer

Returns the current position of the stepper motor in steps. On startup the position is 0. The steps are counted with all possible driving functions (SetTargetPosition[], SetSteps[], DriveForward[] or DriveBackward[]). It also is possible to reset the steps to 0 or set them to any other desired value with SetCurrentPosition[].

BrickStepper@SetTargetPosition[position] → Null
Parameters:
  • position -- Integer

Sets the target position of the stepper motor in steps. For example, if the current position of the motor is 500 and SetTargetPosition[] is called with 1000, the stepper motor will drive 500 steps forward. It will use the velocity, acceleration and deacceleration as set by SetMaxVelocity[] and SetSpeedRamping[].

A call of SetTargetPosition[] with the parameter x is equivalent to a call of SetSteps[] with the parameter (x - GetCurrentPosition[]).

BrickStepper@GetTargetPosition[] → position
Returns:
  • position -- Integer

Returns the last target position as set by SetTargetPosition[].

BrickStepper@SetStepMode[mode] → Null
Parameters:
  • mode -- Integer

Sets the step mode of the stepper motor. Possible values are:

  • Full Step = 1
  • Half Step = 2
  • Quarter Step = 4
  • Eighth Step = 8

A higher value will increase the resolution and decrease the torque of the stepper motor.

The default value is 8 (Eighth Step).

The following constants are available for this function:

  • BrickStepper`STEPUMODEUFULLUSTEP = 1
  • BrickStepper`STEPUMODEUHALFUSTEP = 2
  • BrickStepper`STEPUMODEUQUARTERUSTEP = 4
  • BrickStepper`STEPUMODEUEIGHTHUSTEP = 8
BrickStepper@GetStepMode[] → mode
Returns:
  • mode -- Integer

Returns the step mode as set by SetStepMode[].

The following constants are available for this function:

  • BrickStepper`STEPUMODEUFULLUSTEP = 1
  • BrickStepper`STEPUMODEUHALFUSTEP = 2
  • BrickStepper`STEPUMODEUQUARTERUSTEP = 4
  • BrickStepper`STEPUMODEUEIGHTHUSTEP = 8
BrickStepper@GetStackInputVoltage[] → voltage
Returns:
  • voltage -- Integer

Returns the stack input voltage in mV. 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.

BrickStepper@GetExternalInputVoltage[] → voltage
Returns:
  • voltage -- Integer

Returns the external input voltage in mV. The external input voltage is given via the black power input connector on the Stepper 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

BrickStepper@GetCurrentConsumption[] → current
Returns:
  • current -- Integer

Returns the current consumption of the motor in mA.

BrickStepper@SetDecay[decay] → Null
Parameters:
  • decay -- Integer

Sets the decay mode of the stepper motor. The possible value range is between 0 and 65535. A value of 0 sets the fast decay mode, a value of 65535 sets the slow decay mode and a value in between sets the mixed decay mode.

Changing the decay mode is only possible if synchronous rectification is enabled (see SetSyncRect[]).

For a good explanation of the different decay modes see this blog post by Avayan.

A good decay mode is unfortunately different for every motor. The best way to work out a good decay mode for your stepper motor, if you can't measure the current with an oscilloscope, is to listen to the sound of the motor. If the value is too low, you often hear a high pitched sound and if it is too high you can often hear a humming sound.

Generally, fast decay mode (small value) will be noisier but also allow higher motor speeds.

The default value is 10000.

Note

There is unfortunately no formula to calculate a perfect decay mode for a given stepper motor. If you have problems with loud noises or the maximum motor speed is too slow, you should try to tinker with the decay value

BrickStepper@GetDecay[] → decay
Returns:
  • decay -- Integer

Returns the decay mode as set by SetDecay[].

BrickStepper@SetSyncRect[syncRect] → Null
Parameters:
  • syncRect -- True/False

Turns synchronous rectification on or off (true or false).

With synchronous rectification on, the decay can be changed (see SetDecay[]). Without synchronous rectification fast decay is used.

For an explanation of synchronous rectification see here.

Warning

If you want to use high speeds (> 10000 steps/s) for a large stepper motor with a large inductivity we strongly suggest that you disable synchronous rectification. Otherwise the Brick may not be able to cope with the load and overheat.

The default value is false.

BrickStepper@IsSyncRect[] → syncRect
Returns:
  • syncRect -- True/False

Returns true if synchronous rectification is enabled, false otherwise.

BrickStepper@SetTimeBase[timeBase] → Null
Parameters:
  • timeBase -- Integer

Sets the time base of the velocity and the acceleration of the stepper brick (in seconds).

For example, if you want to make one step every 1.5 seconds, you can set the time base to 15 and the velocity to 10. Now the velocity is 10steps/15s = 1steps/1.5s.

The default value is 1.

BrickStepper@GetTimeBase[] → timeBase
Returns:
  • timeBase -- Integer

Returns the time base as set by SetTimeBase[].

BrickStepper@GetAllData[out currentVelocity, out currentPosition, out remainingSteps, out stackVoltage, out externalVoltage, out currentConsumption] → Null
Parameters:
  • currentVelocity -- Integer
  • currentPosition -- Integer
  • remainingSteps -- Integer
  • stackVoltage -- Integer
  • externalVoltage -- Integer
  • currentConsumption -- Integer

Returns the following parameters: The current velocity, the current position, the remaining steps, the stack voltage, the external voltage and the current consumption of the stepper motor.

There is also a callback for this function, see AllDataCallback callback.

BrickStepper@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.

BrickStepper@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.

BrickStepper@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:

  • BrickStepper`FUNCTIONUSETUMAXUVELOCITY = 1
  • BrickStepper`FUNCTIONUSETUSPEEDURAMPING = 4
  • BrickStepper`FUNCTIONUFULLUBRAKE = 6
  • BrickStepper`FUNCTIONUSETUCURRENTUPOSITION = 7
  • BrickStepper`FUNCTIONUSETUTARGETUPOSITION = 9
  • BrickStepper`FUNCTIONUSETUSTEPS = 11
  • BrickStepper`FUNCTIONUSETUSTEPUMODE = 14
  • BrickStepper`FUNCTIONUDRIVEUFORWARD = 16
  • BrickStepper`FUNCTIONUDRIVEUBACKWARD = 17
  • BrickStepper`FUNCTIONUSTOP = 18
  • BrickStepper`FUNCTIONUSETUMOTORUCURRENT = 22
  • BrickStepper`FUNCTIONUENABLE = 24
  • BrickStepper`FUNCTIONUDISABLE = 25
  • BrickStepper`FUNCTIONUSETUDECAY = 27
  • BrickStepper`FUNCTIONUSETUMINIMUMUVOLTAGE = 29
  • BrickStepper`FUNCTIONUSETUSYNCURECT = 33
  • BrickStepper`FUNCTIONUSETUTIMEUBASE = 35
  • BrickStepper`FUNCTIONUSETUALLUDATAUPERIOD = 38
  • BrickStepper`FUNCTIONUSETUSPITFPUBAUDRATEUCONFIG = 231
  • BrickStepper`FUNCTIONUSETUSPITFPUBAUDRATE = 234
  • BrickStepper`FUNCTIONUENABLEUSTATUSULED = 238
  • BrickStepper`FUNCTIONUDISABLEUSTATUSULED = 239
  • BrickStepper`FUNCTIONURESET = 243
BrickStepper@SetResponseExpectedAll[responseExpected] → Null
Parameters:
  • responseExpected -- True/False

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

BrickStepper@SetSPITFPBaudrateConfig[enableDynamicBaudrate, minimumDynamicBaudrate] → Null
Parameters:
  • enableDynamicBaudrate -- True/False
  • minimumDynamicBaudrate -- Integer

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 send/received and decreased linearly if little data is send/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 SetSPITFPBaudrate[]. If the dynamic baudrate is disabled, the baudrate as set by SetSPITFPBaudrate[] will be used statically.

The minimum dynamic baudrate has a value range of 400000 to 2000000 baud.

By default dynamic baudrate is enabled and the minimum dynamic baudrate is 400000.

New in version 2.3.6 (Firmware).

BrickStepper@GetSPITFPBaudrateConfig[out enableDynamicBaudrate, out minimumDynamicBaudrate] → Null
Parameters:
  • enableDynamicBaudrate -- True/False
  • minimumDynamicBaudrate -- Integer

Returns the baudrate config, see SetSPITFPBaudrateConfig[].

New in version 2.3.6 (Firmware).

BrickStepper@GetSendTimeoutCount[communicationMethod] → timeoutCount
Parameters:
  • communicationMethod -- Integer
Returns:
  • timeoutCount -- Integer

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:

  • BrickStepper`COMMUNICATIONUMETHODUNONE = 0
  • BrickStepper`COMMUNICATIONUMETHODUUSB = 1
  • BrickStepper`COMMUNICATIONUMETHODUSPIUSTACK = 2
  • BrickStepper`COMMUNICATIONUMETHODUCHIBI = 3
  • BrickStepper`COMMUNICATIONUMETHODURS485 = 4
  • BrickStepper`COMMUNICATIONUMETHODUWIFI = 5
  • BrickStepper`COMMUNICATIONUMETHODUETHERNET = 6
  • BrickStepper`COMMUNICATIONUMETHODUWIFIUV2 = 7

New in version 2.3.4 (Firmware).

BrickStepper@SetSPITFPBaudrate[brickletPort, baudrate] → Null
Parameters:
  • brickletPort -- Integer
  • baudrate -- Integer

Sets the baudrate for a specific Bricklet port ('a' - 'd'). The baudrate can be in the range 400000 to 2000000.

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 GetSPITFPErrorCount[]) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see SetSPITFPBaudrateConfig[]).

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

The default baudrate for all ports is 1400000.

New in version 2.3.3 (Firmware).

BrickStepper@GetSPITFPBaudrate[brickletPort] → baudrate
Parameters:
  • brickletPort -- Integer
Returns:
  • baudrate -- Integer

Returns the baudrate for a given Bricklet port, see SetSPITFPBaudrate[].

New in version 2.3.3 (Firmware).

BrickStepper@GetSPITFPErrorCount[brickletPort, out errorCountACKChecksum, out errorCountMessageChecksum, out errorCountFrame, out errorCountOverflow] → Null
Parameters:
  • brickletPort -- Integer
  • errorCountACKChecksum -- Integer
  • errorCountMessageChecksum -- Integer
  • errorCountFrame -- Integer
  • errorCountOverflow -- Integer

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).

BrickStepper@EnableStatusLED[] → Null

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).

BrickStepper@DisableStatusLED[] → Null

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).

BrickStepper@IsStatusLEDEnabled[] → enabled
Returns:
  • enabled -- True/False

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

New in version 2.3.1 (Firmware).

BrickStepper@GetProtocol1BrickletName[port, out protocolVersion, out {firmwareVersion1, firmwareVersion2, firmwareVersion3}, out name] → Null
Parameters:
  • port -- Integer
  • protocolVersion -- Integer
  • firmwareVersioni -- Integer
  • name -- String

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.

BrickStepper@GetChipTemperature[] → temperature
Returns:
  • temperature -- Integer

Returns the temperature in °C/10 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.

BrickStepper@Reset[] → Null

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!

BrickStepper@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 Brick is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be '0'-'8' (stack position).

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

Callback Configuration Functions

BrickStepper@SetMinimumVoltage[voltage] → Null
Parameters:
  • voltage -- Integer

Sets the minimum voltage in mV, below which the UnderVoltageCallback callback is triggered. The minimum possible value that works with the Stepper Brick is 8V. You can use this function to detect the discharge of a battery that is used to drive the stepper motor. If you have a fixed power supply, you likely do not need this functionality.

The default value is 8V.

BrickStepper@GetMinimumVoltage[] → voltage
Returns:
  • voltage -- Integer

Returns the minimum voltage as set by SetMinimumVoltage[].

BrickStepper@SetAllDataPeriod[period] → Null
Parameters:
  • period -- Integer

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

BrickStepper@GetAllDataPeriod[] → period
Returns:
  • period -- Integer

Returns the period as set by SetAllDataPeriod[].

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[stepper@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 BrickStepper@UnderVoltageCallback[sender, voltage]
Parameters:
  • sender -- NETObject[BrickStepper]
  • voltage -- Integer

This callback is triggered when the input voltage drops below the value set by SetMinimumVoltage[]. The parameter is the current voltage given in mV.

event BrickStepper@PositionReachedCallback[sender, position]
Parameters:
  • sender -- NETObject[BrickStepper]
  • position -- Integer

This callback is triggered when a position set by SetSteps[] or SetTargetPosition[] is reached.

Note

Since we can't get any feedback from the stepper motor, this only works if the acceleration (see SetSpeedRamping[]) 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.

event BrickStepper@AllDataCallback[sender, currentVelocity, currentPosition, remainingSteps, stackVoltage, externalVoltage, currentConsumption]
Parameters:
  • sender -- NETObject[BrickStepper]
  • currentVelocity -- Integer
  • currentPosition -- Integer
  • remainingSteps -- Integer
  • stackVoltage -- Integer
  • externalVoltage -- Integer
  • currentConsumption -- Integer

This callback is triggered periodically with the period that is set by SetAllDataPeriod[]. The parameters are: the current velocity, the current position, the remaining steps, the stack voltage, the external voltage and the current consumption of the stepper motor.

event BrickStepper@NewStateCallback[sender, stateNew, statePrevious]
Parameters:
  • sender -- NETObject[BrickStepper]
  • stateNew -- Integer
  • statePrevious -- Integer

This callback is triggered whenever the Stepper Brick enters a new state. It returns the new state as well as the previous state.

The following constants are available for this function:

  • BrickStepper`STATEUSTOP = 1
  • BrickStepper`STATEUACCELERATION = 2
  • BrickStepper`STATEURUN = 3
  • BrickStepper`STATEUDEACCELERATION = 4
  • BrickStepper`STATEUDIRECTIONUCHANGEUTOUFORWARD = 5
  • BrickStepper`STATEUDIRECTIONUCHANGEUTOUBACKWARD = 6

Constants

BrickStepper`DEVICEUIDENTIFIER

This constant is used to identify a Stepper Brick.

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

BrickStepper`DEVICEDISPLAYNAME

This constant represents the human readable name of a Stepper Brick.