Documentation

Overview

Motorized Linear Potentiometer.

See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/MotorizedLinearPoti_Bricklet_Go.html.

Index

Constants

View Source
const DeviceDisplayName = "Motorized Linear Poti Bricklet"
View Source
const DeviceIdentifier = 267

Variables

This section is empty.

Functions

This section is empty.

Types

type BootloaderMode

type BootloaderMode = uint8
const (
	BootloaderModeBootloader                    BootloaderMode = 0
	BootloaderModeFirmware                      BootloaderMode = 1
	BootloaderModeBootloaderWaitForReboot       BootloaderMode = 2
	BootloaderModeFirmwareWaitForReboot         BootloaderMode = 3
	BootloaderModeFirmwareWaitForEraseAndReboot BootloaderMode = 4
)

type BootloaderStatus

type BootloaderStatus = uint8
const (
	BootloaderStatusOK                        BootloaderStatus = 0
	BootloaderStatusInvalidMode               BootloaderStatus = 1
	BootloaderStatusNoChange                  BootloaderStatus = 2
	BootloaderStatusEntryFunctionNotPresent   BootloaderStatus = 3
	BootloaderStatusDeviceIdentifierIncorrect BootloaderStatus = 4
	BootloaderStatusCRCMismatch               BootloaderStatus = 5
)

type DriveMode

type DriveMode = uint8
const (
	DriveModeFast   DriveMode = 0
	DriveModeSmooth DriveMode = 1
)

type Function

type Function = uint8
const (
	FunctionGetPosition                             Function = 1
	FunctionSetPositionCallbackConfiguration        Function = 2
	FunctionGetPositionCallbackConfiguration        Function = 3
	FunctionSetMotorPosition                        Function = 5
	FunctionGetMotorPosition                        Function = 6
	FunctionCalibrate                               Function = 7
	FunctionSetPositionReachedCallbackConfiguration Function = 8
	FunctionGetPositionReachedCallbackConfiguration Function = 9
	FunctionGetSPITFPErrorCount                     Function = 234
	FunctionSetBootloaderMode                       Function = 235
	FunctionGetBootloaderMode                       Function = 236
	FunctionSetWriteFirmwarePointer                 Function = 237
	FunctionWriteFirmware                           Function = 238
	FunctionSetStatusLEDConfig                      Function = 239
	FunctionGetStatusLEDConfig                      Function = 240
	FunctionGetChipTemperature                      Function = 242
	FunctionReset                                   Function = 243
	FunctionWriteUID                                Function = 248
	FunctionReadUID                                 Function = 249
	FunctionGetIdentity                             Function = 255
	FunctionCallbackPosition                        Function = 4
	FunctionCallbackPositionReached                 Function = 10
)

type MotorizedLinearPotiBricklet

type MotorizedLinearPotiBricklet struct {
	// contains filtered or unexported fields
}

func New

Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.

func (*MotorizedLinearPotiBricklet) Calibrate

func (device *MotorizedLinearPotiBricklet) Calibrate() (err error)

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

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

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

func (*MotorizedLinearPotiBricklet) DeregisterPositionCallback

func (device *MotorizedLinearPotiBricklet) DeregisterPositionCallback(registrationId uint64)

Remove a registered Position callback.

func (*MotorizedLinearPotiBricklet) DeregisterPositionReachedCallback

func (device *MotorizedLinearPotiBricklet) DeregisterPositionReachedCallback(registrationId uint64)

Remove a registered Position Reached callback.

func (*MotorizedLinearPotiBricklet) GetAPIVersion

func (device *MotorizedLinearPotiBricklet) GetAPIVersion() [3]uint8

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.

func (*MotorizedLinearPotiBricklet) GetBootloaderMode

func (device *MotorizedLinearPotiBricklet) GetBootloaderMode() (mode BootloaderMode, err error)

Returns the current bootloader mode, see SetBootloaderMode.

Associated constants:

* BootloaderModeBootloader
* BootloaderModeFirmware
* BootloaderModeBootloaderWaitForReboot
* BootloaderModeFirmwareWaitForReboot
* BootloaderModeFirmwareWaitForEraseAndReboot

func (*MotorizedLinearPotiBricklet) GetChipTemperature

func (device *MotorizedLinearPotiBricklet) GetChipTemperature() (temperature int16, err error)

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.

func (*MotorizedLinearPotiBricklet) GetIdentity

func (device *MotorizedLinearPotiBricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err 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). A Bricklet connected to an `Isolator Bricklet <isolator_bricklet>` is always at position 'z'.

The device identifier numbers can be found `here <device_identifier>`. |device_identifier_constant|

func (*MotorizedLinearPotiBricklet) GetMotorPosition

func (device *MotorizedLinearPotiBricklet) GetMotorPosition() (position uint16, driveMode DriveMode, holdPosition bool, positionReached bool, err error)

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

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

Associated constants:

* DriveModeFast
* DriveModeSmooth

func (*MotorizedLinearPotiBricklet) GetPosition

func (device *MotorizedLinearPotiBricklet) GetPosition() (position uint16, err error)

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

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

func (*MotorizedLinearPotiBricklet) GetPositionCallbackConfiguration

func (device *MotorizedLinearPotiBricklet) GetPositionCallbackConfiguration() (period uint32, valueHasToChange bool, option ThresholdOption, min uint16, max uint16, err error)

Returns the callback configuration as set by SetPositionCallbackConfiguration.

Associated constants:

* ThresholdOptionOff
* ThresholdOptionOutside
* ThresholdOptionInside
* ThresholdOptionSmaller
* ThresholdOptionGreater

func (*MotorizedLinearPotiBricklet) GetPositionReachedCallbackConfiguration

func (device *MotorizedLinearPotiBricklet) GetPositionReachedCallbackConfiguration() (enabled bool, err error)

Returns the RegisterPositionReachedCallback callback configuration as set by SetPositionReachedCallbackConfiguration.

func (*MotorizedLinearPotiBricklet) GetResponseExpected

func (device *MotorizedLinearPotiBricklet) GetResponseExpected(functionID Function) (bool, 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 sent and errors are silently ignored, because they cannot be detected.

See SetResponseExpected for the list of function ID constants available for this function.

func (*MotorizedLinearPotiBricklet) GetSPITFPErrorCount

func (device *MotorizedLinearPotiBricklet) GetSPITFPErrorCount() (errorCountAckChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error)

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.

func (*MotorizedLinearPotiBricklet) GetStatusLEDConfig

func (device *MotorizedLinearPotiBricklet) GetStatusLEDConfig() (config StatusLEDConfig, err error)

Returns the configuration as set by SetStatusLEDConfig

Associated constants:

* StatusLEDConfigOff
* StatusLEDConfigOn
* StatusLEDConfigShowHeartbeat
* StatusLEDConfigShowStatus

func (*MotorizedLinearPotiBricklet) ReadUID

func (device *MotorizedLinearPotiBricklet) ReadUID() (uid uint32, err error)

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

func (*MotorizedLinearPotiBricklet) RegisterPositionCallback

func (device *MotorizedLinearPotiBricklet) RegisterPositionCallback(fn func(uint16)) uint64

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

The parameter is the same as GetPosition.

func (*MotorizedLinearPotiBricklet) RegisterPositionReachedCallback

func (device *MotorizedLinearPotiBricklet) RegisterPositionReachedCallback(fn func(uint16)) uint64

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

The parameter is the current position.

func (*MotorizedLinearPotiBricklet) Reset

func (device *MotorizedLinearPotiBricklet) Reset() (err error)

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!

func (*MotorizedLinearPotiBricklet) SetBootloaderMode

func (device *MotorizedLinearPotiBricklet) SetBootloaderMode(mode BootloaderMode) (status BootloaderStatus, err error)

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.

Associated constants:

* BootloaderModeBootloader
* BootloaderModeFirmware
* BootloaderModeBootloaderWaitForReboot
* BootloaderModeFirmwareWaitForReboot
* BootloaderModeFirmwareWaitForEraseAndReboot
* BootloaderStatusOK
* BootloaderStatusInvalidMode
* BootloaderStatusNoChange
* BootloaderStatusEntryFunctionNotPresent
* BootloaderStatusDeviceIdentifierIncorrect
* BootloaderStatusCRCMismatch

func (*MotorizedLinearPotiBricklet) SetMotorPosition

func (device *MotorizedLinearPotiBricklet) SetMotorPosition(position uint16, driveMode DriveMode, holdPosition bool) (err error)

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

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

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

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

Associated constants:

* DriveModeFast
* DriveModeSmooth

func (*MotorizedLinearPotiBricklet) SetPositionCallbackConfiguration

func (device *MotorizedLinearPotiBricklet) SetPositionCallbackConfiguration(period uint32, valueHasToChange bool, option ThresholdOption, min uint16, max uint16) (err error)

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

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

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

It is furthermore possible to constrain the callback with thresholds.

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

The following options are possible:

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

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

Associated constants:

* ThresholdOptionOff
* ThresholdOptionOutside
* ThresholdOptionInside
* ThresholdOptionSmaller
* ThresholdOptionGreater

func (*MotorizedLinearPotiBricklet) SetPositionReachedCallbackConfiguration

func (device *MotorizedLinearPotiBricklet) SetPositionReachedCallbackConfiguration(enabled bool) (err error)

Enables/Disables RegisterPositionReachedCallback callback.

func (*MotorizedLinearPotiBricklet) SetResponseExpected

func (device *MotorizedLinearPotiBricklet) SetResponseExpected(functionID Function, responseExpected bool) 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 sent and errors are silently ignored, because they cannot be detected.

func (*MotorizedLinearPotiBricklet) SetResponseExpectedAll

func (device *MotorizedLinearPotiBricklet) SetResponseExpectedAll(responseExpected bool)

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

func (*MotorizedLinearPotiBricklet) SetStatusLEDConfig

func (device *MotorizedLinearPotiBricklet) SetStatusLEDConfig(config StatusLEDConfig) (err error)

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.

Associated constants:

* StatusLEDConfigOff
* StatusLEDConfigOn
* StatusLEDConfigShowHeartbeat
* StatusLEDConfigShowStatus

func (*MotorizedLinearPotiBricklet) SetWriteFirmwarePointer

func (device *MotorizedLinearPotiBricklet) SetWriteFirmwarePointer(pointer uint32) (err error)

Sets the firmware pointer for WriteFirmware. 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.

func (*MotorizedLinearPotiBricklet) WriteFirmware

func (device *MotorizedLinearPotiBricklet) WriteFirmware(data [64]uint8) (status uint8, err error)

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer 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.

func (*MotorizedLinearPotiBricklet) WriteUID

func (device *MotorizedLinearPotiBricklet) WriteUID(uid uint32) (err error)

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.

type StatusLEDConfig

type StatusLEDConfig = uint8
const (
	StatusLEDConfigOff           StatusLEDConfig = 0
	StatusLEDConfigOn            StatusLEDConfig = 1
	StatusLEDConfigShowHeartbeat StatusLEDConfig = 2
	StatusLEDConfigShowStatus    StatusLEDConfig = 3
)

type ThresholdOption

type ThresholdOption = rune
const (
	ThresholdOptionOff     ThresholdOption = 'x'
	ThresholdOptionOutside ThresholdOption = 'o'
	ThresholdOptionInside  ThresholdOption = 'i'
	ThresholdOptionSmaller ThresholdOption = '<'
	ThresholdOptionGreater ThresholdOption = '>'
)