Brick Class

Definition

Namespace:

Iot.Device.BrickPi3

Assembly:

Iot.Device.Bindings.dll

Package:

Iot.Device.Bindings v3.0.0

The main Brick class allowing low level access to motors and sensors

C#

public class Brick : IDisposable

Inheritance

Object

Brick

Implements

IDisposable

Constructors

Brick(Byte, Int32, Int32)

Initialize the brick including SPI communication

Properties

BrickPi3Info	Stores all the information regarding the Brick This includes id, hardware and firmware versions
BrickPi3Voltage	Stores the voltage information
SpiAddress	used to store the SPI Address used mainly when multiple bricks in a raw or not the default SPI address up to 254 addresses supported

Methods

Dispose()	Reset the brick, stop the motors, release sensors
GetBoard()	Read the 20 charactor BrcikPi3 board name
GetFirmwareVersion()	Read the firmware version
GetHardwareVersion()	Read the hardware version
GetId()	Read the 128 - bit BrcikPi3 hardware serial number
GetManufacturer()	Read the 20 charactor BrickPi3 manufacturer name
GetMotorEncoder(Byte)	Read a motor encoder in degrees
GetMotorStatus(Byte)	Read a motor status
GetSensor(Byte)	Get the sensor data from a specific port The following sensor types each return a single value: NONE----------------------- 0 TOUCH---------------------- 0 or 1(released or pressed) NXT_TOUCH------------------ 0 or 1(released or pressed) EV3_TOUCH------------------ 0 or 1(released or pressed) NXT_ULTRASONIC------------- distance in CM NXT_LIGHT_ON--------------- reflected light NXT_LIGHT_OFF-------------- ambient light NXT_COLOR_RED-------------- red reflected light NXT_COLOR_GREEN------------ green reflected light NXT_COLOR_BLUE------------- blue reflected light NXT_COLOR_OFF-------------- ambient light EV3_GYRO_ABS--------------- absolute rotation position in degrees EV3_GYRO_DPS--------------- rotation rate in degrees per second EV3_COLOR_REFLECTED-------- red reflected light EV3_COLOR_AMBIENT---------- ambient light EV3_COLOR_COLOR------------ detected color EV3_ULTRASONIC_CM---------- distance in CM EV3_ULTRASONIC_INCHES------ distance in inches EV3_ULTRASONIC_LISTEN------ 0 or 1(no other ultrasonic sensors or another ultrasonic sensor detected) EV3_INFRARED_PROXIMITY----- distance 0 - 100 % The following sensor types each return a list of values CUSTOM--------------------- Pin 1 ADC(5v scale from 0 to 4095), Pin 6 ADC(3.3v scale from 0 to 4095), Pin 5 digital, Pin 6 digital I2C------------------------ the I2C bytes read NXT_COLOR_FULL------------- detected color, red light reflected, green light reflected, blue light reflected, ambient light EV3_GYRO_ABS_DPS----------- absolute rotation position in degrees, rotation rate in degrees per second EV3_COLOR_RAW_REFLECTED---- red reflected light, unknown value(maybe a raw ambient value ?) EV3_COLOR_COLOR_COMPONENTS- red reflected light, green reflected light, blue reflected light, unknown value(maybe a raw value ?) EV3_INFRARED_SEEK---------- a list for each of the four channels.For each channel heading(-25 to 25), distance(-128 or 0 to 100) EV3_INFRARED_REMOTE-------- a list for each of the four channels.For each channel red up, red down, blue up, blue down, boadcast
GetVoltage3V3()	Get the 3.3v circuit voltage
GetVoltage5V()	Get the 5v circuit voltage
GetVoltage9V()	Get the 9v circuit voltage
GetVoltageBatteryVcc()	Get the battery voltage
OffsetMotorEncoder(Byte, Int32)	Offset a motor encoder
SetAddress(Byte, String)	Set the SPI address of the BrickPi3
SetLed(Byte)	Set the Led intensity from 0 (off) to 100 (fully bright), 255 used to return the led to BrickPi3 management
SetMotorDps(Byte, Int32)	Set the motor target speed in degrees per second
SetMotorLimits(Byte, Byte, Int32)	Set the motor speed limit
SetMotorPosition(Byte, Int32)	Set the motor target position in degrees
SetMotorPositionKD(Byte, Byte)	Set the motor target position KD constant If you set KP higher, the motor will be more responsive to errors in position, at the cost of perhaps overshooting and oscillating. KD slows down the motor as it approaches the target, and helps to prevent overshoot. In general, if you increase kp, you should also increase KD to keep the motor from overshooting and oscillating.
SetMotorPositionKP(Byte, Byte)	Set the motor target position KP constant If you set KP higher, the motor will be more responsive to errors in position, at the cost of perhaps overshooting and oscillating. KP slows down the motor as it approaches the target, and helps to prevent overshoot. In general, if you increase KP, you should also increase KD to keep the motor from overshooting and oscillating.
SetMotorPower(Byte, Int32)	Set the motor power in percent
SetSensorType(Byte, SensorType, Int32[])	Set the sensor type
SpiRead16(SpiMessageType)	Read a 16 - bit value over SPI
SpiRead32(SpiMessageType)	Read a 32 - bit value over SPI
SpiTransferArray(Byte[])	Conduct a SPI transaction
SpiWrite16(SpiMessageType, Int32)	Send a 16 - bit value over SPI
SpiWrite24(SpiMessageType, Int32)	Send a 24 - bit value over SPI
SpiWrite32(SpiMessageType, Int32)	Send a 32 - bit value over SPI
SpiWrite8(SpiMessageType, Int32)	Send a 8 - bit value over SPI

Applies to