Products for USB Sensing and Control
Products for USB Sensing and Control

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#### PHIDGETS Inc.

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Calgary AB  T2H 2H9
+1 403 282-7335

## 4A DC Motor Phidget

ID: DCC1002_0
Recommended for new designs: This product (or a similar replacement with a compatible form, fit and function) is estimated to be available for ten years or more.

Control a single DC motor up to 4A with this compact and affordable Phidget. Connects to a VINT port.

## $40.00 Quantity Available: 921 Qty Price 5$38.00
10 $36.00 25$32.00
50 $28.00 100$26.00
250 $24.00 500$22.00
1000 $20.00 The DCC1002 gives you complete control of one brushed DC motor with a current rating of up to 4 amps. It offers a compact enclosed form making it easy to fit into smaller projects. This Phidget connects to your computer through a VINT Hub. #### Features: • Control motor velocity, acceleration, and braking strength - Forward and reverse • Set a specific target position (requires an encoder) • Encoder input - Read in the quadrature signal from an encoder attached to the shaft of your motor. This lets you make a closed-loop position controller. #### Technical Details: • Isolation - The VINT port on this device is isolated, improving reliability and eliminating ground loops • Polarity Protection - The device will not turn on and will not be damaged if the power supply is connected backward • Overcurrent Protection - On-board fuse to protect the controller in an over-current event • Overheating Protection - A built-in heatsink prevents overheating • Failsafe Protection - Set the device to turn off automatically if your program becomes unresponsive #### VINT Hubs This Phidget is a smart device that must be controlled by a VINT Hub. For more information about VINT, have a look at the VINT Primer. You can use a Phidget Cable to simply and easily connect the two devices. Here's a list of all of the different VINT Hubs currently available: Product Board Image Part Number Price Number of VINT Ports Controlled By HUB0001_0$30.00 6 USB (Mini-USB)
HUB5000_0 $60.00 6 Local Network (Ethernet or Wi-Fi) SBC3003_0$120.00 6

#### Phidget Cables

Use a Phidget cable to connect this device to the hub. You can solder multiple cables together in order to make even longer Phidget cables, but you should be aware of the effects of having long wires in your system.

Product Physical Properties
Image Part Number Price Cable Length
3002_0 $2.00 600 mm 3003_0$1.50 100 mm
3004_0 $3.00 3.5 m 3038_0$2.25 1.2 m
3039_0 $2.75 1.8 m CBL4104_0$1.75 300 mm
CBL4105_0 $2.00 900 mm CBL4106_0$2.50 1.5 m

#### Power Guards

Using motor controllers with large motors can pose a risk for your power supply. If your supply does not have protective features built-in, you can use a Power Guard Phidget to prevent damage from power spikes from back EMF that is generated when motors brake or change direction. We recommend that you use the SAF2000 for any motor with a current rating between 1 and 5 amperes, and the SAF1000 for motors above 5A.

Product
Image Part Number Price
SAF1000_0 $60.00 SAF2000_0$10.00

#### DC Motors

We offer a wide variety of DC motors that can be used with this Phidget. Motors with higher gearbox ratios will have higher torque at the cost of lower speed. If you want a motor that has an encoder attached to it, skip ahead to the next table.

Product Motor Properties Physical Properties Gearbox Specifications
Image Part Number Price Rated Speed Rated Torque Shaft Diameter Weight Gear Ratio Gearbox Type
3254_0 $10.00 230 RPM 200 g·cm 6 mm 128 g 10 : 1 Spur 3255_0$10.00 127 RPM 310 g·cm 6 mm 133 g 18 : 1 Spur
3256_0 $11.00 46 RPM 820 g·cm 6 mm 137 g 50 : 1 Spur 3257_0$11.00 23 RPM 1.6 kg·cm 6 mm 136 g 100 : 1 Spur
3261_0 $18.00 1080 RPM 240 g·cm 6 mm 144 g 3 1217 : 1 Planetary 3262_1$18.00 285 RPM 900 g·cm 6 mm 170 g 13 212289 : 1 Planetary
3263_1 $20.50 78 RPM 3.1 kg·cm 6 mm 193 g 50 801895 : 1 Planetary 3265_0$38.00 670 RPM 540 g·cm 8 mm 416 g 3 1217 : 1 Planetary
3266_1 $42.00 175 RPM 1.9 kg·cm 8 mm 464 g 13 212289 : 1 Planetary 3267_0$43.00 49 RPM 6.6 kg·cm 8 mm 526 g 50 801895 : 1 Planetary
3267_1 $43.00 49 RPM 6.6 kg·cm 8 mm 526 g 50 801895 : 1 Planetary 3268_1$43.00 18 RPM 17.3 kg·cm 8 mm 526 g 139 184/1221 : 1 Planetary
3269_3 $69.00 588 RPM 4.4 kg·cm 12 mm 1.3 kg 4 14 : 1 Planetary 3270_2$66.00 192 RPM 13.3 kg·cm 12 mm 1.5 kg 12 2425 : 1 Planetary
3272_2 $72.00 53 RPM 43.8 kg·cm 12 mm 1.7 kg 46 82125 : 1 Planetary 3273_2$72.00 33 RPM 71.4 kg·cm 12 mm 1.7 kg 76 4964 : 1 Planetary
3274_2 $76.00 15 RPM 136.6 kg·cm 12 mm 2 kg 167 601625 : 1 Planetary DCM4000_0$40.00 3280 RPM 4 kg·cm 8 mm 1.4 kg
DCM4001_0 $80.00 772 RPM 12.2 kg·cm 12 mm 1.9 kg 4.25:1 Planetary DCM4002_0$82.00 182 RPM 47 kg·cm 12 mm 2.1 kg 18:1 Planetary
DCM4003_0 $84.00 50 RPM 153 kg·cm 12 mm 2.2 kg 65:1 Planetary DCM4004_0$50.00 2800 RPM 8.7 kg·cm 10 mm 2.7 kg
3262E_1 $48.00 285 RPM 900 g·cm 6 mm 174 g 13 212289 : 1 Planetary #### DC Linear Actuators Linear actuators are simply DC motors that are hooked up to a linear screw which causes the shaft to move laterally instead of rotating. Unlike a rotary DC motor, linear actuators have a minimum and maximum position at which the shaft cannot contract or extend any further. On its own, the motor would not be smart enough to stop before attempting to push beyond these limits, possibly damaging the motor. That's why each linear actuator also has a built-in feedback potentiometer so you can monitor the position of the shaft and prevent the actuator from stalling out at its limits. The potentiometer can be read using one of the ports on your VINT Hub in VoltageRatioInput mode. Product Motor Properties Electrical Properties Physical Properties Image Part Number Price Stroke Length Maximum Speed Peak Power Point Peak Efficiency Point Gear Ratio Rated Voltage Weight 3546_0$100.00 150 mm 10 mm/s 750 N 24 V DC 1 kg
3570_0 $80.00 50 mm 32 mm/s (@ 16 mm/s) 50 N (@ 24 mm/s) 24 N 35:1 12 V DC 56 g 3571_0$80.00 100 mm 32 mm/s (@ 16 mm/s) 50 N (@ 24 mm/s) 24 N 35:1 12 V DC 74 g
3572_0 $80.00 140 mm 32 mm/s (@ 16 mm/s) 50 N (@ 24 mm/s) 24 N 35:1 12 V DC 84 g 3573_0$80.00 50 mm 20 mm/s (@ 10 mm/s) 75 N (@ 15 mm/s) 38 N 63:1 12 V DC 56 g
3574_0 $80.00 100 mm 20 mm/s (@ 10 mm/s) 75 N (@ 15 mm/s) 38 N 63:1 12 V DC 74 g 3575_0$80.00 140 mm 20 mm/s (@ 10 mm/s) 75 N (@ 15 mm/s) 38 N 63:1 12 V DC 84 g
3576_0 $80.00 50 mm 8 mm/s (@ 4 mm/s) 175 N (@ 7 mm/s) 75 N 150:1 12 V DC 56 g 3577_0$80.00 100 mm 8 mm/s (@ 4 mm/s) 175 N (@ 7 mm/s) 75 N 150:1 12 V DC 74 g
3578_0 $80.00 140 mm 8 mm/s (@ 4 mm/s) 175 N (@ 7 mm/s) 75 N 150:1 12 V DC 84 g DCL4013_0$40.00 100 mm 15 mm/s 60 N 12 V DC 93.9 g
DCL4014_0 $40.00 30 mm 15 mm/s 60 N 12 V DC 69.9 g DCL4015_0$40.00 100 mm 50 mm/s 18 N 12 V DC 94.3 g
DCL4016_0 $40.00 30 mm 50 mm/s 18 N 12 V DC 63.6 g #### Power Supplies This Phidget requires a power supply between 8 and 30V DC. We recommend that you use a 12V DC power supply for smaller motors and a 24V supply for larger motors. Check your motor's specifications if you're not sure. For best performance, you should get a 5 amp supply. Select the power supply from the list below that matches your region's wall socket type. Product Electrical Properties Physical Properties Image Part Number Price Power Supply Current Output Voltage Wall Plug Style 3022_0$10.00 2 A 12 V Australian
3023_1 $10.00 2 A 12 V European 3024_1$10.00 2 A 12 V North American
3025_0 $10.00 2 A 12 V British 3084_0$1.50 500 mA 12 V European
3085_0 $1.50 500 mA 12 V North American 3086_0$10.00 1 A 24 V North American
PSU4013_0 $20.00 2.5 A 24 V PSU4014_0$40.00 5 A 24 V
PSU4015_0 $20.00 1 A 24 V PSU4016_0$40.00 14.6 A 24 V
PSU4017_0 $75.00 15 A 24 V PSU4018_0$20.00 5 A 12 V

## Part 1: Setup

### Select Device

Your Phidget must be connected to a device with a VINT port using a 3-wire Phidget cable.

## Step 1: Install Phidgets Library

Before you begin using your Phidgets, you will need to install the Phidget Library.

If you're unsure which one you should get, press ⊞ WIN + Pause/Break:

3a. Select Next

## Step 1: Install Phidgets Library

3b. Read the Licence Agreement. Select Next.

## Step 1: Install Phidgets Library

3c. Choose Installation Location. Select Next.

## Step 1: Install Phidgets Library

3d. Confirm Install

## Step 1: Install Phidgets Library

3e. Wait for Installation to complete. This should only take a few moments.

## Step 1: Install Phidgets Library

3f. Installation Complete. Close installation Window.

## Step 2: Connect Devices

● Connect USB Cable to your Windows Computer

● Connect VINT Device(s)

## Step 3: Verify Connection

1. Open the Phidgets Control Panel:

## Step 3: Verify Connection

2. If connected, your Phidgets will appear in the Phidget Control Panel.

## Done!

If you're able to see and interact with your devices in the Phidget Control Panel, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

For more help installing in Windows (e.g. manual install, using a VM, etc.), visit this page:

## Step 1: Install Phidgets Library

Before you begin using your Phidgets, you will need to install the Phidget Library.

## Step 1: Install Phidgets Library

3a. Select Continue

## Step 1: Install Phidgets Library

3c. Here, you have the option to select the installation location. Select Install to continue.

## Step 1: Install Phidgets Library

3e. Wait for Installation to complete. This should only take a few moments.

## Step 1: Install Phidgets Library

3f. You may see a message that the extension has been blocked. Select Open Security Preferences.

## Step 1: Install Phidgets Library

3g. Beside the message for Phidgets Inc, Click Allow.

## Step 1: Install Phidgets Library

3h. Installation Complete, Click Close.

## Step 1: Install Phidgets Library

3i. To delete the installer, click Move to Trash.

## Step 2: Connect Devices

● Connect USB Cable to your Mac

● Connect VINT Device(s)

## Step 3: Verify Connection

1. Open the Phidgets Control Panel:

## Step 3: Verify Connection

2. If connected, your Phidgets will appear in the Phidget Control Panel.

## Done!

If you're able to see and interact with your devices in the Phidget Control Panel, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

## Step 1: Install Phidgets Library

1. First, you need to install the libusb-1.0 development libraries. For example, in Debian based distributions:

apt-get install libusb-1.0-0-dev

You’ll also need a C compiler and builder, if you don’t already have one installed.

apt-get install gcc
apt-get install make

## Step 1: Install Phidgets Library

3. Use the following commands in the location you unpacked to install the library:

./configure
make
sudo make install

## Step 1: Install Phidgets Library

4. (Optional) You can also download and unpack the following optional packages:

phidget22networkserver - Phidget Network Server, which enables the use of Phidgets over your network

phidget22admin - Admin tool to track who is connected to your Phidgets when using the network server

libphidget22extra - Required for phidget22networkserver and phidget22admin

libphidget22java - The Java libraries for Phidget22

For installation instructions for these packages, see the README file included with each one.

## Step 2: Connect Devices

● Connect USB Cable to your Linux Computer

● Connect VINT Device(s)

## Step 3: Verify Connection

1. The easiest way to verify that your libraries are working properly is to compile and run an example program. Download and unpack this C example that will detect any Phidget:

## Step 3: Verify Connection

2. Next, open the terminal in the location where you unpacked the example. Compile and run using:

gcc HelloWorld.c -o HelloWorld -lphidget22
sudo ./HelloWorld

ou should receive a “Hello” line for each Phidget channel that is discovered:

I don’t see any Phidgets show up in the HelloWorld example

You need to run it with sudo in order to be able to access USB devices. In order to use Phidgets without sudo, you need to set your udev rules. See the Advanced Information page on the final slide of this guide for details.

## Done!

If you're able to see your devices in the Hello World example, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

## Step 1: Install Phidgets Library

Before you begin using your Phidgets, you will need to install the Phidget Library.

If you're unsure which one you should get, press ⊞ WIN + Pause/Break:

3a. Select Next

## Step 1: Install Phidgets Library

3b. Read the Licence Agreement. Select Next.

## Step 1: Install Phidgets Library

3c. Choose Installation Location. Select Next.

## Step 1: Install Phidgets Library

3d. Select Next to confirm install.

## Step 1: Install Phidgets Library

3e. Wait for Installation to complete. This should only take a few moments.

## Step 1: Install Phidgets Library

3f. Installation Complete. Close installation Window.

## Step 2: Connect Devices

● Connect Power Jack

● Connect VINT Device(s)

● Connect Ethernet to a Router or Switch (optional)

## Step 3: Verify Connection

Choose a setup method:

## Step 3: Connect Wireless

1. When you connect the power supply to the HUB5000, the red LED should turn on.

## Step 3: Connect Wireless

2. On your mobile device, go to the Wi-Fi settings and connect to the HUB5000:

## Step 3: Connect Wireless

4. Once your device is connected to the HUB5000’s WiFi signal:

Click on the WiFi network and find an option that says “Manage router” or “Visit homepage”.

Go to your internet browser and type 192.168.100.1 in the address bar.

## Step 3: Connect Wireless

5. Create a password for your HUB5000. You'll use it to access the Configure Page from now on.

## Step 3: Connect Wireless

6. Navigate to the network page. Change the Mode to Client.

## Step 3: Connect Wireless

7. Enter your Wifi Network details and click Save & Apply. It may take a few minutes for your Phidgets to appear in the Phidget Control Panel, which we’ll check in the next step.

## Step 4: Verify Connection

1. Open the Phidgets Control Panel:

## Step 4: Verify Connection

2. If connected, your Phidgets will appear in the Phidget Control Panel.

## Done!

If you're able to see and interact with your devices in the Phidget Control Panel, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

For more help installing in Windows (e.g. manual install, using a VM, etc.), visit this page:

## Step 3: Connect Wireless

1. When you connect the power supply to the HUB5000, the red LED should turn on.

## Step 3: Connect Wireless

3. Create a password for your HUB5000. You'll use this password to access the Configure Page from now on.

## Step 3: Connect Wireless

4. Navigate to the network page. Change the Mode to Client.

## Step 3: Connect Wireless

5. Enter your Wifi Network details to use your Hub wirelessly and click Save & Apply. You can then disconnect the ethernet cable.

It may take a few minutes for your Phidgets to appear in the Phidget Control Panel, which we’ll check in the next step.

## Step 4: Verify Connection

1. Open the Phidgets Control Panel:

## Step 4: Verify Connection

2. If connected, your Phidgets will appear in the Phidget Control Panel.

## Done!

If you're able to see and interact with your devices in the Phidget Control Panel, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

For more help installing in Windows (e.g. manual install, using a VM, etc.), visit this page:

## Step 1: Install Phidgets Library

Before you begin using your Phidgets, you will need to install the Phidget Library.

## Step 1: Install Phidgets Library

3a. Select Continue

## Step 1: Install Phidgets Library

3c. Here, you have the option to select the installation location. Select Install.

## Step 1: Install Phidgets Library

3e. Wait for Installation to complete. This should only take a few moments.

## Step 1: Install Phidgets Library

3f. You may see a message that the extension has been blocked. Select Open Security Preferences.

## Step 1: Install Phidgets Library

3g. Beside the message for Phidgets Inc, Click Allow.

## Step 1: Install Phidgets Library

3h. Installation Complete, Click Close.

## Step 1: Install Phidgets Library

3i. To delete the installer, click Move to Trash.

## Step 2: Connect Devices

● Connect Power Jack

● Connect VINT Device(s)

● Connect Ethernet to a Router or Switch (optional)

## Step 3: Verify Connection

Choose a setup method:

## Step 3: Connect Wireless

1. When you connect the power supply to the HUB5000, the red LED should turn on.

## Step 3: Connect Wireless

2. On your mobile device, go to the Wi-Fi settings and connect to the HUB5000:

## Step 3: Connect Wireless

4. Once your device is connected to the HUB5000’s WiFi signal:

Click on the WiFi network and find an option that says “Manage router” or “Visit homepage”.

Go to your internet browser and type 192.168.100.1 in the address bar.

## Step 3: Connect Wireless

5. Create a password for your HUB5000. You'll use this password to access the Configure Page from now on.

## Step 3: Connect Wireless

6. Navigate to the network page. Change the Mode to Client.

## Step 3: Connect Wireless

7. Enter your Wifi Network details and click Save & Apply. It may take a few minutes for your Phidgets to appear in the Phidget Control Panel, which we’ll check in the next step.

## Step 4: Verify Connection

1. Open the Phidget Control Panel:

## Step 4: Verify Connection

2. If connected, your Phidgets will appear in the Phidget Control Panel.

## Done!

If you're able to see and interact with your devices in the Phidget Control Panel, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

## Step 3: Connect Wireless

1. When you connect the power supply to the HUB5000, the red LED should turn on.

## Step 3: Connect Wireless

3. Create a password for your HUB5000. You'll use this password to access the Configure Page from now on.

## Step 3: Connect Wireless

4. Navigate to the network page. Change the Mode to Client.

## Step 3: Connect Wireless

5. Enter your Wifi Network details to use your Hub wirelessly and click Save & Apply. You can then disconnect the ethernet cable.

It may take a few minutes for your Phidgets to appear in the Phidget Control Panel, which we’ll check in the next step.

## Step 4: Verify Connection

1. Open the Phidget Control Panel:

## Step 4: Verify Connection

2. If connected, your Phidgets will appear in the Phidget Control Panel.

## Done!

If you're able to see and interact with your devices in the Phidget Control Panel, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

## Step 1: Install Phidgets Library

1. First, you need to install the libusb-1.0 development libraries. For example, in Debian based distributions:

apt-get install libusb-1.0-0-dev

You’ll also need a C compiler and builder, if you don’t already have one installed.

apt-get install gcc
apt-get install make

## Step 1: Install Phidgets Library

3. Use the following commands in the location you unpacked to install the library:

./configure
make
sudo make install

## Step 1: Install Phidgets Library

4. (Optional) You can also download and unpack the following optional packages:

phidget22networkserver - Phidget Network Server, which enables the use of Phidgets over your network

phidget22admin - Admin tool to track who is connected to your Phidgets when using the network server

libphidget22extra - Required for phidget22networkserver and phidget22admin

libphidget22java - The Java libraries for Phidget22

For installation instructions for these packages, see the README file included with each one.

## Step 2: Connect Devices

● Connect Power Jack

● Connect VINT Device(s)

● Connect Ethernet to a Router or Switch (optional)

## Step 3: Verify Connection

Choose a setup method:

## Step 3: Connect Wireless

1. When you connect the power supply to the HUB5000, the red LED should turn on.

## Step 3: Connect Wireless

2. On your mobile device, go to the Wi-Fi settings and connect to the HUB5000:

## Step 3: Connect Wireless

4. Once your device is connected to the HUB5000’s WiFi signal:

Click on the WiFi network and find an option that says “Manage router” or “Visit homepage”.

Go to your internet browser and type 192.168.100.1 in the address bar.

## Step 3: Connect Wireless

5. Create a password for your HUB5000. You'll use this password to access the Configure Page from now on.

## Step 3: Connect Wireless

6. Navigate to the network page. Change the Mode to Client.

## Step 3: Connect Wireless

7. Enter your Wifi Network details and click Save & Apply. It may take a few minutes for your Phidgets to appear in the Phidget Control Panel, which we’ll check in the next step.

## Step 4: Verify Connection

1. The easiest way to verify that your libraries are working properly is to compile and run an example program. Download and unpack this C example that will detect any Phidget:

## Step 3: Verify Connection

2. Next, open the terminal in the location where you unpacked the example. Compile and run using:

gcc HelloWorld.c -o HelloWorld -lphidget22
sudo ./HelloWorld

ou should receive a “Hello” line for each Phidget channel that is discovered:

I don’t see any Phidgets show up in the HelloWorld example

You need to run it with sudo in order to be able to access USB devices. In order to use Phidgets without sudo, you need to set your udev rules. See the Advanced Information page on the final slide of this guide for details.

## Done!

If you're able to see your devices in the Hello World example, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

## Step 3: Connect Wireless

1. When you connect the power supply to the HUB5000, the red LED should turn on.

## Step 3: Connect Wireless

3. Create a password for your HUB5000. You'll use this password to access the Configure Page from now on.

## Step 3: Connect Wireless

4. Navigate to the network page. Change the Mode to Client.

## Step 3: Connect Wireless

5. Enter your Wifi Network details to use your Hub wirelessly and click Save & Apply. You can then disconnect the ethernet cable.

It may take a few minutes for your Phidgets to appear in the Phidget Control Panel, which we’ll check in the next step.

## Step 4: Verify Connection

1. The easiest way to verify that your libraries are working properly is to compile and run an example program. Download and unpack this C example that will detect any Phidget:

## Step 3: Verify Connection

2. Next, open the terminal in the location where you unpacked the example. Compile and run using:

gcc HelloWorld.c -o HelloWorld -lphidget22
sudo ./HelloWorld

ou should receive a “Hello” line for each Phidget channel that is discovered:

I don’t see any Phidgets show up in the HelloWorld example

You need to run it with sudo in order to be able to access USB devices. In order to use Phidgets without sudo, you need to set your udev rules. See the Advanced Information page on the final slide of this guide for details.

## Done!

If you're able to see your devices in the Hello World example, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

## Step 1: Install Phidgets Library

Before you begin using your Phidgets, you will need to install the Phidget Library.

If you're unsure which one you should get, press ⊞ WIN + Pause/Break:

3a. Select Next.

## Step 1: Install Phidgets Library

3b. Read the Licence Agreement. Select Next.

## Step 1: Install Phidgets Library

3c. Choose Installation Location. Select Next.

3d. Select Next.

## Step 1: Install Phidgets Library

3e. Wait for Installation to complete. This should only take a few moments.

## Step 1: Install Phidgets Library

3f. Installation Complete. Close installation Window.

## Step 2: Connect Devices

● Connect Power Jack

● Connect VINT Device(s)

● Connect Ethernet to a Router or Switch in the same network as your Windows PC

## Step 3: Verify Connection

1. Open the Phidgets Control Panel:

## Step 3: Verify Connection

2. If connected, your Phidgets will appear in the Phidget Control Panel.

Now that the SBC's ethernet connection is verified, it can be connected to wifi.

If you don't have a USB wifi adapter or you're planning to stay on ethernet, you can scroll down to

## Step 4: Connect Wireless

2. Create a password for your SBC. You'll use this to access the configuration page from now on.

## Step 4: Connect Wireless

3. Navigate to Network -> Wireless. Select your Network, enter the wifi password and select Add This Network.

## Step 4: Connect Wireless

4. Scroll down to your saved networks, click on your network and select Join This Network.

## Step 4: Connect Wireless

5. It should now say connected in the status column.

You can now unplug the ethernet cable.

## Done!

If you're able to see and interact with your devices in the Phidget Control Panel, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

For more help installing in Windows (e.g. manual install, using a VM, etc.), visit this page:

## Step 1: Install Phidgets Library

Before you begin using your Phidgets, you will need to install the Phidget Library.

## Step 1: Install Phidgets Library

3a. Select Continue

## Step 1: Install Phidgets Library

3c. Here, you have the option to select the installation location. Select Install.

## Step 1: Install Phidgets Library

3e. Wait for Installation to complete. This should only take a few moments.

## Step 1: Install Phidgets Library

3f. You may see a message that the extension has been blocked. Select Open Security Preferences.

3g. Click Allow.

## Step 1: Install Phidgets Library

3h. Installation Complete, Click Close.

## Step 1: Install Phidgets Library

3i. To delete the installer, click Move to Trash.

## Step 2: Connect Devices

● Connect Power Jack

● Connect VINT Device(s)

● Connect Ethernet to a Router or Switch in the same network as your Mac

## Step 3: Verify Connection

1. Open the Phidget Control Panel:

## Step 3: Verify Connection

2. If connected, your Phidgets will appear in the Phidget Control Panel.

Now that the SBC's ethernet connection is verified, it can be connected to wifi.

If you don't have a USB wifi adapter or you're planning to stay on ethernet, you can scroll down to

## Step 4: Connect Wireless

2. Create a password for your SBC. You will use this to access the configuration page from now on.

## Step 4: Connect Wireless

3. Navigate to Network -> Wireless. Select your Network, enter the wifi password and select Add This Network.

## Step 4: Connect Wireless

4. Scroll down to your saved networks, click on your network and select Join This Network.

## Step 4: Connect Wireless

5. It should now say connected in the status column.

You can now unplug the ethernet cable.

## Done!

If you're able to see and interact with your devices in the Phidget Control Panel, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

## Step 1: Install Phidgets Library

1. First, you need to install the libusb-1.0 development libraries. For example, in Debian based distributions:

apt-get install libusb-1.0-0-dev

You’ll also need a C compiler and builder, if you don’t already have one installed.

apt-get install gcc
apt-get install make

## Step 1: Install Phidgets Library

3. Use the following commands in the location you unpacked to install the library:

./configure
make
sudo make install

## Step 1: Install Phidgets Library

4. (Optional) You can also download and unpack the following optional packages:

phidget22networkserver - Phidget Network Server, which enables the use of Phidgets over your network

phidget22admin - Admin tool to track who is connected to your Phidgets when using the network server

libphidget22extra - Required for phidget22networkserver and phidget22admin

libphidget22java - The Java libraries for Phidget22

For installation instructions for these packages, see the README file included with each one.

## Step 2: Connect Devices

● Connect Power Jack

● Connect VINT Device(s)

● Connect Ethernet to a Router or Switch in the same network as your Linux machine

## Step 3: Verify Connection

1. The easiest way to verify that your libraries are working properly is to compile and run an example program. Download and unpack this C example that will detect any Phidget:

## Step 3: Verify Connection

2. Next, open the terminal in the location where you unpacked the example. Compile and run using:

gcc HelloWorld.c -o HelloWorld -lphidget22
sudo ./HelloWorld

If everything is working, you should receive a “Hello” line for each Phidget channel that is discovered:

I don’t see any Phidgets show up in the HelloWorld example

You need to run it with sudo in order to be able to access USB devices. In order to use Phidgets without sudo, you need to set your udev rules. See the Advanced Information page on the final slide of this guide for details.

Now that the SBC's ethernet connection is verified, it can be connected to wifi.

If you don't have a USB wifi adapter or you're planning to stay on ethernet, you can scroll down to

## Step 4: Connect Wireless

If you're using a terminal-only Linux machine, use the browser on your phone instead.

(If you use a phone, you need to enter the IP address your router assigned to the SBC instead of phidgetsbc.local)

## Step 4: Connect Wireless

2. Create a password for your SBC. You will use this to access the configuration page from now on.

## Step 4: Connect Wireless

3. Navigate to Network -> Wireless. Select your Network, enter the wifi password and select Add This Network.

## Step 4: Connect Wireless

4. Scroll down to your saved networks, click on your network and select Join This Network.

## Step 4: Connect Wireless

5. It should now say connected in the status column.

You can now unplug the ethernet cable.

## Step 4: Connect Wireless

6. Run the HelloWorld example again to confirm that your Phidgets are accessible over wifi.

## Done!

If you're able to see your devices in the Hello World example, you're done with the Setup part of this guide.

Scroll down to Part 2: Using Your Phidget for the next step.

## Part 2: Using Your Phidget

Control a brushed DC motor with a current rating of up to 4A with the DCC1002. With this Phidget, you can:

• Set the velocity (forward or reverse) and acceleration of your motor with the DC Motor Controller
• Set a specific target position with the Motor Position Controller (requires an encoder)

### Explore Your Phidget Channels Using The Control Panel

1. Open your Control Panel, and you will find the following channels:

2. Double click on a channel to open an example program. Each channel belongs to a different channel class:

Expand All
DC Motor Controller: Controls the velocity and current of the motor

In your Control Panel, double click on "DC Motor Controller":

Encoder Input: Reads encoder input so you can implement closed-loop control of the motor

In your Control Panel, double click on "Encoder Input":

Position Controller: A built-in PID position controller

In your Control Panel, double click on "Position Controller":

## Part 4: Advanced Topics and Troubleshooting

Expand All
How do I know what channel, serial number, or hub port to use in my program?

Before you open a Phidget channel in your program, you can set these properties to specify which channel to open. You can find this information through the Control Panel.

1. Open the Control Panel and double-click on the red map pin icon:

2. The Addressing Information window will open. Here you will find all the information you need to address your Phidget in your program.

See the Phidget22 API for your language to determine exact syntax for each property.

Setting the Change Trigger and Data Interval

The Change Trigger is the minimum change in the sensor data needed to trigger a new data event. The Data Interval is the time (in ms) between data events sent out from your Phidget. You can modify one or both of these values to achieve different data outputs. You can learn more about these two properties here.

MacOS users can upgrade device firmware by double-clicking the device row in the Phidget Control Panel.

Windows users can upgrade the firmware for this device using the Phidget Control Panel as shown below.

Firmware upgrades include important bug fixes and performance improvements, but there are some situations where you may want to revert to an old version of the firmware (for instance, when an application you're using is compiled using an older version of phidget22 that doesn't recognize the new firmware).

MacOS and Linux users can downgrade using the phidget22admin tool in the terminal (see included readme for instructions).

Windows users can downgrade directly from the Phidget Control Panel if they have driver version 1.9.20220112 or newer:

Firmware Version Numbering Schema

Phidgets device firmware is represented by a 3-digit number. For firmware patch notes, see the device history section on the Specifications tab on your device's product page.

• If the digit in the 'ones' spot changes, it means there have been bug fixes or optimizations. Sometimes these changes can drastically improve the performance of the device, so you should still upgrade whenever possible. These upgrades are backwards compatible, meaning you can still use this Phidget on a computer that has Phidget22 drivers from before this firmware upgrade was released.
• If the digit in the 'tens' spot changes, it means some features were added (e.g. new API commands or events). These upgrades are also backwards compatible, in the sense that computers running old Phidget22 drivers will still be able to use the device, but they will not be able to use any of the new features this version added.
• If the digit in the 'hundreds' spot changes, it means a major change has occurred (e.g. a complete rewrite of the firmware or moving to a new architecture). These changes are not backwards compatible, so if you try to use the upgraded board on a computer with old Phidget22 drivers, it will show up as unsupported in the Control Panel and any applications build using the old libraries won't recognize it either.
PositionController Settings

There are a number of settings that can be adjusted to customize the position controller. You can save these variables into the program so you don't have to re-enter them manually (NOTE: This does not store the settings on the DCC1002, it simply saves them inside the control panel program, so you'll have to re-enter them if it's used on another computer).

### Kp, Ki, and Kd

You can set the control parameters Kp, Ki, and Kd in order to change the behavior of the control loop. For more information on how each of these three tuning parameters affect the control loop, see “Control Loop Parameters ”.

### Velocity and Acceleration

Velocity is how fast the motor will move to the target position, and acceleration controls how quickly the motor will reach its velocity and how quickly it will slow down. These values are measured in position per second and position per second squared, and position by default is measured in encoder pulses.

### Rescale Factor

If you want position to be measured in another unit (degrees, for example), you can set the rescale factor. For more information on choosing the correct rescale factor, see “Setting the Rescale Factor”.

Sometimes the motor will oscillate back and forth across the target position when holding position. Adding a deadband will widen the target position so the motor will stop when it gets within the target position plus or minus the deadband.

### Current Limit

Setting the current limit gives you control over how much power is being supplied to the motor. Generally, we advise that you set the current limit to your motor’s specified coil current.

### Fan Mode

This turns the cooling fan on and off. Setting it to auto will result in the fan turning on only when the temperature sensor detects rising board temperatures.

### Encoder IO Mode

Changes between different encoder modes based on your encoder’s circuitry. For more information see the Encoder Primer.

### Current Regulator Gain

Depending on power supply voltage and motor coil inductance, the current through the motor can change relatively slowly or extremely rapidly. A physically larger DC Motor will typically have a lower inductance, requiring a higher current regulator gain. A higher power supply voltage will result in motor current changing more rapidly, requiring a higher current regulator gain. If the current regulator gain is too small, spikes in current will occur, causing large variations in torque, and possibly damaging the motor controller. If the current regulator gain is too high, the current will jitter, causing the motor to sound 'rough', especially when changing directions.

Control Loop Parameters

In order to get the desired behavior from your controller, you will have to tune your control parameters. This video explains the tuning procedure and gives information on how the controller works.

Interfacing Encoders

The DCC1002 can connect to any of the encoders we sell without any modification just by setting the EncoderIOMode property to Push-Pull . If you're trying to use your own encoder, you may need to change the IO mode to Open Collector or Line Driver mode. Have a look at the Encoder Primer for more details on what to use.

Setting the Rescale Factor

There are three pieces of information to consider when setting a rescale factor to change your units into degrees or rotations:

• Your encoder's CPR (counts per rotation)

First, check your encoder's datasheet for the CPR. It's usually 360 or 300. This is the number of quadrature cycles the encoder will send out for one full rotation.

Next, you need your encoder interface's resolution. The encoder port on the DCC1002 has a x4 resolution, meaning it reads in 4 pulses per quadrature cycle (see the Encoder Primer for a more in-depth explanation).

Next, you need to find out the gear ratio in your motor's datasheet. Note: If you plan on having your motor run for many rotations in a row, try to find the exact gear ratio, expressed as a fraction. Using the rounded value will result in accumulating errors the more you rotate.

Once you have these numbers, you can calculate the rescale factor:

For example, if you wanted to have your motor's position measured in degrees and your encoder had 300 CPR and your motor had a 50 801⁄895 : 1 gearbox, you would set your rescale factor to 360 / 300*4*(50+(801/895)), or 0.005894.

My motor moves away from the target position in Position Controller mode!

Reverse your motor’s wires. The control loop has to make an assumption about what direction your motor moves with a positive voltage, and in this case, the assumption was incorrect. Don’t worry, DC motors are fine being wired up backward since they’re essentially just a long loop of wire on the inside.

#### Product Specifications

Board Properties
Controlled By VINT
Controller Properties
Motor Type DC Motor
Number of Motor Ports 1
Acceleration Min 0.1 % Duty Cycle/s
Acceleration Max 100 % Duty Cycle/s
PWM Frequency 25 kHz
Sampling Interval Min 100 ms/sample
Sampling Interval Max 60 s/sample
Acceleration Resolution 0.1 Duty Cycle/s
Velocity Resolution 0.001 Duty Cycle
Current Limit Resolution 5.6 mA
Acceleration Time Min 20 ms
Acceleration Time Max 20 s
Electrical Properties
Continuous Motor Current Max 4 A
Supply Voltage Min 8 V DC
Supply Voltage Max 30 V DC
Current Consumption (Unconfigured) (VINT Port) 500 μA
Current Consumption Max (VINT Port) 2 mA
Power Consumption (Unconfigured) 288 mW
Power Consumption motor power plus 700 mW
Replacement Fuse 5A Slow Blow Blade Type, Standard or Micro
Encoder Interface
Number of Encoder Inputs 1
Encoder Interface Resolution x4
Count Rate Max 400000 pulses/s
Sampling Interval Min 50 ms/sample
Sampling Interval Max 60 s/sample
Encoder Input Low Voltage Max 2.4 V DC
Encoder Input High Voltage Min 2.6 V DC
Time Resolution 1 μs
Physical Properties
Recommended Wire Size 16 - 26 AWG
Operating Temperature Min -40 °C
Operating Temperature Max 85 °C
Customs Information
American HTS Import Code 8471.80.40.00
Country of Origin CN (China)

#### Product History

Date Board Revision Device Version Comment
May 2019 0 102 Product Release
May 2019 0 110 Added failsafe timer functionality
May 2019 0 111 Fixed max current limit for position controller to be 4A
December 2021 0 112 Fixed bug where MotorPositionController wasn't properly resetting
December 2021 0 113 Position Control math now uses double instead of float
December 2021 0 120 Improved failsafe timer to reset with any successful packet

#### Software Objects

Channel NameAPIChannel
DC Motor Controller DCMotor 0
Encoder Input Encoder 0
Position Controller MotorPositionController 0

#### API

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#### Code Samples

 Choose a Language Choose a Device Serial Number: ?

#### Example Options

				Make your selections to display sample code.


#### Code Samples

Language:

APIDetailLanguageOS
1064_1B $115.00 2 0.79 % Duty Cycle 1.9 % Duty Cycle/s (per motor) 14 A USB (Mini-USB) 1065_1B$75.00 1 0.39 % Duty Cycle 24.5 % Duty Cycle/s 5 A USB (Mini-USB)
DCC1000_0 $75.00 1 0.001 Duty Cycle 1 % Duty Cycle/s 25 A VINT DCC1002_0$40.00 1 0.001 Duty Cycle 0.1 Duty Cycle/s 4 A VINT