encoder.Encoder Class Reference

Interface with quadrature encoders. More...

Public Member Functions
def	__init__ (self, pinA, pinB, timNum)
	Constructs an encoder object. More...
def	update (self, updatePosition)
	Updates encoder position and delta. More...
def	get_position (self)
	Returns the encoder position. More...
def	zero (self)
	Resets the encoder position to zero.
def	get_delta (self)
	Returns change in position from previous update. More...

Public Attributes
	tim4
	position
	delta
	currentPosition

Detailed Description

Interface with quadrature encoders.

Can read and print the position of a quadrature encoder as well as control the update speed for the position.

Constructor & Destructor Documentation

__init__()

def encoder.Encoder.__init__	(		self,
			pinA,
			pinB,
			timNum
	)

Constructs an encoder object.

Parameters

pinA	The first pin associated with the encoder
pinB	The second pin associated with the encoder
timNum	The number of the timer that works for the given pins

Member Function Documentation

get_delta()

def encoder.Encoder.get_delta

(

self

)

Returns change in position from previous update.

Returns

self.delta The change in position of the encoder shaft between the two most recent updates

get_position()

def encoder.Encoder.get_position

(

self

)

Returns the encoder position.

Returns

self.position The position of the encoder shaft

update()

def encoder.Encoder.update	(		self,
			updatePosition
	)

Updates encoder position and delta.

Takes the position of the encoder and recalculates it, updating the change in position in the process

Parameters

updatePosition

The current position of the encoder

Returns

[updatePosition] The time and position of the encoder after the update is finished

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The documentation for this class was generated from the following file:

• encoder.py