encoderDriver.Encoder Class Reference

The Encoder class reads ticks from a quadrature encoder and converts them to the shaft position in rotations. More...

Public Member Functions
def	__init__ (self, IN1_pin, IN2_pin, timer, ticksPerRev=4000)
	Method to initialise an Encoder object. More...
def	update (self)
	Method to update the current position of the encoder.
def	get_position (self)
	Method to get the last read position of the encoder. More...
def	get_radians (self)
	Method to get the last read position of the encoder. More...
def	get_degrees (self)
	Method to get the last read position of the encoder. More...
def	set_position (self, pos=0)
	Method to reset the position of the encoder to a given value. More...
def	get_delta (self)
	Method to get the difference between the last two position readings. More...

Public Attributes
	timer
	the pyb.Timer object to read from the input pins
	ticksPerRev
	The total number of timer ticks in a revolution. More...
	CH1
	The first channel of the encoder.
	CH2
	The seccond channel of the encoder.
	position
	The current recorded position of the encoder, in rotations from initialization.
	prevPosition
	The previous position of the encoder, in rotations from initialization.
	prevTick1
	The previous tick count of encoder channel 1, self.CH1.
	prevTick2
	The previous tick count of encoder channel 2, self.CH2.
	lastPrintedPostion
	The last position printed to the console for debugging.

Detailed Description

The Encoder class reads ticks from a quadrature encoder and converts them to the shaft position in rotations.

Constructor & Destructor Documentation

__init__()

def encoderDriver.Encoder.__init__	(		self,
			IN1_pin,
			IN2_pin,
			timer,
			ticksPerRev = 4000
	)

Method to initialise an Encoder object.

Parameters

IN1_pin	The pyb.Pin object connected to channel one of the encoder.
IN2_pin	The pyb.Pin object connected to channel two of the encoder.
timer	The pyb.Timer object to read from the input pins.
ticksPerRev	The total number of timer ticks in a revolution. Include both channels' rising and falling edges.

Member Function Documentation

get_degrees()

def encoderDriver.Encoder.get_degrees

(

self

)

Method to get the last read position of the encoder.

Returns

The last read position of the encoder, in degrees.

get_delta()

def encoderDriver.Encoder.get_delta

(

self

)

Method to get the difference between the last two position readings.

Returns

The difference of the last two position readings, in rotations.

get_position()

def encoderDriver.Encoder.get_position

(

self

)

Method to get the last read position of the encoder.

Returns

The last read position of the encoder, in rotations.

get_radians()

def encoderDriver.Encoder.get_radians

(

self

)

Method to get the last read position of the encoder.

Returns

The last read position of the encoder, in radians.

set_position()

def encoderDriver.Encoder.set_position	(		self,
			pos = 0
	)

Method to reset the position of the encoder to a given value.

Parameters

pos	The position to set the encoder position to, in rotations.

Member Data Documentation

ticksPerRev

encoderDriver.Encoder.ticksPerRev

The total number of timer ticks in a revolution.

Include both channels' rising and falling edges.

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

• encoderDriver.py