An encoder driver object. More...
Public Member Functions | |
def | __init__ (self, TimerNo, EncoderA_pin, EncoderB_pin, prescaler, period) |
Constructor for encoder driver. More... | |
def | update (self) |
Updated Position. More... | |
def | get_position (self) |
Gets the encoder's position. More... | |
def | set_position (self, new_position) |
Sets the encoder's position. More... | |
def | get_delta (self) |
Finds the change between 2 update methods. More... | |
Public Attributes | |
EncoderA_pin | |
EncoderB_pin | |
prescaler | |
period | |
timer | |
position | |
last_position | |
current_position | |
delta | |
new_position | |
An encoder driver object.
This class implements the encoder for the ME 405 board.
def Encoder.Encoder.__init__ | ( | self, | |
TimerNo, | |||
EncoderA_pin, | |||
EncoderB_pin, | |||
prescaler, | |||
period | |||
) |
Constructor for encoder driver.
This constructor is set to initialize the timer that will be used to count the ticks that are output from the encoder into the motor driver.
TimerNo | The timer that the encoder will use |
EncoderA_pin | The pin designated for encoder channel A |
EncoderB_pin | The pin designated for encoder channel B |
prescaler | The initial value used to set the encoder |
period | The limit where the counting in the encoder will stop |
def Encoder.Encoder.get_delta | ( | self | ) |
Finds the change between 2 update methods.
When called upon, this method returns the difference in recorded position between the two most recent calls to update().
def Encoder.Encoder.get_position | ( | self | ) |
Gets the encoder's position.
When called upon, this method gets the encoder's current position and displays that position.
def Encoder.Encoder.set_position | ( | self, | |
new_position | |||
) |
Sets the encoder's position.
When called upon, this method will reset the encoder to the specified position. The position will be an argument assigned inside of the set_position method.
new_position | The position you want the encoder to read starting from when this command is activated |
def Encoder.Encoder.update | ( | self | ) |
Updated Position.
When called, this will update the recorded position of the encoder to the current position.