encoderDriver.encoderDriver Class Reference

Encoder class to allow for several encoders to be used. More...

Public Member Functions
def	__init__ (self, debugFlag=True, pin1=Pin.cpu.B6, pin2=Pin.cpu.B7, encTimer=4)
	Create an encoder object to find position and speeds. More...
def	update (self)
	Update the position and velocity of the encoders. More...
def	getPosition (self)
	Get the position of the encoder. More...
def	setPosition (self, newPosition)
	Zero the encoder. More...
def	getSpeed (self)
	Get the speed of the encoder. More...

Public Attributes
	debugFlag
	Debugging flag for detailed analysis while running.
	period
	The period of the counter (maximum, 0xFFFF)
	TIM4
	Create a timer object.
	tim4ch1
	The first channel for the timer.
	tim4ch2
	The second channel for the timer.
	currentTick
	Use the timer to get the current count for the tick.
	previousTick
	Create a variable for the previous tick.
	theta
	Converts ticks into radians (PPR = 4000)

Detailed Description

Encoder class to allow for several encoders to be used.

This class will allow for the position, delta, and speed of the encoders to be tracked.

Constructor & Destructor Documentation

__init__()

def encoderDriver.encoderDriver.__init__	(		self,
			debugFlag = True,
			pin1 = Pin.cpu.B6,
			pin2 = Pin.cpu.B7,
			encTimer = 4
	)

Create an encoder object to find position and speeds.

This object will be called in order to find the current positions, deltas, speeds, or to reset the encoder back to zero.

Parameters

pin1	Input pin to use for the first channel. User must input the exact pin name, for example, Pin.cpu.B6 for encoder 1 or Pin.cpu.C6 for encoder 2.
pin2	Input pin to use for the second channel. User must input the exact pin name, for example, Pin.cpu.B7 for encoder 1 or Pin.cpu.C7 for encoder 2.
encTimer	Timer number that will be used for the encoder. Possible options include timer 4 and 8.
debugFlag	Enables or prevents certain print statements from appearing.

Member Function Documentation

getPosition()

def encoderDriver.encoderDriver.getPosition

(

self

)

Get the position of the encoder.

When called, this function will output the current angle of the encoder in radians.

Returns

The current position of the encoder.

getSpeed()

def encoderDriver.encoderDriver.getSpeed

(

self

)

Get the speed of the encoder.

When called, this function will output the current speed of the encoder in rpm.

Returns

The current speed of the encoder.

setPosition()

def encoderDriver.encoderDriver.setPosition	(		self,
			newPosition
	)

Zero the encoder.

When called, this will set theta to 0, thus resetting the encoder.

Parameters

newPosition

The specified position to zero the encoder to.

Returns

The new angle for the encoder.

update()

def encoderDriver.encoderDriver.update

(

self

)

Update the position and velocity of the encoders.

This method updates the position (in ticks and radians) as well as the speed of the motor whenever called. It will return the angle in radians and speed in rad/s.

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

• encoderDriver.py