encoder.EncoderDriver Class Reference

A class to interact with two encoders. More...

Public Member Functions
def	__init__ (self, e1_1=pyb.Pin.board.PB6, e1_2=pyb.Pin.board.PB7, e2_1=pyb.Pin.board.PC6, e2_2=pyb.Pin.board.PC7, current_position_a=0, current_position_b=0)
	Initializes the Encoders and their respective timers. More...
def	update (self)
	Updates the current position of each encoder. More...
def	get_position (self)
	Returns the most recently updated positions of the encoders. More...
def	set_position (self, a, b)
	Sets the position of the encoders to a specific value. More...
def	get_delta (self)
	Calculates difference between the two most recent recorded positions. More...

Public Attributes
	p11
	p12
	p21
	p22
	tim4
	ch1a
	ch2a
	tim8
	ch1b
	ch2b
	cnt_a
	cnt_last_a
	cnt_b
	cnt_last_b
	pos_a
	pos_last_a
	pos_b
	pos_last_b

Detailed Description

A class to interact with two encoders.

This class connects with two encoders and can be used to update their current angle periodically. It can also get changes in angle, and reset the current angle to a user defined value.

Constructor & Destructor Documentation

__init__()

def encoder.EncoderDriver.__init__	(		self,
			e1_1 = pyb.Pin.board.PB6,
			e1_2 = pyb.Pin.board.PB7,
			e2_1 = pyb.Pin.board.PC6,
			e2_2 = pyb.Pin.board.PC7,
			current_position_a = 0,
			current_position_b = 0
	)

Initializes the Encoders and their respective timers.

Parameters

e1_1	pyb.Pin for Encoder 1, Channel 1 (default=pyb.Pin.board.PB6)
e1_2	pyb.Pin for Encoder 1, Channel 2 (default=pyb.Pin.board.PB7)
e2_1	pyb.Pin for Encoder 2, Channel 1 (default=pyb.Pin.board.PC6)
e2_2	pyb.Pin for Encoder 2, Channel 2 (default=pyb.Pin.board.PC7)
current_position_a	Initial position of Encoder 1 (default=0)
current_position_b	Initial position of Encoder 2 (default=0)

Returns

Returns nothing.

Member Function Documentation

get_delta()

def encoder.EncoderDriver.get_delta

(

self

)

Calculates difference between the two most recent recorded positions.

Returns

Returns a tuple containing the change in position for each encoder between the last two updates.

get_position()

def encoder.EncoderDriver.get_position

(

self

)

Returns the most recently updated positions of the encoders.

Returns

Returns a tuple containing the positions of the encoders.

set_position()

def encoder.EncoderDriver.set_position	(		self,
			a,
			b
	)

Sets the position of the encoders to a specific value.

Parameters

a	The position for encoder 1
b	The position for encoder 2

Returns

Returns nothing.

update()

def encoder.EncoderDriver.update

(

self

)

Updates the current position of each encoder.

Returns

Returns nothing.

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

• encoder.py