EncoderDriver.EncoderDriver Class Reference

Allows the user to read angle measurements from the encoder. More...

Public Member Functions
def	__init__ (self, encoderA_pin, encoderB_pin, timerNumber, prescaler, period)
	Creates a EncoderDriver object to read an encoder. More...
def	update (self)
	Updates the position of the encoder and calculates the amount of change in position to store in delta. More...
def	get_position (self)
	Returns the most recently updated position of the encoder.
def	set_position (self, position)
	Sets the position of the encoder.
def	get_delta (self)
	Returns the amount of change in position since the last update.
def	zero (self)
	Sets the position of the encoder to 0.

Public Attributes
	EncoderA_pin
	Encoder A pin.
	EncoderB_pin
	Encoder B pin.
	TimerNumber
	Encoder timer number.
	Prescaler
	Encoder timer prescaler.
	Period
	Encoder timer period.
	Timer
	Encoder timer object.
	CurCount
	Encoder timer current value.
	PrevCount
	Encoder timer previous value.
	Position
	Encoder position.
	Delta
	Encoder change in position.

Detailed Description

Allows the user to read angle measurements from the encoder.

Constructor & Destructor Documentation

__init__()

def EncoderDriver.EncoderDriver.__init__	(		self,
			encoderA_pin,
			encoderB_pin,
			timerNumber,
			prescaler,
			period
	)

Creates a EncoderDriver object to read an encoder.

Parameters

encoderA_pin	A pyb.Pin object used as the encoder's A pin.
encoderB_pin	A pyb.Pin object used as the encoder's B pin.
timerNumber	A value used to create a pyb.Timer object to count for the encoder.
prescaler	A value used for the timer.
period	A value used for the timer.

Member Function Documentation

update()

def EncoderDriver.EncoderDriver.update

(

self

)

Updates the position of the encoder and calculates the amount of change in position to store in delta.

If theres is overflow or underflow, the delta is adjusted. The delta value is added to the current position.

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

• EncoderDriver.py