encoder2.Encoder Class Reference

Public Member Functions
def	__init__ (self, timerNum, pin1, pin2, Period, Prescaler)
	An encoder driver that reads timer outputs from connected pins. More...
def	update (self)
	updates the recorded position of the encoder More...
def	get_position (self)
	returns the most recently updated position of the encoder More...
def	set_position (self, newPosition)
	resets the position to a specified value More...
def	get_delta (self)
	returns difference between the last two recorded position More...

Public Attributes
	timerNum
	Timer for the set of encoder pins.
	pin1
	first pin for Encoder
	pin2
	second pin for Encoder
	Period
	period for running the timer object
	Prescaler
	prescaler for the timer object
	TIM
	Timer object for Encoder.
	currPosition
	Channel 1 for Timer object. More...
	prevPosition
	Previous position.
	delta
	difference between last two recorded positions
	newPosition
	new position

Constructor & Destructor Documentation

__init__()

def encoder2.Encoder.__init__	(		self,
			timerNum,
			pin1,
			pin2,
			Period,
			Prescaler
	)

An encoder driver that reads timer outputs from connected pins.

The driver takes the timer channels, 2 pin numbers, period and prescaler that will be utilized to count an encoder channel. The driver accounts for timer overflow and is used to control a motor's position.

Parameters

timerNum	the timer channel for the set of pins
pin1	the first pin the encoder is connected to
pin2	the second pin the encoder is connected to
Period	the largest number that can stored in timer
Prescaler	the frequency dividier or period multiplier

Member Function Documentation

get_delta()

def encoder2.Encoder.get_delta

(

self

)

returns difference between the last two recorded position

Returns

the difference of the last two updated positions

get_position()

def encoder2.Encoder.get_position

(

self

)

returns the most recently updated position of the encoder

Returns

the most recent updated position value

set_position()

def encoder2.Encoder.set_position	(		self,
			newPosition
	)

resets the position to a specified value

this function takes in a new position value and replaces it with the current value. The previous current value is stored in a previous position variable.

Parameters

newPosition

a new position set by the user

Returns

new set current position

update()

def encoder2.Encoder.update

(

self

)

updates the recorded position of the encoder

This update counts the position of the motor, and fixes the delta readings by adjusting depending on what the defined period is. This function stores the previous counter value and creates a new counter value each time the function is ran.

Member Data Documentation

currPosition

encoder2.Encoder.currPosition

Channel 1 for Timer object.

Channel 2 for Timer object

Current position

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

• encoder2.py