Encoder

Introduction

The Optical Shaft Encoder measures the rotational position and speed of a shaft. It uses internal optical sensors to detect how far and how fast the shaft turns, making it useful for tracking wheel rotation, arm position, or other mechanisms.

Below is a list of available blocks:

• set Encoder position – Sets the encoder’s current position to a specific value.

• Encoder position – Reports how far the encoder has rotated.

• Encoder velocity – Reports the current rotational velocity of the encoder.

set Encoder position

The set Encoder position stack block sets the encoder’s current position to a specified value. This block can be used to manually set the tracked position without rotating a motor or other mechanism.

Position is how far the shaft has rotated during a project.

  set [EncoderA v] position to [0] degrees

Parameter	Description
device	Which encoder to use, configured in the Devices window.
position	The rotational position to set in degrees as a whole number.

Encoder position

The Encoder position reporter block reports how far the shaft connected to the encoder has rotated.

  ([EncoderA v] position in [degrees v] :: custom-sensing)

Parameter	Description
device	Which encoder to use, configured in the Devices window.
unit	The unit that will represent the position: degrees or turns.

Encoder velocity

The Encoder velocity reporter block reports the rotational velocity of the encoder.

  ([EncoderA v] velocity in [dps v] :: custom-sensing)

Parameter	Description
device	Which encoder to use, configured in the Devices window.
unit	The unit that will represent the velocity: dps (degrees per second) or rpm (rotations per minute).