Encoder

Initializing the Encoder Class

An Encoder Sensor is created by using the following constructor:

Encoder(port)

This constructor uses one parameter:

Parameter	Description
port	The 3-Wire Port “pair” that the Encoder Sensor is connected to, whether it’s a port on the Brain, or a 3-Wire Expander. Note: An Encoder Sensor uses two adjacent 3-Wire ports. These pairs are a/b, c/d, e/f, and g/h. When entering the pair as an argument, use the first letter of the pair, ie: brain.three_wire_port.a refers to the a/b pair.

A Brain or 3-Wire Expander must be created first before they can be used to create an object with the Encoder Class constructor.

# Create the Brain.
brain = Brain()
# Construct an Encoder Sensor "encoder" with the
# Encoder class.
encoder = Encoder(brain.three_wire_port.a)

This encoder object will be used in all subsequent examples throughout this API documentation when referring to Encoder class methods.

Class Methods

reset_position()

The reset_position() method resets the position of the Encoder to 0.

Returns: None.

set_position()

The set_position(value, units) method sets the position of the Encoder.

Parameters	Description
value	The position value to set.
units	Optional. A valid RotationUnits type. The default is DEGREES.

Returns: None.

# Set the value of Encoder's position to 180 degrees.
encoder.set_position(180)

position()

The position(units) method returns the current position of the Encoder.

Parameters	Description
units	Optional. A valid RotationUnits type. The default is DEGREES.

Returns: The value of the current position of the Encoder in the specified units.

# Get the current Encoder position.
value = encoder.position()

velocity()

The velocity(units) method returns the current velocity of the Encoder.

Parameters	Description
units	Optional. A valid VelocityUnits type. The default is RPM.

Returns: The value of the current velocity of the Encoder in the specified units.

# Get the current Encoder velocity in rpm.
value = encoder.velocity()