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 – Returns how far the encoder has rotated.

• Encoder velocity – Returns the current rotational speed of the encoder.

set Encoder position

The set Encoder position block sets the encoder’s current position to a specified value.

  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.

Encoder position

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

  ([EncoderA v] position in [degrees v])

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

Encoder velocity

The Encoder velocity block returns the rotational speed of the encoder.

  ([EncoderA v] velocity in [dps v])

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