编码器#

初始化编码器类#

使用以下构造函数创建编码器传感器：

The encoder constructor creates an encoder object in the specified Three Wire Port:

范围

描述

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.ThreeWirePort.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 = encoder(Brain.ThreeWirePort.A);

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

类方法#

resetRotation()#

The resetRotation() method resets the rotation of the Encoder Sensor to 0.

**返回：**无。

setRotation()#

The setRotation(value, units) method sets the rotation of the Encoder Sensor.

参数

描述

value

要设置的旋转值。

units

A valid rotationUnit.

**返回：**无。

// Set the Encoder Sensor's value of rotation to 180 degrees.
Encoder.setRotation(180);

setPosition()#

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

参数

描述

value

要设置的旋转值。

units

A valid rotationUnit.

**返回：**无。

// Set the Encoder Sensor's value of position to 180 degrees.
Encoder.setPosition(180);

rotation()#

The rotation(units) method returns the rotation value of the Encoder Sensor.

参数

描述

units

A valid rotationUnit.

**返回：**表示编码器当前旋转的双精度数。

// Get the current encoder rotation.
double value = Encoder.rotation();

position()#

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

参数

描述

units

A valid rotationUnit.

**返回：**编码器传感器当前位置的指定单位值。

// Get the current Encoder Sensor's position.
double value = Encoder.position();

velocity()#

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

参数

描述

units

A valid velocityUnit.

**返回：**以指定单位表示编码器传感器当前速度的双精度值。

// Get the current Encoder Sensor's velocity in rpm.
double value = Encoder.velocity();

changed()#

The changed(callback) method registers a function to be called when the value of the Encoder Sensor changes.

参数

描述

callback

当编码器传感器的轴值发生变化时将调用的函数。

**返回：**事件类的一个实例。

// Define the encoderChanged function with a void return
// type, showing it doesn't return a value.
void encoderChanged() {
  // The Brain will print that the Encoder Sensor changed on
  // the Brain's screen.
  Brain.Screen.print("encoder changed");
}

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Drive the robot forward.
  Drivetrain.drive(forward);

  // Run encoderChanged when the value of the
  // Encoder Sensor changes.
  Encoder.changed(encoderChanged);
}
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