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：

Encoder(port)

此构造函数使用一个参数：

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.three_wire_port.a refers to the a/b pair.

必须先创建 Brain 或 3-Wire Expander，然后才能使用编码器类构造函数创建对象。

# 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.

类方法#

reset_position()#

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

**返回：**无。

set_position()#

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

参数

描述

价值

要设置的位置值。

单位

Optional. A valid RotationUnits type. The default is DEGREES.

**返回：**无。

# 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.

参数

描述

单位

Optional. A valid RotationUnits type. The default is DEGREES.

**返回：**编码器当前位置的指定单位值。

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

velocity()#

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

参数

描述

单位

Optional. A valid VelocityUnits type. The default is RPM.

返回： 以指定单位表示的编码器当前速度值。

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