encoder

package
v0.2.11 Latest Latest
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 Go to latest Published: Jan 7, 2023 License: AGPL-3.0 Imports: 18 Imported by: 0

Documentation

Overview

Package encoder implements the encoder component

Index

Constants

View Source 
const SubtypeName = resource.SubtypeName("encoder")

SubtypeName is a constant that identifies the component resource subtype string "encoder".

Variables

View Source 
var Subtype = resource.NewSubtype(
	resource.ResourceNamespaceRDK,
	resource.ResourceTypeComponent,
	SubtypeName,
)

Subtype is a constant that identifies the component resource subtype.

Functions

func DependencyTypeError 

func DependencyTypeError(name string, actual interface{}) error

DependencyTypeError is used when a resource doesn't implement the expected interface.

func Named 

func Named(name string) resource.Name

Named is a helper for getting the named Encoder's typed resource name.

func NamesFromRobot 

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all encoder names from the given Robot.

func NewUnimplementedInterfaceError 

func NewUnimplementedInterfaceError(actual interface{}) error

NewUnimplementedInterfaceError is used when there is a failed interface check.

func ValidateIntegerOffset added in v0.2.11 

func ValidateIntegerOffset(offset float64) error

ValidateIntegerOffset returns an error if a non-integral value for offset is passed to Reset for an incremental encoder (these encoders count based on square-wave pulses and so cannot be supplied an offset that is not an integer).

func WrapWithReconfigurable 

func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error)

WrapWithReconfigurable converts a regular Encoder implementation to a reconfigurableEncoder. If encoder is already a reconfigurableEncoder, then nothing is done.

Types

type AS5048 added in v0.2.11 

type AS5048 struct {
	generic.Unimplemented
	// contains filtered or unexported fields
}

AS5048 is a struct representing an instance of a hardware unit in AM5's AS5048 series of Hall-effect encoders.

func (*AS5048) Close added in v0.2.11 

func (enc *AS5048) Close()

Close stops the position loop of the encoder when the component is closed.

func (*AS5048) Reset added in v0.2.11 

func (enc *AS5048) Reset(
	ctx context.Context, offset float64, extra map[string]interface{},
) error

Reset sets the current position measured by the encoder to be considered its new zero position. If the offset provided is not 0.0, it also sets the positionOffset attribute and adjusts all future recorded positions by that offset (until the function is called again).

func (*AS5048) TicksCount added in v0.2.11 

func (enc *AS5048) TicksCount(
	ctx context.Context, extra map[string]interface{},
) (float64, error)

TicksCount returns the total number of rotations detected by the encoder (rather than a number of pulse state transitions) because this encoder is absolute and not incremental. As a result a user MUST set ticks_per_rotation on the config of the corresponding motor to 1. Any other value will result in completely incorrect position measurements by the motor.

type AS5048Config added in v0.2.11 

type AS5048Config struct {
	BoardName string `json:"board"`
	// We include connection type here in anticipation for
	// future SPI support
	ConnectionType string `json:"connection_type"`
	// contains filtered or unexported fields
}

AS5048Config contains the connection information for configuring an AS5048 encoder.

func (*AS5048Config) Validate added in v0.2.11 

func (conf *AS5048Config) Validate(path string) ([]string, error)

Validate checks the attributes of an initialized config for proper values.

func (AS5048Config) ValidateI2C added in v0.2.11 

func (cfg AS5048Config) ValidateI2C(path string) error

ValidateI2C ensures all parts of the config are valid.

type DirectionAware 

type DirectionAware interface {
	DirectionMoving() int64
}

DirectionAware lets you ask what direction something is moving. Only used for SingleEncoder for now, unclear future. DirectionMoving returns -1 if the motor is currently turning backwards, 1 if forwards and 0 if off.

type Encoder 

type Encoder interface {
	// TicksCount returns number of ticks since last zeroing
	TicksCount(ctx context.Context, extra map[string]interface{}) (float64, error)

	// Reset sets the current position of the motor (adjusted by a given offset)
	// to be its new zero position.
	Reset(ctx context.Context, offset float64, extra map[string]interface{}) error

	generic.Generic
}

A Encoder turns a position into a signal.

func FromDependencies 

func FromDependencies(deps registry.Dependencies, name string) (Encoder, error)

FromDependencies is a helper for getting the named encoder from a collection of dependencies.

func FromRobot 

func FromRobot(r robot.Robot, name string) (Encoder, error)

FromRobot is a helper for getting the named encoder from the given Robot.

type IncrementalConfig 

type IncrementalConfig struct {
	Pins      IncrementalPins `json:"pins"`
	BoardName string          `json:"board"`
}

IncrementalConfig describes the configuration of a quadrature encoder.

func (*IncrementalConfig) Validate 

func (config *IncrementalConfig) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.

type IncrementalEncoder 

type IncrementalEncoder struct {
	A, B board.DigitalInterrupt

	CancelCtx context.Context

	generic.Unimplemented
	// contains filtered or unexported fields
}

IncrementalEncoder keeps track of a motor position using a rotary incremental encoder.

func NewIncrementalEncoder 

func NewIncrementalEncoder(
	ctx context.Context,
	deps registry.Dependencies,
	cfg config.Component,
	logger golog.Logger,
) (*IncrementalEncoder, error)

NewIncrementalEncoder creates a new IncrementalEncoder.

func (*IncrementalEncoder) Close 

func (e *IncrementalEncoder) Close() error

Close shuts down the IncrementalEncoder.

func (*IncrementalEncoder) RawPosition 

func (e *IncrementalEncoder) RawPosition() int64

RawPosition returns the raw position of the encoder.

func (*IncrementalEncoder) Reset 

func (e *IncrementalEncoder) Reset(ctx context.Context, offset float64, extra map[string]interface{}) error

Reset sets the current position of the motor (adjusted by a given offset) to be its new zero position..

func (*IncrementalEncoder) Start 

func (e *IncrementalEncoder) Start(ctx context.Context)

Start starts the IncrementalEncoder background thread.

func (*IncrementalEncoder) TicksCount 

func (e *IncrementalEncoder) TicksCount(ctx context.Context, extra map[string]interface{}) (float64, error)

TicksCount returns number of ticks since last zeroing.

type IncrementalPins 

type IncrementalPins struct {
	A string `json:"a"`
	B string `json:"b"`
}

IncrementalPins describes the configuration of Pins for a quadrature encoder.

type SingleEncoder 

type SingleEncoder struct {
	generic.Unimplemented
	I board.DigitalInterrupt

	CancelCtx context.Context
	// contains filtered or unexported fields
}

SingleEncoder keeps track of a motor position using a rotary encoder.

func NewSingleEncoder 

func NewSingleEncoder(
	ctx context.Context,
	deps registry.Dependencies,
	cfg config.Component,
	logger golog.Logger,
) (*SingleEncoder, error)

NewSingleEncoder creates a new SingleEncoder.

func (*SingleEncoder) AttachDirectionalAwareness 

func (e *SingleEncoder) AttachDirectionalAwareness(da DirectionAware)

AttachDirectionalAwareness to pre-created encoder.

func (*SingleEncoder) Close 

func (e *SingleEncoder) Close() error

Close shuts down the SingleEncoder.

func (*SingleEncoder) Reset 

func (e *SingleEncoder) Reset(ctx context.Context, offset float64, extra map[string]interface{}) error

Reset sets the current position of the motor (adjusted by a given offset) to be its new zero position.

func (*SingleEncoder) Start 

func (e *SingleEncoder) Start(ctx context.Context)

Start starts the SingleEncoder background thread.

func (*SingleEncoder) TicksCount 

func (e *SingleEncoder) TicksCount(ctx context.Context, extra map[string]interface{}) (float64, error)

TicksCount returns the current position.

type SingleWireConfig 

type SingleWireConfig struct {
	Pins      SingleWirePin `json:"pins"`
	BoardName string        `json:"board"`
}

SingleWireConfig describes the configuration of a single encoder.

func (*SingleWireConfig) Validate 

func (cfg *SingleWireConfig) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.

type SingleWirePin 

type SingleWirePin struct {
	I string `json:"i"`
}

SingleWirePin describes the configuration of Pins for a Single encoder.

type Ticks added in v0.1.2 

type Ticks struct {
	Ticks int64
}

Ticks wraps the returned ticks value.

Source Files

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Directories

Path Synopsis
Package fake implements a fake encoder.
 Package fake implements a fake encoder.

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