incremental

Documentation

Overview

Package incremental implements an incremental encoder

Index

• func NewIncrementalEncoder(ctx context.Context, deps registry.Dependencies, cfg config.Component, ...) (encoder.Encoder, error)
• type AttrConfig
  • func (config *AttrConfig) Validate(path string) ([]string, error)
• type Encoder
  • func (e *Encoder) Close() error
  • func (e *Encoder) GetPosition(ctx context.Context, positionType *encoder.PositionType, ...) (float64, encoder.PositionType, error)
  • func (e *Encoder) GetProperties(ctx context.Context, extra map[string]interface{}) (map[encoder.Feature]bool, error)
  • func (e *Encoder) RawPosition() int64
  • func (e *Encoder) ResetPosition(ctx context.Context, extra map[string]interface{}) error
  • func (e *Encoder) Start(ctx context.Context)
• type Pins

Functions

func NewIncrementalEncoder

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

NewIncrementalEncoder creates a new Encoder.

Types

type AttrConfig

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

AttrConfig describes the configuration of a quadrature encoder.

func (*AttrConfig) Validate

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

Validate ensures all parts of the config are valid.

type Encoder

type Encoder struct {
	A, B board.DigitalInterrupt

	CancelCtx context.Context

	generic.Unimplemented
	// contains filtered or unexported fields
}

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

func (*Encoder) Close

func (e *Encoder) Close() error

Close shuts down the Encoder.

func (*Encoder) GetPosition

func (e *Encoder) GetPosition(
	ctx context.Context,
	positionType *encoder.PositionType,
	extra map[string]interface{},
) (float64, encoder.PositionType, error)

GetPosition returns the current position in terms of ticks or degrees, and whether it is a relative or absolute position.

func (*Encoder) GetProperties

func (e *Encoder) GetProperties(ctx context.Context, extra map[string]interface{}) (map[encoder.Feature]bool, error)

GetProperties returns a list of all the position types that are supported by a given encoder.

func (*Encoder) RawPosition

func (e *Encoder) RawPosition() int64

RawPosition returns the raw position of the encoder.

func (*Encoder) ResetPosition

func (e *Encoder) ResetPosition(ctx context.Context, extra map[string]interface{}) error

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

func (*Encoder) Start

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

Start starts the Encoder background thread.

type Pins

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

Pins describes the configuration of Pins for a quadrature encoder.