incremental

Documentation

Overview

Package incremental implements an incremental encoder

Index

• func NewIncrementalEncoder(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (encoder.Encoder, error)
• type Config
  • func (conf *Config) Validate(path string) ([]string, error)
• type Encoder
  • func (e *Encoder) Close(ctx context.Context) error
  • func (e *Encoder) Position(ctx context.Context, positionType encoder.PositionType, ...) (float64, encoder.PositionType, error)
  • func (e *Encoder) Properties(ctx context.Context, extra map[string]interface{}) (map[encoder.Feature]bool, error)
  • func (e *Encoder) RawPosition() int64
  • func (e *Encoder) Reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error
  • 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 resource.Dependencies,
	conf resource.Config,
	logger golog.Logger,
) (encoder.Encoder, error)

NewIncrementalEncoder creates a new Encoder.

Types

type Config

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

Config describes the configuration of a quadrature encoder.

func (*Config) Validate

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

Validate ensures all parts of the config are valid.

type Encoder

type Encoder struct {
	resource.Named

	A, B board.DigitalInterrupt

	// TODO(RSDK-2672): This is exposed for tests and should be unexported with
	// the constructor being used instead.
	CancelCtx context.Context
	// contains filtered or unexported fields
}

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

func (*Encoder) Close

func (e *Encoder) Close(ctx context.Context) error

Close shuts down the Encoder.

func (*Encoder) Position

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

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

func (*Encoder) Properties

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

Properties 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) Reconfigure

func (e *Encoder) Reconfigure(
	ctx context.Context,
	deps resource.Dependencies,
	conf resource.Config,
) error

Reconfigure atomically reconfigures this encoder in place based on the new config.

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.