src.Encoder.Encoder Class Reference

This class contains functionality to setup, read, and zero a quadrature encoder on a 16 bit timer channel on an STM-32. More...

Public Member Functions
	__init__ (self, ENA, ENB, timer, CHA, CHB)
	Creates an Encoder object that intializes the Encoder's pins and sets the set GPIO Pin Timer and respective channels.
	read (self)
	Function reads the Encoder's position as a positive/negative integer.
	zero (self)
	Function set all Encoder counts to 0.

Public Attributes
	pinENA
	pinENB
	tim
	ENCA
	ENCB
	lastCount
	totalCount

Detailed Description

This class contains functionality to setup, read, and zero a quadrature encoder on a 16 bit timer channel on an STM-32.

Constructor & Destructor Documentation

__init__()

src.Encoder.Encoder.__init__	(		self,
			ENA,
			ENB,
			timer,
			CHA,
			CHB )

Creates an Encoder object that intializes the Encoder's pins and sets the set GPIO Pin Timer and respective channels.

Parameters

ENA	GPIO pin associated with Encoder Channel A.
ENB	GPIO pin associated with Encoder Channel B.
timer	Timer object used as a counter.
CHA	Timer Channel corresponding to Encoder Channel A.
CHB	Timer Channel corresponding to Encoder Channel B.

Member Function Documentation

read()

src.Encoder.Encoder.read

(

self

)

Function reads the Encoder's position as a positive/negative integer.

Accounts for under- and over-flow cases by comparing the most recent and current count from the Encoder.

Returns

Total encoder count as an integer

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The documentation for this class was generated from the following file:

• src/Encoder.py