Encoder Class Reference

Encoder components read quadrature encoder inputs. More...

#include <encoders.hpp>

Inheritance diagram for Encoder:

Public Member Functions
void	begin (uint8_t encoder_index)
	Initializes the Encoder with the specified encoder index.
void	invert ()
	Inverts the encoder direction. Useful for changing the direction without rewiring.
DecimalPosition	read ()
	Returns the current position of the encoder in world units.
void	reset ()
	Resets the encoder position to zero.
void	set (DecimalPosition value)
	Sets the encoder position to a specified value in world units.
void	set_latch (DecimalPosition value_world_units, uint8_t min_or_max)
	Sets latching behavior for the encoder at specified world unit values.
void	set_ratio (float output_units, float encoder_units=1.0)
void	enroll (RPC *rpc, const String &instance_name)

Public Attributes
BlockPort	output
bool	min_latch_enabled = false
bool	max_latch_enabled = false
int32_t	min_latch_value = 0
int32_t	max_latch_value = 0

Protected Member Functions
void	run ()

Detailed Description

Encoder components read quadrature encoder inputs.

The Encoder class interfaces with quadrature encoders connected to the StepDance controller and allows mapping the encoder signals to Stepdance components. Here's an example of how to instantiate and configure an Encoder:

#define module_driver
#include "stepdance.hpp"
 
Encoder encoder;
Channel channel_a;  
OutputPort output_a;
 
void setup(){
  // Initialize OutputPort and enable drivers
  output_a.begin(OUTPUT_A);
  enable_drivers();
 
  channel_a.begin(&output_a, SIGNAL_E); // Initialize Channel A on Output A
 
  // Initialize Encoder and map to output
  encoder.begin(ENCODER_1);
  encoder.set_ratio(24, 2400);  // 24mm per revolution, where 1 rev == 2400 encoder pulses
  encoder.output.map(output_a.input_position);
 
  dance_start();
}
 
void loop(){
  dance_loop();
}

Member Function Documentation

begin()

void Encoder::begin

(

uint8_t

encoder_index

)

Initializes the Encoder with the specified encoder index.

Parameters

encoder_index

Index of the encoder to initialize (e.g., ENCODER_1, ENCODER_2, ENCODER_A).

read()

DecimalPosition Encoder::read

(

)

Returns the current position of the encoder in world units.

Returns

DecimalPosition Current position in world units.

set()

void Encoder::set

(

DecimalPosition

value

)

Sets the encoder position to a specified value in world units.

Parameters

value

Position value to set in world units.

set_latch()

void Encoder::set_latch	(	DecimalPosition	value_world_units,
		uint8_t	min_or_max )

Sets latching behavior for the encoder at specified world unit values.

Parameters

value_world_units	The world unit value at which to set the latch.
min_or_max	Specify whether this is a minimum (0) or maximum (1) latch.

---

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

• lib/encoders.hpp