enc_driver.py File Reference

This file contains a class that acts as an encoder driver. More...

Classes
class	enc_driver.EncDriver
	An encoder driver object. More...

Namespaces
	enc_driver

Variables
	enc_driver.pin_E1CH1 = pyb.Pin(pyb.Pin.cpu.B6)
	The pin object connected to Encoder 1's channel 1. More...
	enc_driver.pin_E1CH2 = pyb.Pin(pyb.Pin.cpu.B7)
	The pin object connected to Encoder 1's channel 2. More...
	enc_driver.e1 = EncDriver('E1', pin_E1CH1, 1, pin_E1CH2, 2, 4, 1000, False)
	An encoder object representing the encoder attached to Motor 1. More...
	enc_driver.pin_E2CH1 = pyb.Pin(pyb.Pin.cpu.C6)
	The pin object connected to Encoder 2's channel 1. More...
	enc_driver.pin_E2CH2 = pyb.Pin(pyb.Pin.cpu.C7)
	The pin object connected to Encoder 2's channel 2. More...
	enc_driver.e2 = EncDriver('E2', pin_E2CH1, 1, pin_E2CH2, 2, 8, 1000, False)
	An encoder object representing the encoder attached to Motor 2. More...
	enc_driver.test_type = input('Running test or time test? (r/t): ')
	The test type used (running or timed) More...
	enc_driver.test_enc = input('Running test or time test? (A/B): ')
	The encoder selection for testing. More...
	enc_driver.start = utime.ticks_us()
	enc_driver.pos = e2.get_position('deg')
	enc_driver.stop = utime.ticks_us()
	enc_driver.run_time = utime.ticks_diff(stop,start)
	enc_driver.delta = e2.get_delta('deg')

Detailed Description

This file contains a class that acts as an encoder driver.

Author

E. Nicholson

Date

October 12, 2020

This file contains the class 'EncDriver.' This class facilitates configuring a Nucleo - L476RG to interface with an encoder.The object that this class creates correctly tracks encoder position, and recent position delta. The encoder position can also be zeroed. The file also contains code the facilitates performance testing and debugging.

The source code for this file can be found here:

https://bitbucket.org/ewnichol/me305-me405_labs/src/master/me405/me405%20Term%20Project/enc_driver.py