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| author | Raspberry Pi <raspberrypi@umn.edu> | 2019-11-19 22:19:55 -0600 |
|---|---|---|
| committer | Raspberry Pi <raspberrypi@umn.edu> | 2019-11-19 22:19:55 -0600 |
| commit | 2e4ab26e749a8ec17f6ab2de10722dd9031a3ae4 (patch) | |
| tree | ab93d05b806ec5f8a1ced8c9369b92e6871cb31f /System_Python/encoder.py | |
| parent | Remove leftover files from a past merge. (diff) | |
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Fixed encoder zeroing. Other minor changes, still trying to get the swingup controller working. Not sure if the code is good enough to make it happen...
Diffstat (limited to 'System_Python/encoder.py')
| -rw-r--r-- | System_Python/encoder.py | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/System_Python/encoder.py b/System_Python/encoder.py index 63bc73e..ece7fd1 100644 --- a/System_Python/encoder.py +++ b/System_Python/encoder.py @@ -34,7 +34,8 @@ class Encoder: time.sleep(0.5) def set_zero(self, offset = 0): # Take current position as zero - self.offset = self.read_position('Raw') - offset + pos = self.read_position('Raw') + self.offset = (self.read_position('Raw') + self.offset + offset) % 1024 def clockup(self): GPIO.output(self.clk_pin, 1) def clockdown(self): |