diff options
Diffstat (limited to 'System_Python/encoder.py')
| -rw-r--r-- | System_Python/encoder.py | 44 |
1 files changed, 23 insertions, 21 deletions
diff --git a/System_Python/encoder.py b/System_Python/encoder.py index 8b7053c..63bc73e 100644 --- a/System_Python/encoder.py +++ b/System_Python/encoder.py @@ -14,59 +14,61 @@ class Encoder: # Set the board IO (just in case it hasn't been done yet) GPIO.setmode(GPIO.BCM) # Setup class varaiable - self.offset=0 + self.offset = 0 self.clk_pin = clk_pin self.cs_pin = cs_pin self.data_pin = data_pin # Setup the IO try: - GPIO.setup(self.clk_pin,GPIO.OUT) - GPIO.setup(self.cs_pin,GPIO.OUT) - GPIO.setup(self.data_pin,GPIO.IN) + GPIO.setup(self.clk_pin, GPIO.OUT) + GPIO.setup(self.cs_pin, GPIO.OUT) + GPIO.setup(self.data_pin, GPIO.IN) # Setup the CS and CLK to be high - GPIO.output(PIN_CLK,1) - GPIO.output(PIN_CS,1) + GPIO.output(PIN_CLK, 1) + GPIO.output(PIN_CS, 1) except: - print("ERROR. Unable to setup the configuration required") + # If this fails, it's likely because the IO has already been configured. The encoders share some pins. Ignore the failure + time.sleep(0.01) # Used just to have something in the exception catch + #print("ERROR. Unable to setup the configuration required") # Wait some time to before reading time.sleep(0.5) - def set_zero(self): + def set_zero(self, offset = 0): # Take current position as zero - self.offset=self.read_position('Raw') + self.offset = self.read_position('Raw') - offset def clockup(self): - GPIO.output(self.clk_pin,1) + GPIO.output(self.clk_pin, 1) def clockdown(self): - GPIO.output(self.clk_pin,0) + GPIO.output(self.clk_pin, 0) def read_position(self, format): # Most of this is based of timing diagram of encoder # Pull CS low to start reading - GPIO.output(self.cs_pin,0) + GPIO.output(self.cs_pin, 0) # Delay necessary before reading is ready time.sleep(delay*2) data = 0 # Clockdown necessary before reading self.clockdown() # Go through 10 bits needed to read - for i in range(0,10): + for i in range(0, 10): # Clock up to start reading one bit self.clockup() # Shift data left and insert input - data<<=1 - data|=GPIO.input(self.data_pin) + data <<= 1 + data |= GPIO.input(self.data_pin) # Clock down after finish reading self.clockdown() # Pull CS high after finish reading - GPIO.output(self.cs_pin,1) + GPIO.output(self.cs_pin, 1) # Format with offset, Max is 1024 - data=(data-self.offset)%1024 + data = (data - self.offset) % 1024 # Data is linearly mapped if format=="Raw": return data - elif format=="Degrees": - degrees=(data/1024.0)*360.0 + elif format == "Degrees": + degrees = (data/1024.0) * 360.0 return degrees - elif format=="Radian": - radians=(data/1024.0)*(2.0*math.pi) + elif format == "Radians": + radians = (data/1024.0) * (2.0*math.pi) return radians else: print("ERROR. Invalid format (Raw, Degrees, Radians)") |