From 9ade21fbd9301bf8ff49af04c9805e59951a176d Mon Sep 17 00:00:00 2001
From: Dat Nguyen <nguy2854@umn.edu>
Date: Fri, 27 Sep 2019 14:40:03 -0500
Subject: Initial test_Encoder.py

---
 System_Python/test_Encoder.py | 55 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 55 insertions(+)
 create mode 100644 System_Python/test_Encoder.py

diff --git a/System_Python/test_Encoder.py b/System_Python/test_Encoder.py
new file mode 100644
index 0000000..875b5be
--- /dev/null
+++ b/System_Python/test_Encoder.py
@@ -0,0 +1,55 @@
+import time
+import RPi.GPIO as GPIO
+
+GPIO.setmode(GPIO.BCM)
+
+PIN_CLK = 3 #2
+PIN_DAT = 2 #3
+PIN_CS  = 4
+delay = 0.0000005
+
+# pin setup done here
+try:
+    GPIO.setup(PIN_CLK,GPIO.OUT)
+    GPIO.setup(PIN_DATA,GPIO.IN)
+    GPIO.setup(PIN_CS,GPIO.OUT)                                                                                                    
+    GPIO.output(PIN_CS,1)
+    GPIO.output(PIN_CLK,1)
+except:
+    print "ERROR. Unable to setup the configuration requested"                                     
+
+#wait some time to start
+time.sleep(0.5)
+
+print "GPIO configuration enabled"
+
+def clockup():
+    GPIO.output(PIN_CLK,1)
+def clockdown():
+    GPIO.output(PIN_CLK,0)
+
+def readpos():
+    GPIO.output(PIN_CS,0) #pulls low to start
+
+    time.sleep(delay*2)
+    data = [0]
+    clockdown()
+    
+    for i in range(0,10); #bitcount):
+        clockup() #375 ns between each
+        data[i]<<=1  
+        data[i]|=GPIO.input(PIN_DATA)
+        clockdown()
+    
+    GPIO.output(PIN_CS,1) #pull high after finish
+    return data
+
+try:
+    while(1):
+        print readpos()
+        time.sleep(0.001)
+        #break
+        
+finally:
+    print "cleaning up GPIO"
+    GPIO.cleanup()
\ No newline at end of file
-- 
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