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# Import required modules
import RPi.GPIO as GPIO
import time
import math
# Constants: parameters that the caller cannot modify
# Delay: Minimum delay necessary after pull pin low to read input
delay = 0.0000005
# Encoder Class
# This controls the motor at the given IO
class Encoder:
def __init__(self, clk_pin, cs_pin, data_pin):
# Set the board IO (just in case it hasn't been done yet)
GPIO.setmode(GPIO.BCM)
# Setup class varaiable
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)
# Setup the CS and CLK to be high
GPIO.output(PIN_CLK, 1)
GPIO.output(PIN_CS, 1)
except:
# 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, offset = 0):
# Take current position as zero
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):
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)
# 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):
# Clock up to start reading one bit
self.clockup()
# Shift data left and insert input
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)
# Format with offset, Max is 1024
data = (data - self.offset) % 1024
# Data is linearly mapped
if format=="Raw":
return data
elif format == "Degrees":
degrees = (data/1024.0) * 360.0
return degrees
elif format == "Radians":
radians = (data/1024.0) * (2.0*math.pi)
return radians
else:
print("ERROR. Invalid format (Raw, Degrees, Radians)")
return None
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