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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:
print("ERROR. Unable to setup the configuration required")
# Wait some time to before reading
time.sleep(0.5)
def setZero(self):
# Take current position as zero
self.offset=self.readPosition('Raw')
def clockup(self):
GPIO.output(self.clk_pin,1)
def clockdown(self):
GPIO.output(self.clk_pin,0)
def readPosition(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+offset)%1024
# Data is linearly mapped
if format=="Raw":
return data
elif format=="Degrees":
degrees=data/(1024/360)
return degrees
elif format=="Radian":
radians=data/(1024/(2*math.pi))
return radians
else:
print("ERROR. Invalid format (Raw, Degrees, Radians)")
return None
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