robotCore.Encoder Class Reference

The Encoder interface is implemented by classes which track an relative position. More...

Classes
enum	EncoderType
	Specifies the type of encoder. More...

Public Member Functions
	Encoder (EncoderType type, int pin1, int pin2, int i2cAddr)
	Encoder (EncoderType type, int pin1, int pin2, int i2cAddr, boolean group)
	Encoder (EncoderType type, int pin1, int pin2)
	Encoder (EncoderType type, int pin1, int pin2, boolean group)
int	getRange ()
int	get ()
int	getPosition ()
int	getSpeed ()
void	reset ()
void	reset (int position)
void	setZero (int zero)
void	setInverted (boolean invert)

Detailed Description

The Encoder interface is implemented by classes which track an relative position.

Author

John Gaby

Constructor & Destructor Documentation

Encoder() [1/4]

robotCore.Encoder.Encoder	(	EncoderType	type,
		int	pin1,
		int	pin2,
		int	i2cAddr )

Parameters

type	- Specifies the type of encoder
pin1	- Specifies the first pin that the encoder uses. If it is a quadrature encoder, this must be the interrupt pin
pin2	- Specifies the second pin that the encoder uses (Not use if type is simple)
i2cAddr	- Address of i2c arduino which reads encoder

Encoder() [2/4]

robotCore.Encoder.Encoder	(	EncoderType	type,
		int	pin1,
		int	pin2,
		int	i2cAddr,
		boolean	group )

Parameters

type	- Specifies the type of encoder
pin1	- Specifies the first pin that the encoder uses. If it is a quadrature encoder, this must be the interrupt pin
pin2	- Specifies the second pin that the encoder uses (Not use if type is simple)
i2cAddr	- Address of i2c microcontroller which reads encoder
group	- If this is true, then the reading of the position for this encoder is grouped with other encoders so that a single read will read multiple values. This is done to reduce the i2c speed bottleneck.

Encoder() [3/4]

robotCore.Encoder.Encoder	(	EncoderType	type,
		int	pin1,
		int	pin2 )

Parameters

type	- Specifies the type of encoder
pin1	- Specifies the first pin that the encoder uses. If it is a quadrature encoder, this must be the interrupt pin
pin2	- Specifies the second pin that the encoder uses (Not use if type is simple)

Encoder() [4/4]

robotCore.Encoder.Encoder	(	EncoderType	type,
		int	pin1,
		int	pin2,
		boolean	group )

Parameters

type	- Specifies the type of encoder
pin1	- Specifies the first pin that the encoder uses. If it is a quadrature encoder, this must be the interrupt pin
pin2	- Specifies the second pin that the encoder uses (Not use if type is simple)
group	- If this is true, then the reading of the position for this encoder is grouped with other encoders so that a single read will read multiple values. This is done to reduce the i2c speed bottleneck.

Member Function Documentation

get()

int robotCore.Encoder.get

(

)

Gets the current encoder value

Returns

Returns the current position or speed. In the case of a Rotational encoder the angle is returned in hundredths of a degree

getPosition()

int robotCore.Encoder.getPosition

(

)

Gets the current encoder value

Returns

Returns the current position

getRange()

int robotCore.Encoder.getRange

(

)

Gets the range for the angle encoder

Returns

Returns the range for the angle encoder. This is the number that represents 360 degrees. Note that if the encoder is not an absolute angle encoder this function returns zero.

getSpeed()

int robotCore.Encoder.getSpeed

(

)

Gets the current encoder value

Returns

Returns the current speed

reset() [1/2]

void robotCore.Encoder.reset

(

)

Resets the encoder to zero

reset() [2/2]

void robotCore.Encoder.reset

(

int

position

)

Resets the encoder to the specified position.

Parameters

position

- Specifies the position to set. In the case of the Rotational encoder this should be the angle in encoder units.

setInverted()

void robotCore.Encoder.setInverted

(

boolean

invert

)

Parameters

invert

= If True, the count and speed directions are reversed

setZero()

void robotCore.Encoder.setZero

(

int

zero

)

Sets the zero position for an AnalogRotational encoder.

Parameters

zero	- Specifies the encoder value for when the encoder is at it's zero position.

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The documentation for this class was generated from the following file:

• D:/SDASVN/2025/RaspberryPi/VSCode/Source/robotCore/Encoder.java