class Encoder:
def __init__(self, chA, chB, unit, counts_per_turn=24*75, wheel_diameter=330):
'''Decode output from quadrature encoder connected to pins chA, chB.
unit: DEC unit to use (0 ... 7).
counts_per_turn: Number of counts per turn of the motor drive shaft. For scaling cps to rpm.
wheel_diameter: In [mm]. For scaling count to distance traveled.
'''
self.p1 = Pin(chA, mode=Pin.IN)
self.p2 = Pin(chB, mode=Pin.IN)
self.cpt = counts_per_turn
self.dia = wheel_diameter
self.dec = DEC(unit, p1, p2)
self.count = 0
self.time = time.time()
self.cps = 0
def get_count(self):
return self.dec.count()
def get_distance(self):
return get_count() / self.cpt * 3.14 * self.dia / 1000
def get_cps(self):
count = self.dec.count()
curr_time = time.time()
diff = count - self.count
timediff = curr_time - self.time
self.time = curr_time
self.count = dec.count()
self.cps = diff/timediff
return self.cps
def get_rpm(self):
return self.get_cps()/self.cpt * 60
def __init__(self, chA, chB, unit, counts_per_turn=24*75, wheel_diameter=330):
'''Decode output from quadrature encoder connected to pins chA, chB.
unit: DEC unit to use (0 ... 7).
counts_per_turn: Number of counts per turn of the motor drive shaft. For scaling cps to rpm.
wheel_diameter: In [mm]. For scaling count to distance traveled.
'''
self.p1 = Pin(chA, mode=Pin.IN)
self.p2 = Pin(chB, mode=Pin.IN)
self.cpt = counts_per_turn
self.dia = wheel_diameter
self.dec = DEC(unit, p1, p2)
self.count = 0
self.time = time.time()
self.cps = 0
class Encoder:
def __init__(self,
chA,
chB,
unit,
counts_per_turn=24 * 75,
wheel_diameter=330):
'''Decode output from quadrature encoder connected to pins chA, chB.
unit: DEC unit to use (0 ... 7).
counts_per_turn: Number of counts per turn of the motor drive shaft. For scaling cps to rpm.
wheel_diameter: In [mm]. For scaling count to distance traveled.
'''
self.p1 = Pin(chA, mode=Pin.IN)
self.p2 = Pin(chB, mode=Pin.IN)
self.cpt = counts_per_turn
self.dia = wheel_diameter
self.dec = DEC(unit, self.p1, self.p2)
self.count = 0
self.time = time.time()
self.cps = 0
def get_count(self):
return self.count
def get_distance(self):
return get_count() / self.cpt * 3.14 * self.dia / 1000
def get_cps(self):
delta = self.dec.count_and_clear()
curr_time = time.time()
timediff = curr_time - self.time
self.time = curr_time
self.count += delta
print(delta, timediff)
self.cps = delta / timediff
return self.cps
def get_rpm(self):
return self.get_cps() / self.cpt * 60
def clear_count(self):
# modify to match the variable names used in your code:
self.count = 0