def __init__(self, *args, **kwargs) -> None:
"""Encoder constructor. Construct a Encoder given a and b channels
and optionally an index channel.
The encoder will start counting immediately.
The a, b, and optional index channel arguments may be either channel
numbers or :class:`.DigitalSource` sources. There may also be a boolean
reverseDirection, and an encodingType according to the following
list.
- aSource, bSource
- aSource, bSource, reverseDirection
- aSource, bSource, reverseDirection, encodingType
- aSource, bSource, indexSource, reverseDirection
- aSource, bSource, indexSource
- aChannel, bChannel
- aChannel, bChannel, reverseDirection
- aChannel, bChannel, reverseDirection, encodingType
- aChannel, bChannel, indexChannel, reverseDirection
- aChannel, bChannel, indexChannel
For positional arguments, if the passed object has a
`getPortHandleForRouting` function, it is assumed to be a DigitalSource.
Alternatively, sources and/or channels may be passed as keyword
arguments. The behavior of specifying both a source and a number
for the same channel is undefined, as is passing both a positional
and a keyword argument for the same channel.
In addition, keyword parameters may be provided for reverseDirection
and inputType.
:param aSource: The source that should be used for the a channel.
:type aSource: :class:`.DigitalSource`
:param bSource: The source that should be used for the b channel.
:type bSource: :class:`.DigitalSource`
:param indexSource: The source that should be used for the index
channel.
:type indexSource: :class:`.DigitalSource`
:param aChannel: The digital input index that should be used for
the a channel.
:type aChannel: int
:param bChannel: The digital input index that should be used for
the b channel.
:type bChannel: int
:param indexChannel: The digital input index that should be used
for the index channel.
:type indexChannel: int
:param reverseDirection:
Represents the orientation of the encoder and inverts the
output values if necessary so forward represents positive
values. Defaults to False if unspecified.
:type reverseDirection: bool
:param encodingType:
Either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If
4X is selected, then an encoder FPGA object is used and the
returned counts will be 4x the encoder spec'd value since all
rising and falling edges are counted. If 1X or 2X are selected
then a counter object will be used and the returned value will
either exactly match the spec'd count or be double (2x) the
spec'd count. Defaults to k4X if unspecified.
:type encodingType: :class:`Encoder.EncodingType`
"""
super().__init__()
a_source_arg = ("aSource", HasAttribute("getPortHandleForRouting"))
b_source_arg = ("bSource", HasAttribute("getPortHandleForRouting"))
index_source_arg = ("indexSource",
HasAttribute("getPortHandleForRouting"))
a_channel_arg = ("aChannel", int)
b_channel_arg = ("bChannel", int)
index_channel_arg = ("indexChannel", int)
# fmt: off
argument_templates = [
[a_source_arg, b_source_arg],
[a_source_arg, b_source_arg, ("reverseDirection", bool)],
[
a_source_arg, b_source_arg, ("reverseDirection", bool),
("encodingType", int)
], [a_source_arg, b_source_arg, index_source_arg],
[
a_source_arg, b_source_arg, index_source_arg,
("reverseDirection", bool)
], [a_channel_arg, b_channel_arg],
[a_channel_arg, b_channel_arg, ("reverseDirection", bool)],
[
a_channel_arg, b_channel_arg, ("reverseDirection", bool),
("encodingType", int)
], [a_channel_arg, b_channel_arg, index_channel_arg],
[
a_channel_arg, b_channel_arg, index_channel_arg,
("reverseDirection", bool)
]
]
# fmt: on
_, results = match_arglist("Encoder.__init__", args, kwargs,
argument_templates)
# keyword arguments
aSource = results.pop("aSource", None)
bSource = results.pop("bSource", None)
indexSource = results.pop("indexSource", None)
aChannel = results.pop("aChannel", None)
bChannel = results.pop("bChannel", None)
indexChannel = results.pop("indexChannel", None)
reverseDirection = results.pop("reverseDirection", False)
encodingType = results.pop("encodingType", self.EncodingType.k4X)
# convert channels into sources
self.allocatedA = False
self.allocatedB = False
self.allocatedIndex = False
if aSource is None:
if aChannel is None:
raise ValueError("didn't specify A channel")
aSource = DigitalInput(aChannel)
self.allocatedA = True
self.addChild(aSource)
if bSource is None:
if bChannel is None:
raise ValueError("didn't specify B channel")
bSource = DigitalInput(bChannel)
self.allocatedB = True
self.addChild(bSource)
if indexSource is None and indexChannel is not None:
indexSource = DigitalInput(indexChannel)
self.allocatedIndex = True
self.addChild(indexSource)
# save to instance variables
self.aSource = aSource
self.bSource = bSource
self.indexSource = indexSource
self.encodingType = encodingType
self.pidSource = self.PIDSourceType.kDisplacement
self._encoder = None
self.counter = None
self.speedEntry = None
self.distanceEntry = None
self.distancePerTickEntry = None
self._encoder = hal.initializeEncoder(
aSource.getPortHandleForRouting(),
aSource.getAnalogTriggerTypeForRouting(),
bSource.getPortHandleForRouting(),
bSource.getAnalogTriggerTypeForRouting(),
reverseDirection,
encodingType,
)
self.__finalizer = weakref.finalize(self, _freeEncoder, self._encoder)
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
if self.indexSource is not None:
self.setIndexSource(self.indexSource)
self.index = self.getFPGAIndex()
hal.report(hal.UsageReporting.kResourceType_Encoder, self.index,
encodingType)
self.setName("Encoder", self.index)
def __init__(self, *args, **kwargs) -> None:
"""Encoder constructor. Construct a Encoder given a and b channels
and optionally an index channel.
The encoder will start counting immediately.
The a, b, and optional index channel arguments may be either channel
numbers or :class:`.DigitalSource` sources. There may also be a boolean
reverseDirection, and an encodingType according to the following
list.
- aSource, bSource
- aSource, bSource, reverseDirection
- aSource, bSource, reverseDirection, encodingType
- aSource, bSource, indexSource, reverseDirection
- aSource, bSource, indexSource
- aChannel, bChannel
- aChannel, bChannel, reverseDirection
- aChannel, bChannel, reverseDirection, encodingType
- aChannel, bChannel, indexChannel, reverseDirection
- aChannel, bChannel, indexChannel
For positional arguments, if the passed object has a
`getPortHandleForRouting` function, it is assumed to be a DigitalSource.
Alternatively, sources and/or channels may be passed as keyword
arguments. The behavior of specifying both a source and a number
for the same channel is undefined, as is passing both a positional
and a keyword argument for the same channel.
In addition, keyword parameters may be provided for reverseDirection
and inputType.
:param aSource: The source that should be used for the a channel.
:type aSource: :class:`.DigitalSource`
:param bSource: The source that should be used for the b channel.
:type bSource: :class:`.DigitalSource`
:param indexSource: The source that should be used for the index
channel.
:type indexSource: :class:`.DigitalSource`
:param aChannel: The digital input index that should be used for
the a channel.
:type aChannel: int
:param bChannel: The digital input index that should be used for
the b channel.
:type bChannel: int
:param indexChannel: The digital input index that should be used
for the index channel.
:type indexChannel: int
:param reverseDirection:
Represents the orientation of the encoder and inverts the
output values if necessary so forward represents positive
values. Defaults to False if unspecified.
:type reverseDirection: bool
:param encodingType:
Either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If
4X is selected, then an encoder FPGA object is used and the
returned counts will be 4x the encoder spec'd value since all
rising and falling edges are counted. If 1X or 2X are selected
then a counter object will be used and the returned value will
either exactly match the spec'd count or be double (2x) the
spec'd count. Defaults to k4X if unspecified.
:type encodingType: :class:`Encoder.EncodingType`
"""
super().__init__()
a_source_arg = ("aSource", HasAttribute("getPortHandleForRouting"))
b_source_arg = ("bSource", HasAttribute("getPortHandleForRouting"))
index_source_arg = ("indexSource", HasAttribute("getPortHandleForRouting"))
a_channel_arg = ("aChannel", int)
b_channel_arg = ("bChannel", int)
index_channel_arg = ("indexChannel", int)
# fmt: off
argument_templates = [[a_source_arg, b_source_arg],
[a_source_arg, b_source_arg, ("reverseDirection", bool)],
[a_source_arg, b_source_arg, ("reverseDirection", bool), ("encodingType", int)],
[a_source_arg, b_source_arg, index_source_arg],
[a_source_arg, b_source_arg, index_source_arg, ("reverseDirection", bool)],
[a_channel_arg, b_channel_arg],
[a_channel_arg, b_channel_arg, ("reverseDirection", bool)],
[a_channel_arg, b_channel_arg, ("reverseDirection", bool), ("encodingType", int)],
[a_channel_arg, b_channel_arg, index_channel_arg],
[a_channel_arg, b_channel_arg, index_channel_arg, ("reverseDirection", bool)]]
# fmt: on
_, results = match_arglist("Encoder.__init__", args, kwargs, argument_templates)
# keyword arguments
aSource = results.pop("aSource", None)
bSource = results.pop("bSource", None)
indexSource = results.pop("indexSource", None)
aChannel = results.pop("aChannel", None)
bChannel = results.pop("bChannel", None)
indexChannel = results.pop("indexChannel", None)
reverseDirection = results.pop("reverseDirection", False)
encodingType = results.pop("encodingType", self.EncodingType.k4X)
# convert channels into sources
self.allocatedA = False
self.allocatedB = False
self.allocatedIndex = False
if aSource is None:
if aChannel is None:
raise ValueError("didn't specify A channel")
aSource = DigitalInput(aChannel)
self.allocatedA = True
self.addChild(aSource)
if bSource is None:
if bChannel is None:
raise ValueError("didn't specify B channel")
bSource = DigitalInput(bChannel)
self.allocatedB = True
self.addChild(bSource)
if indexSource is None and indexChannel is not None:
indexSource = DigitalInput(indexChannel)
self.allocatedIndex = True
self.addChild(indexSource)
# save to instance variables
self.aSource = aSource
self.bSource = bSource
self.indexSource = indexSource
self.encodingType = encodingType
self.pidSource = self.PIDSourceType.kDisplacement
self.encoder = None
self.counter = None
self.speedEntry = None
self.distanceEntry = None
self.distancePerTickEntry = None
self.encoder = hal.initializeEncoder(
aSource.getPortHandleForRouting(),
aSource.getAnalogTriggerTypeForRouting(),
bSource.getPortHandleForRouting(),
bSource.getAnalogTriggerTypeForRouting(),
reverseDirection,
encodingType,
)
self.__finalizer = weakref.finalize(self, _freeEncoder, self.encoder)
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
if self.indexSource is not None:
self.setIndexSource(self.indexSource)
self.index = self.getFPGAIndex()
hal.report(hal.UsageReporting.kResourceType_Encoder, self.index, encodingType)
self.setName("Encoder", self.index)