Documentation
¶
Overview ¶
Package encoder implements the encoder component. For more information, see the encoder component docs.
Index ¶
- Constants
- Variables
- func Named(name string) resource.Name
- func NamesFromRobot(r robot.Robot) []string
- func NewEncodedMotorPositionTypeUnsupportedError(props Properties) error
- func NewPositionTypeUnsupportedError(positionType PositionType) error
- func NewRPCServiceServer(coll resource.APIResourceCollection[Encoder]) interface{}
- func PropertiesToProtoResponse(props Properties) (*pb.GetPropertiesResponse, error)
- func ToProtoPositionType(positionType PositionType) pb.PositionType
- type Encoder
- type PositionType
- type Properties
Constants ¶
const SubtypeName = "encoder"
SubtypeName is a constant that identifies the component resource API string "encoder".
Variables ¶
var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)
API is a variable that identifies the component resource API.
Functions ¶
func Named ¶
func Named(name string) resource.Name
Named is a helper for getting the named Encoder's typed resource name.
func NamesFromRobot ¶
func NamesFromRobot(r robot.Robot) []string
NamesFromRobot is a helper for getting all encoder names from the given Robot.
func NewEncodedMotorPositionTypeUnsupportedError ¶ added in v0.2.36
func NewEncodedMotorPositionTypeUnsupportedError(props Properties) error
NewEncodedMotorPositionTypeUnsupportedError returns a standard error for when an encoded motor tries to use an encoder that doesn't support Ticks.
func NewPositionTypeUnsupportedError ¶ added in v0.2.36
func NewPositionTypeUnsupportedError(positionType PositionType) error
NewPositionTypeUnsupportedError returns a standard error for when an encoder does not support the given PositionType.
func NewRPCServiceServer ¶ added in v0.2.36
func NewRPCServiceServer(coll resource.APIResourceCollection[Encoder]) interface{}
NewRPCServiceServer constructs an Encoder gRPC service serviceServer.
func PropertiesToProtoResponse ¶ added in v0.6.0
func PropertiesToProtoResponse(
props Properties,
) (*pb.GetPropertiesResponse, error)
PropertiesToProtoResponse takes a properties struct and converts it to a GetPropertiesResponse.
func ToProtoPositionType ¶ added in v0.2.34
func ToProtoPositionType(positionType PositionType) pb.PositionType
ToProtoPositionType takes a map of PositionType-to-int (indicating the PositionType) and converts it to a GetPositionResponse.
Types ¶
type Encoder ¶
type Encoder interface {
resource.Resource
// Position returns the current position in terms of ticks or degrees, and whether it is a relative or absolute position.
Position(ctx context.Context, positionType PositionType, extra map[string]interface{}) (float64, PositionType, error)
// ResetPosition sets the current position of the motor to be its new zero position.
ResetPosition(ctx context.Context, extra map[string]interface{}) error
// Properties returns a list of all the position types that are supported by a given encoder.
Properties(ctx context.Context, extra map[string]interface{}) (Properties, error)
}
A Encoder turns a position into a signal. For more information, see the encoder component docs.
Position example:
myEncoder, err := encoder.FromRobot(machine, "my_encoder")
if err != nil {
logger.Fatalf("cannot get encoder: %v", err)
}
// Get the position of the encoder in ticks
position, posType, err := myEncoder.Position(context.Background(), encoder.PositionTypeTicks, nil)
For more information, see the Position method docs.
ResetPosition example:
myEncoder, err := encoder.FromRobot(machine, "my_encoder")
if err != nil {
logger.Fatalf("cannot get encoder: %v", err)
}
err = myEncoder.ResetPosition(context.Background(), nil)
For more information, see the ResetPosition method docs.
Properties example:
myEncoder, err := encoder.FromRobot(machine, "my_encoder")
// Get whether the encoder returns position in ticks or degrees.
properties, err := myEncoder.Properties(context.Background(), nil)
For more information, see the Properties methods docs.
func FromDependencies ¶
func FromDependencies(deps resource.Dependencies, name string) (Encoder, error)
FromDependencies is a helper for getting the named encoder from a collection of dependencies.
func FromRobot ¶
func FromRobot(r robot.Robot, name string) (Encoder, error)
FromRobot is a helper for getting the named encoder from the given Robot.
func NewClientFromConn ¶ added in v0.2.34
func NewClientFromConn(
ctx context.Context,
conn rpc.ClientConn,
remoteName string,
name resource.Name,
logger logging.Logger,
) (Encoder, error)
NewClientFromConn constructs a new Client from connection passed in.
type PositionType ¶ added in v0.2.34
type PositionType byte
PositionType is an enum representing the encoder's position.
const (
PositionTypeUnspecified PositionType = iota
// PositionTypeTicks is for relative encoders
// that report how far they've gone from a start position.
PositionTypeTicks
// PositionTypeDegrees is for absolute encoders
// that report their position in degrees along the radial axis.
PositionTypeDegrees
)
Known encoder position types.
func ToEncoderPositionType ¶ added in v0.2.34
func ToEncoderPositionType(positionType *pb.PositionType) PositionType
ToEncoderPositionType takes a GetPositionResponse and returns an equivalent PositionType-to-int map.
type Properties ¶ added in v0.6.0
type Properties struct {
TicksCountSupported bool
AngleDegreesSupported bool
}
Properties holds the properties of the encoder.
func ProtoFeaturesToProperties ¶ added in v0.6.0
func ProtoFeaturesToProperties(resp *pb.GetPropertiesResponse) Properties
ProtoFeaturesToProperties takes a GetPropertiesResponse and returns an equivalent Properties struct.
Source Files
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Directories
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| Path | Synopsis |
|---|---|
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Package fake implements a fake encoder.
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Package fake implements a fake encoder. |
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Package incremental implements an incremental encoder
|
Package incremental implements an incremental encoder |
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Package register registers all relevant MovementSensors
|
Package register registers all relevant MovementSensors |
|
Package single implements a single-wire odometer, such as LM393, as an encoder.
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Package single implements a single-wire odometer, such as LM393, as an encoder. |