ExternalEncoderConfig

class rev.ExternalEncoderConfig

Bases: BaseConfig

class Presets

Bases: pybind11_object

static REV_SplineEncoder() → rev._rev.ExternalEncoderConfig

REV Robotics - MAXSpline Encoder (via 6-pin JST)

static REV_ThroughBoreEncoder() → rev._rev.ExternalEncoderConfig

static REV_ThroughBoreEncoderV2() → rev._rev.ExternalEncoderConfig

class Type(value: SupportsInt | SupportsIndex)

Bases: pybind11_object

Members:

kQuadrature

kQuadrature = <Type.kQuadrature: 0>

ExternalEncoderConfig.Type.name -> str

property value

apply(config: rev._rev.ExternalEncoderConfig) → rev._rev.ExternalEncoderConfig

Applies settings from another ExternalEncoderConfig to this one.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters:

config – The ExternalEncoderConfig to copy settings from

Returns:

The updated ExternalEncoderConfig for method chaining

averageDepth(depth: SupportsInt | SupportsIndex) → rev._rev.ExternalEncoderConfig

Set the sampling depth of the velocity calculation process of the External encoder. This value sets the number of samples in the average for velocity readings. For a quadrature encoder, this can be any value from 1 to 64 (default).

Parameters:

depth – The velocity calculation process’s sampling depth

Returns:

The modified ExternalEncoderConfig object for method chaining

countsPerRevolution(cpr: SupportsInt | SupportsIndex) → rev._rev.ExternalEncoderConfig

Set the counts per revolutions of the External encoder.

Parameters:

cpr – The counts per rotation

Returns:

The modified ExternalEncoderConfig object for method chaining

static fromId(id: SupportsInt | SupportsIndex) → rev._rev.ExternalEncoderConfig.Type

inverted(inverted: bool) → rev._rev.ExternalEncoderConfig

Set the phase of the External encoder so that it is in phase with the motor itself.

Parameters:

inverted – The phase of the encoder

Returns:

The modified ExternalEncoderConfig object for method chaining

measurementPeriod(periodMs: SupportsInt | SupportsIndex) → rev._rev.ExternalEncoderConfig

Set the position measurement period used to calculate the velocity of the External encoder. For a quadrature encoder, this number may be between 1 and 100 (default).

The basic formula to calculate velocity is change in position / change in time. This parameter sets the change in time for measurement.

Parameters:

periodMs – Measurement period in milliseconds

Returns:

The modified ExternalEncoderConfig object for method chaining

positionConversionFactor(factor: SupportsFloat | SupportsIndex) → rev._rev.ExternalEncoderConfig

Set the conversion factor for the position of the External encoder. Position is returned in native units of rotations and will be multiplied by this conversion factor.

Parameters:

factor – The conversion factor to multiply the native units by

Returns:

The modified ExternalEncoderConfig object for method chaining

velocityConversionFactor(factor: SupportsFloat | SupportsIndex) → rev._rev.ExternalEncoderConfig

Set the conversion factor for the velocity of the External encoder. Velocity is returned in native units of rotations per minute and will be multiplied by this conversion factor.

Parameters:

factor – The conversion factor to multiply the native units by

Returns:

The modified ExternalEncoderConfig object for method chaining