AnalogEncoder

class wpilib.AnalogEncoder(*args, **kwargs)

Bases: Sendable

Class for supporting continuous analog encoders, such as the US Digital MA3.

Overloaded function.

  1. __init__(self: wpilib._wpilib.AnalogEncoder, channel: int) -> None

Construct a new AnalogEncoder attached to a specific AnalogIn channel.

This has a fullRange of 1 and an expectedZero of 0.

Parameters:

channel – the analog input channel to attach to

  1. __init__(self: wpilib._wpilib.AnalogEncoder, analogInput: wpilib._wpilib.AnalogInput) -> None

Construct a new AnalogEncoder attached to a specific AnalogInput.

This has a fullRange of 1 and an expectedZero of 0.

Parameters:

analogInput – the analog input to attach to

  1. __init__(self: wpilib._wpilib.AnalogEncoder, channel: int, fullRange: float, expectedZero: float) -> None

Construct a new AnalogEncoder attached to a specific AnalogIn channel.

Parameters:

  • channel – the analog input channel to attach to

  • fullRange – the value to report at maximum travel

  • expectedZero – the reading where you would expect a 0 from get()

  1. __init__(self: wpilib._wpilib.AnalogEncoder, analogInput: wpilib._wpilib.AnalogInput, fullRange: float, expectedZero: float) -> None

Construct a new AnalogEncoder attached to a specific AnalogInput.

Parameters:

  • analogInput – the analog input to attach to

  • fullRange – the value to report at maximum travel

  • expectedZero – the reading where you would expect a 0 from get()

get() → float

Get the encoder value.

Returns:

the encoder value scaled by the full range input

getChannel() → int

Get the channel number.

Returns:

The channel number.

initSendable(builder: wpiutil._wpiutil.SendableBuilder) → None
setInverted(inverted: bool) → None

Set if this encoder is inverted.

Parameters:

inverted – true to invert the encoder, false otherwise

setVoltagePercentageRange(min: float, max: float) → None

Set the encoder voltage percentage range. Analog sensors are not always fully stable at the end of their travel ranges. Shrinking this range down can help mitigate issues with that.

Parameters:

  • min – minimum voltage percentage (0-1 range)

  • max – maximum voltage percentage (0-1 range)