Encoder API

The encoder API allows you to give commands to your encoder components for getting the position of a motor or a joint in ticks or degrees.

The encoder component supports the following methods:

API

GetPosition

Get the current position of the encoder in ticks or degrees. Relative encoders return ticks since last zeroing. Absolute encoders return degrees. Supported by viam-micro-server.

• Python
• Go
• TypeScript

Parameters:

• position_type ( viam.proto.component.encoder.PositionType.ValueType) (optional): The desired output type of the position.
• extra (Mapping[ str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (Tuple[ float, PositionType.ValueType]): : A tuple containing two values; the first [0] the position of the encoder which can either be ticks since last zeroing for a relative encoder or degrees for an absolute encoder, and the second [1] the type of position the encoder returns (ticks or degrees).

Example:

For more information, see the Python SDK Docs.

ResetPosition

Set the current position of the encoder to be the new zero position. Supported by viam-micro-server.

• Python
• Go
• TypeScript

Parameters:

• extra (Mapping[ str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• None.

Example:

For more information, see the Python SDK Docs.

GetProperties

Get a list of all the position types that are supported by a given encoder. Supported by viam-micro-server.

• Python
• Go
• TypeScript

Parameters:

Returns:

• ( viam.components.encoder.encoder.Encoder.Properties): : Map of position types to supported status.

Example:

For more information, see the Python SDK Docs.

GetGeometries

Get all the geometries associated with the encoder in its current configuration, in the frame of the encoder. The motion and navigation services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning.

• Python

Parameters:

Returns:

• ( List[viam.proto.common.Geometry]): : The geometries associated with the Component.

Example:

For more information, see the Python SDK Docs.

Reconfigure

Reconfigure this resource. Reconfigure must reconfigure the resource atomically and in place.

• Go

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
• deps (Dependencies): The resource dependencies.
• conf (Config): The resource configuration.

Returns:

• (error): An error, if one occurred.

For more information, see the Go SDK Docs.

DoCommand

Execute model-specific commands that are not otherwise defined by the component API. Most models do not implement DoCommand. Any available model-specific commands should be covered in the model’s documentation. If you are implementing your own encoder as a modular resource and want to add features that have no corresponding built-in API method, you can implement them with DoCommand. Supported by viam-micro-server.

• Python
• Go
• TypeScript

Parameters:

• command (Mapping[ str, ValueTypes]) (required): The command to execute.
• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (Mapping[ str, viam.utils.ValueTypes]): : Result of the executed command.

Raises:

• (NotImplementedError): Raised if the Resource does not support arbitrary commands.

Example:

For more information, see the Python SDK Docs.

GetResourceName

Get the ResourceName for this encoder.

• Python
• Go
• TypeScript

Parameters:

• name ( str) (required): The name of the Resource.

Returns:

• ( viam.proto.common.ResourceName): : The ResourceName of this Resource.

Example:

For more information, see the Python SDK Docs.

Close

Safely shut down the resource and prevent further use.

• Python
• Go

Parameters:

• None.

Returns:

• None.

Example: