Indexed Encoder

What is it?

Indexed encoders are devices that count shaft rotation and can sense direction. The output of the encoder class is an integer that can count either up or down, and can go negative for reverse direction counting. Indexed encoders have three digital outputs, an A Channel, a B Channel that are out of phase with each other to allow the FPGA to do direction sensing and and Index Channel that resets the count.

Properties

Channel A Port (Digital)
The DIO port on the roboRIO or MXP that channel A of the encoder is plugged into.
Channel B Port (Digital)
The DIO Port on the roboRIO or MXP that channel B of the encoder is plugged into.
Index Port (Digital)
The DIO Port on the roboRIO or MXP that the index of the encoder is plugged into.
Reverse Direction
Whether or not to reverse the direction considered positive by the encoder.
Distance Per Pulse
Conversion factor to convert pulses to meaningful distance.
PID Source
Whether this encoder is being used for position or velocity PID.
Indexing Type
When to reset the based on the index. kResetWhileHigh, kResetWhileLow, kResetOnFallingEdge, or kResetOnRisingEdge.

See Also