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