Micro-RDK Encoder Models
An encoder is a special type of sensor that measures rotation of a motor or joint. For more information and models supported by the RDK, see Encoder Component.
Supported models
For configuration information, click on one of the supported encoder model names:
| Model | Description |
|---|---|
incremental | A two phase encoder, which can measure the speed and direction of rotation in relation to a given reference point |
single | A single pin “pulse output” encoder which returns its relative position but no direction |
Add support for other models
If none of the existing models fit your use case, you can create a modular resource to add support for it.
The micro-RDK works differently from the RDK, so creating modular resources for it is different. Refer to the Micro-RDK Module Template on GitHub for information on how to create custom resources for your micro-RDK machine. You will need to recompile and flash your ESP32 yourself instead of using Viam’s prebuilt binary and installer.
API
The micro-RDK encoder API supports only the following supported client SDK API methods, which operate the same ways as those in the full-featured RDK:
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