Configure an Incremental Encoder (viam-micro-server)
Use the incremental
encoder model to configure a quadrature encoder.
Configuring an incremental
encoder requires specifying the pin numbers of the two pins on the board to which the encoder is wired.
These two pins provide the phase outputs used to measure the speed and direction of rotation in relation to a given reference point.
Navigate to the CONFIGURE tab of your machine’s page in the Viam app.
Click the + icon next to your machine part in the left-hand menu and select Component.
Select the encoder
type, then select the incremental
model.
Enter a name or use the suggested name for your encoder and click Create.
Fill in and edit the attributes as applicable.
{
"name": "<your-encoder-name>",
"model": "incremental",
"type": "encoder",
"namespace": "rdk",
"attributes": {
"board": "<your-board-name>",
"a": "<your-first-pin-number>",
"b": "<your-second-pin-number>"
}
}
{
"components": [
{
"name": "myEncoder",
"model": "incremental",
"type": "encoder",
"namespace": "rdk",
"attributes": {
"board": "local",
"a": "13",
"b": "11"
}
}
]
}
The following attributes are available for incremental
encoders:
Name | Type | Required? | Description |
---|---|---|---|
board | string | Required | The name of the board to which the encoder is wired. |
a | string | Required | GPIO number of one of the pins to which the encoder is wired |
b | string | Required | GPIO number of the second board pin to which the encoder is wired |
Test the encoder
Once your encoder is configured and connected, go to the CONTROL tab and click on the encoder’s dropdown panel. The ticks count is displayed. Try moving the encoder (for example, by turning a motor it is attached to) and check whether the count increases as expected.
If the encoder does not appear on the CONTROL tab, or if you notice unexpected behavior, check your machine’s LOGS tab for errors, and review the configuration.
Have questions, or want to meet other people working on robots? Join our Community Discord.
If you notice any issues with the documentation, feel free to file an issue or edit this file.
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