Edit

Configure a Single Encoder (viam-micro-server)

A single encoder sends a signal from the rotating encoder over a single wire to one pin on the board. The direction of spin is dictated by the motor that has this encoder’s name in its encoder attribute field.

To be able to test the encoder as you configure it, connect the encoder to your machine’s computer and power both on. Then, configure the encoder:

JSON Template
JSON Example

{
  "name": "<your-encoder-name>",
  "model": "single",
  "type": "encoder",
  "namespace": "rdk",
  "attributes": {
    "pin": <int>,
    "dir_flip": <boolean>
  }
}

{
  "name": "<your-encoder-name>",
  "model": "single",
  "type": "encoder",
  "namespace": "rdk",
  "attributes": {
    "pin": 22,
    "dir_flip": false
  }
}

The following attributes are available for single encoders:

Name	Type	Required?	Description
`pin`	object	Required	GPIO number of the pin to which the encoder is wired.
`dir_flip`	boolean	Required	If the encoder’s count should increment or decrement in its initial state before a `SetPower()` call is made to an encoded motor. `true` implies decrement.

Test the encoder

Once your encoder is configured and connected, open the encoders’s TEST panel on the CONFIGURE or CONTROL tabs. 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 TEST panel, or if you notice unexpected behavior, check your machine’s LOGS tab for errors, and review the configuration.

Troubleshooting

If your encoder is not working as expected, follow these steps:

Check your machine logs on the LOGS tab to check for errors.
Review this encoder model’s documentation to ensure you have configured all required attributes.
Check that all wires are securely attached to the correct pins.
Click on the TEST panel on the CONFIGURE or CONTROL tab and test if you can use the encoder there.

If none of these steps work, reach out to us on the Community Discord and we will be happy to help.

Next steps

For more configuration and usage info, see:

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