Class Encoders

Class Documentation

class Encoders

Public Functions

explicit Encoders(int32_t serial_number, int hub_port, bool is_hub_port_device, std::function<void(int, int, double, int)> position_change_handler)
~Encoders() = default
int32_t getSerialNumber() const noexcept
uint32_t getEncoderCount() const

Gets the number of encoder input channels supported by this board.

int64_t getPosition(int index) const

Reads the current position of an encoder.

Parameters:

index – The index of the encoder to read

void setPosition(int index, int64_t position) const

Sets the offset of an encoder such that current position is the specified value.

Parameters:

  • index – The index of the encoder to set

  • position – The new value that should be returned by ‘getPosition(index)’ at the current position of the encoder

int64_t getIndexPosition(int index) const

Gets the position of an encoder the last time an index pulse occured. An index pulse in this context refers to an input from the encoder the pulses high once every revolution.

Parameters:

index – The index of the encoder to read

bool getEnabled(int index) const

Checks if an encoder is powered on and receiving events.

Parameters:

index – The index of the encoder to check

void setEnabled(int index, bool enabled) const

Set the powered state of an encoder. If an encoder is not enabled, it will not be given power, and events and changes in position will not be captured.

Parameters:

  • index – The index of the encoder to change

  • enabled – The new powered state of the encoder