viam::sdk::Encoder Class Reference

An encoder is a device that is hooked up to motors to report a position. More...

#include "components/encoder.hpp"

Inheritance diagram for viam::sdk::Encoder:

Classes
struct	position
	reported position. More...
struct	properties
	Encodes the supported modes of this encoder. More...

Public Types
enum class	position_type : uint8_t { unspecified = 0 , ticks_count = 1 , angle_degrees = 2 }

Public Member Functions
position	get_position (position_type position_type=position_type::unspecified)
	Returns position of the encoder which can either be ticks since last zeroing for an incremental encoder or degrees for an absolute encoder.
virtual position	get_position (const ProtoStruct &extra, position_type position_type=position_type::unspecified)=0
	Returns position of the encoder which can either be ticks since last zeroing for an incremental encoder or degrees for an absolute encoder.
void	reset_position ()
	Reset the value of the position.
virtual void	reset_position (const ProtoStruct &extra)=0
	Reset the value of the position.
properties	get_properties ()
	Returns a list of all the position_types that are supported by the encoder.
virtual properties	get_properties (const ProtoStruct &extra)=0
	Returns a list of all the position_types that are supported by the encoder.
virtual ProtoStruct	do_command (const ProtoStruct &command)=0
	Send/receive arbitrary commands to the resource.
std::vector< GeometryConfig >	get_geometries ()
	Returns GeometryConfigs associated with the calling encoder.
virtual std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra)=0
	Returns GeometryConfigs associated with the calling encoder.
API	api () const override
	Returns the API associated with a particular resource.
Public Member Functions inherited from viam::sdk::Component
viam::common::v1::ResourceName	get_resource_name (std::string name) const override
	Returns a ResourceName for a particular resource name.
Public Member Functions inherited from viam::sdk::Resource
	Resource (std::string name)
virtual std::string	name () const
	Return the resource's name.

Static Public Member Functions
static position_type	from_proto (viam::component::encoder::v1::PositionType proto)
	Creates a position_type struct from its proto representation.
static position	from_proto (const viam::component::encoder::v1::GetPositionResponse &proto)
	Creates a position struct from its proto representation.
static properties	from_proto (const viam::component::encoder::v1::GetPropertiesResponse &proto)
	Creates a properties struct from its proto representation.
static viam::component::encoder::v1::PositionType	to_proto (position_type position_type)
	Converts a position_type struct to its proto representation.
static viam::component::encoder::v1::GetPositionResponse	to_proto (const position &position)
	Converts a position struct to its proto representation.
static viam::component::encoder::v1::GetPropertiesResponse	to_proto (const properties &properties)
	Converts a properties struct to its proto representation.

Protected Member Functions
	Encoder (std::string name)
Protected Member Functions inherited from viam::sdk::Component
	Component (std::string name)

Detailed Description

An encoder is a device that is hooked up to motors to report a position.

This acts as an abstract base class to be inherited from by any drivers representing specific encoder implementations. This class cannot be used on its own.

Member Function Documentation

api()

API viam::sdk::Encoder::api ( ) const

overridevirtual

Returns the API associated with a particular resource.

Implements viam::sdk::Resource.

do_command()

virtual ProtoStruct viam::sdk::Encoder::do_command ( const ProtoStruct & command )

pure virtual

Send/receive arbitrary commands to the resource.

Parameters

Command

the command to execute.

Returns

The result of the executed command.

Implemented in viam::sdk::impl::EncoderClient.

get_geometries() [1/2]

std::vector< GeometryConfig > viam::sdk::Encoder::get_geometries ( )

inline

Returns GeometryConfigs associated with the calling encoder.

Returns

The requested GeometryConfigs associated with the component.

get_geometries() [2/2]

virtual std::vector< GeometryConfig > viam::sdk::Encoder::get_geometries ( const ProtoStruct & extra )

pure virtual

Returns GeometryConfigs associated with the calling encoder.

Parameters

extra

Any additional arguments to the method.

Returns

The requested GeometryConfigs associated with the component.

Implemented in viam::sdk::impl::EncoderClient, and viam::sdk::impl::EncoderClient.

get_position() [1/2]

virtual position viam::sdk::Encoder::get_position ( const ProtoStruct & extra, position_type position_type = position_type::unspecified )

pure virtual

Returns position of the encoder which can either be ticks since last zeroing for an incremental encoder or degrees for an absolute encoder.

Parameters

extra	Any additional arguments to the method.
position_type	The type of position you are requesting. If the driver does not implement the requested type, this call will return an error. If position type is unspecified, the response will return a default according to the driver.

Implemented in viam::sdk::impl::EncoderClient, and viam::sdk::impl::EncoderClient.

get_position() [2/2]

position viam::sdk::Encoder::get_position ( position_type position_type = position_type::unspecified )

inline

Returns position of the encoder which can either be ticks since last zeroing for an incremental encoder or degrees for an absolute encoder.

Parameters

position_type

The type of position you are requesting. If the driver does not implement the requested type, this call will return an error. If position type is unspecified, the response will return a default according to the driver.

get_properties()

virtual properties viam::sdk::Encoder::get_properties ( const ProtoStruct & extra )

pure virtual

Returns a list of all the position_types that are supported by the encoder.

Parameters

extra

Any additional arguments to the method.

Implemented in viam::sdk::impl::EncoderClient, and viam::sdk::impl::EncoderClient.

reset_position()

virtual void viam::sdk::Encoder::reset_position ( const ProtoStruct & extra )

pure virtual

Reset the value of the position.

Parameters

extra

Any additional arguments to the method.

Implemented in viam::sdk::impl::EncoderClient, and viam::sdk::impl::EncoderClient.

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The documentation for this class was generated from the following file:

• src/viam/sdk/components/encoder.hpp