Add IR, encoder, motor, display

compLib/Encoder.py

@@ -0,0 +1,37 @@
+import atexit
+from enum import Enum
+
+from compLib.LogstashLogging import Logging
+from compLib.Spi import Spi, Register
+
+MOTOR_COUNT = 4
+
+
+class Encoder(object):
+    """Class used to read the encoders
+    """
+
+    @staticmethod
+    def read(port: int) -> int:
+        """Read encoder from a specified port
+
+        :param port: Port, which the motor is connected to. 1-4 allowed
+        :raises: IndexError
+        :return: Current encoder position
+        """
+        if port <= 0 or port > MOTOR_COUNT:
+            raise IndexError("Invalid encoder port specified!")
+
+        if port == 1:
+            return Spi.read(Register.MOTOR_1_POS_B3, 4)
+        elif port == 2:
+            return Spi.read(Register.MOTOR_2_POS_B3, 4)
+        elif port == 3:
+            return Spi.read(Register.MOTOR_3_POS_B3, 4)
+        elif port == 4:
+            return Spi.read(Register.MOTOR_4_POS_B3, 4)
+
+    @staticmethod
+    def reset(port: int):
+        # TODO implement registers and me
+        pass