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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<div class="section" id="encoder">
<section id="encoder">
<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" title="Permalink to this headline"></a></h1>
<div class="section" id="class-documentation">
<section id="class-documentation">
<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
</div>
</div>
<dl class="py class">
<dt class="sig sig-object py" id="compLib.Encoder.Encoder">
<em class="property"><span class="pre">class</span> </em><span class="sig-prename descclassname"><span class="pre">compLib.Encoder.</span></span><span class="sig-name descname"><span class="pre">Encoder</span></span><a class="headerlink" href="#compLib.Encoder.Encoder" title="Permalink to this definition"></a></dt>
<dd><p>Class used to read the encoders</p>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Encoder.Encoder.clear">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">clear</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.clear" title="Permalink to this definition"></a></dt>
<dd><p>Reset encoder position to 0</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>port</strong> – Port, which the motor is connected to. Between 1 and 4</p>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p>IndexError</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Encoder.Encoder.clear_all">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">clear_all</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.clear_all" title="Permalink to this definition"></a></dt>
<dd><p>Reset all encoder positions to 0</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Encoder.Encoder.read">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">read</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.Encoder.Encoder.read" title="Permalink to this definition"></a></dt>
<dd><p>Read encoder from a specified port</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>port</strong> – Port, which the motor is connected to. Between 1 and 4</p>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p>IndexError</p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Current encoder position</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="compLib.Encoder.Encoder.read_raw">
<em class="property"><span class="pre">static</span> </em><span class="sig-name descname"><span class="pre">read_raw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span> <span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.Encoder.Encoder.read_raw" title="Permalink to this definition"></a></dt>
<dd><p>Read raw encoder from a specified port. Will not be reset to 0 at start.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>port</strong> – Port, which the motor is connected to. Between 1 and 4</p>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p>IndexError</p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Current encoder position</p>
</dd>
</dl>
</dd></dl>
</dd></dl>
</section>
</section>
</div>