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<section id="encoder">
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<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" title="Permalink to this headline"></a></h1>
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<section id="class-documentation">
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<h2>Class Documentation<a class="headerlink" href="#class-documentation" title="Permalink to this headline"></a></h2>
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<dl class="py class">
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<dt class="sig sig-object py" id="compLib.Encoder.Encoder">
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<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>
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<dd><p>Class used to read the encoders</p>
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<dl class="py method">
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<dt class="sig sig-object py" id="compLib.Encoder.Encoder.clear">
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<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>
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<dd><p>Reset encoder position to 0</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><p><strong>port</strong> – Port, which the motor is connected to. Between 1 and 4</p>
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</dd>
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<dt class="field-even">Raises</dt>
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<dd class="field-even"><p>IndexError</p>
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</dd>
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt class="sig sig-object py" id="compLib.Encoder.Encoder.clear_all">
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<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>
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<dd><p>Reset all encoder positions to 0</p>
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</dd></dl>
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<dl class="py method">
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<dt class="sig sig-object py" id="compLib.Encoder.Encoder.read">
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<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">→</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>
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<dd><p>Read encoder from a specified port</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><p><strong>port</strong> – Port, which the motor is connected to. Between 1 and 4</p>
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</dd>
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<dt class="field-even">Raises</dt>
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<dd class="field-even"><p>IndexError</p>
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</dd>
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<dt class="field-odd">Returns</dt>
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<dd class="field-odd"><p>Current encoder position</p>
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</dd>
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt class="sig sig-object py" id="compLib.Encoder.Encoder.read_raw">
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<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">→</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>
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<dd><p>Read raw encoder from a specified port. Will not be reset to 0 at start.</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><p><strong>port</strong> – Port, which the motor is connected to. Between 1 and 4</p>
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</dd>
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<dt class="field-even">Raises</dt>
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<dd class="field-even"><p>IndexError</p>
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</dd>
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<dt class="field-odd">Returns</dt>
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<dd class="field-odd"><p>Current encoder position</p>
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</dd>
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</dl>
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</dd></dl>
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</dd></dl>
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