Configure a Single Encoder (viam-micro-server)

A single encoder sends a signal from the rotating encoder over a single wire to one pin on the board. The direction of spin is dictated by the motor that has this encoder’s name in its encoder attribute field.

{
  "name": "<your-encoder-name>",
  "model": "single",
  "type": "encoder",
  "namespace": "rdk",
  "attributes": {
    "pin": <int>,
    "dir_flip": <boolean>
  }
}

{
  "name": "<your-encoder-name>",
  "model": "single",
  "type": "encoder",
  "namespace": "rdk",
  "attributes": {
    "pin": 22,
    "dir_flip": false
  }
}

The following attributes are available for single encoders:

NameTypeRequired?Description
pinobjectRequiredGPIO number of the pin to which the encoder is wired.
dir_flipbooleanRequiredIf the encoder’s count should increment or decrement in its initial state before a SetPower() call is made to an encoded motor. true implies decrement.

Test the encoder

Once your encoder is configured and connected, open the encoders’s TEST panel on the CONFIGURE or CONTROL tabs. The ticks count is displayed. Try moving the encoder (for example, by turning a motor it is attached to) and check whether the count increases as expected.

Encoder test panel.

If the encoder does not appear on the TEST panel, or if you notice unexpected behavior, check your machine’s LOGS tab for errors, and review the configuration.

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