ODrive 〉Encoder

Attributes

error — Error readwrite

No description

is_ready — bool readonly

No description

index_found — bool readonly

No description

shadow_count — int32 readonly

Unit: counts

Raw linear count from the encoder.

count_in_cpr — int32 readonly

Unit: counts

Raw circular count from the encoder on [0, cpr)

interpolation — float32 readonly

No description

phase — float32 readonly

No description

pos_estimate — float32 readonly

Unit: turns

Linear position estimate of the encoder, in turns. Also known as “multi-turn” position.

pos_estimate_counts — float32 readonly

Unit: counts

Linear position estimate of the encoder, in counts. Equal to pos_estimate * config.cpr

pos_circular — float32 readonly

Unit: turns

Circular position estimate of the encoder, as a decimal from [0, 1). Also known as “single-turn” position.

pos_cpr_counts — float32 readonly

Unit: counts

Circular position estimate of the encoder, on the space [0, cpr).

delta_pos_cpr_counts — float32 readonly

Unit: counts

Circular position delta of the encoder in the most recent loop. Primarily for debug purposes, it indicates much the encoder changed since the last time it was checked.

hall_state — uint8 readonly

No description

vel_estimate — float32 readonly

Unit: turns/s

Estimate of the linear velocity of an axis in turns/s

vel_estimate_counts — float32 readonly

Unit: counts/sec

Estimate of the linear velocity of an axis, in counts/s.

calib_scan_response — float32 readonly

No description

pos_abs — int32 readwrite

The last (valid) position from an absolute encoder, if used.

spi_error_rate — float32 readonly

No description

config — Config

No description

Functions

set_linear_count(count: int32)

No description

Inputs:

count: No description