import abc
from dataclasses import dataclass
from typing import Any, Dict, Final, Optional, Tuple
from viam.proto.component.encoder import PositionType
from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
from ..component_base import ComponentBase
[docs]class Encoder(ComponentBase):
[docs] @dataclass
class Properties:
ticks_count_supported: bool
angle_degrees_supported: bool
"""
Encoder represents a physical encoder.
This acts as an abstract base class for any drivers representing specific
encoder implementations. This cannot be used on its own. If the ``__init__()`` function is
overridden, it must call the ``super().__init__()`` function.
::
from viam.components.encoder import Encoder
For more information, see `Encoder component <https://docs.viam.com/components/encoder/>`_.
"""
SUBTYPE: Final = Subtype( # pyright: ignore [reportIncompatibleVariableOverride]
RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "encoder"
)
[docs] @abc.abstractmethod
async def reset_position(
self,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**kwargs,
):
"""
Set the current position to be the new zero (home) position.
::
my_encoder = Encoder.from_robot(robot=robot, name='my_encoder')
# Reset the zero position of the encoder.
await my_encoder.reset_position()
For more information, see `Encoder component <https://docs.viam.com/components/encoder/>`_.
"""
...
[docs] @abc.abstractmethod
async def get_position(
self,
position_type: Optional[PositionType.ValueType] = None,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**kwargs,
) -> Tuple[float, PositionType.ValueType]:
"""
Report the position of the encoder.
The value returned is the current position in terms of it's ``position_type``.
The position will be either in relative units (ticks away from a zero position) for
``PositionType.POSITION_TYPE_TICKS_COUNT`` or absolute units (degrees along a circle)
for ``PositionType.POSITION_TYPE_ANGLE_DEGREES``.
::
my_encoder = Encoder.from_robot(robot=robot, name='my_encoder')
# Get the position of the encoder in ticks
position = await my_encoder.get_position(PositionType.POSITION_TYPE_TICKS_COUNT)
print("The encoder position is currently ", position[0], position[1])
Args:
position_type (PositionType): The desired output type of the position.
Returns:
Tuple[float, PositionType]:
A tuple containing two values; the first [0] the position of the encoder which can either be
ticks since last zeroing for a relative encoder or degrees for an absolute encoder, and the second [1] the type of
position the encoder returns (ticks or degrees).
For more information, see `Encoder component <https://docs.viam.com/components/encoder/>`_.
"""
...
[docs] @abc.abstractmethod
async def get_properties(
self,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**kwargs,
) -> Properties:
"""
Return a dictionary of the types of position reporting this encoder supports.
::
my_encoder = Encoder.from_robot(robot=robot, name='my_encoder')
# Get whether the encoder returns position in ticks or degrees.
properties = await my_encoder.get_properties()
Returns:
Encoder.Properties: Map of position types to supported status.
For more information, see `Encoder component <https://docs.viam.com/components/encoder/>`_.
"""
...