API Reference¶

qwiic_dual_encoder_reader¶

Python module for the[SparkFun Auto pHAT for Raspberry Pi](https://www.sparkfun.com/products/16328)

This python package enables the user to take count readings from the on-board ATTINY84 that handles reading the dual motor encoders.

The firmware that is used on the ATTiny84 is located in a separate repository here: [SparkFun Dual Encoder Reader Firmware Repository](https://github.com/sparkfun/Qwiic_Dual_Encoder_Reader)

This package can be used in conjunction with the overall [SparkFun qwiic Python Package](https://github.com/sparkfun/Qwiic_Py)

New to qwiic? Take a look at the entire [SparkFun qwiic ecosystem](https://www.sparkfun.com/qwiic).

class qwiic_dual_encoder_reader.QwiicDualEncoderReader(address=None, i2c_driver=None)[source]¶

Parameters:	address – The I2C address to use for the device. If not provided, the default address is used. i2c_driver – An existing i2c driver object. If not provided a driver object is created.
Returns:	The QwiicDualEncoderReader device object.
Return type:	Object

begin()[source]¶

Initialize the operation of the Dual Encoder Reader module

Returns:	Returns true of the initializtion was successful, otherwise False.
Return type:	bool

clear_interrupts()[source]¶

Clears the moved bit

Returns:	No return Value

connected¶

Determine if a device is conntected to the system..

Returns:	True if the device is connected, otherwise False.
Return type:	bool

count1¶

Returns the number of “ticks” the encoder1 has turned

Returns:	number of encoder pulses
Return type:	word as integer

count2¶

Returns the number of “ticks” the encoder2 has turned

Returns:	number of encoder pulses
Return type:	word as integer

get_count1()[source]¶

Returns the number of “ticks” the encoder1 has turned

Returns:	number of encoder pulses
Return type:	word as integer

get_count2()[source]¶

Returns the number of “ticks” the encoder2 has turned

Returns:	number of encoder pulses
Return type:	word as integer

get_diff(clear_value=False)[source]¶

Returns the number of ticks since last check

Parameters:	clearValue – Set to True to clear the current value. Default is False
Returns:	the difference
Return type:	integer

get_int_timeout()[source]¶

Get number of milliseconds that elapse between end of encoder turning and interrupt firing

Returns:	the timeout value
Return type:	integer

get_limit()[source]¶

Returns the limit of allowed counts before wrapping. 0 is disabled

Returns:	The limit
Return type:	integer

get_version()[source]¶

Returns a integer of the firmware version number

Returns:	The firmware version
Return type:	integer

has_moved()[source]¶

Returns true if encoder has moved

Returns:	Moved state
Return type:	Boolean

int_timeout¶

Get number of milliseconds that elapse between end of encoder turning and interrupt firing

Returns:	the timeout value
Return type:	integer

is_connected()[source]¶

Determine if a device is conntected to the system..

Returns:	True if the device is connected, otherwise False.
Return type:	bool

limit¶

Returns the limit of allowed counts before wrapping. 0 is disabled

Returns:	The limit
Return type:	integer

moved¶

Returns true if encoder has moved

Returns:	Moved state
Return type:	Boolean

set_count1(amount)[source]¶

Set the encoder count1 to a specific amount

Parameters:	amount – the value to set the counter to
Returns:	no return value

set_count2(amount)[source]¶

Set the encoder count2 to a specific amount

Parameters:	amount – the value to set the counter to
Returns:	no return value

set_int_timeout(timeout)[source]¶

Set number of milliseconds that elapse between end of encoder turning and interrupt firing

Parameters:	timeout – the timeout value in milliseconds
Returns:	No return value

set_limit(amount)[source]¶

Set the encoder count limit to a specific amount

Parameters:	amount – the value to set the limit to
Returns:	no return value

since_last_movement(clear_value=True)[source]¶

Returns the number of milliseconds since the last encoder movement By default, clear the current value

Parameters:	clearValue – Clear out the value? True by default
Returns:	time since last encoder movement
Return type:	integer

version¶

Returns a integer of the firmware version number

Returns:	The firmware version
Return type:	integer