PythonReading Encoder Data

Reading Encoder Data

The encoder data can be accessed from the MotorChannel objects in the Plink object. The MotorChannel objects are accessible as:

python
plink.channel1
plink.channel2
plink.channel3
plink.channel4

You can save a reference to the MotorChannel objects as local variables for convenience. For example:

python
left_drive_wheel = plink.channel1
right_drive_wheel = plink.channel2

To read the encoder data, simply access the position and velocity attributes of the MotorChannel object:

python
left_position = left_drive_wheel.position
left_velocity = left_drive_wheel.velocity
 
channel_3_position = plink.channel3.position
channel_3_velocity = plink.channel3.velocity
 
print(f"Left wheel: {left_position}\t {left_velocity}")
print(f"Channel 3: {channel_3_position}\t {channel_3_velocity}")

Note that the forward direction of the position is dependent on the direction that the motor is connected to the MotorGo and the direction the encoder is connected to the motor.

Getting StartedControlling Motors