Interface Encoder

Represents a physical encoder.

interface Encoder {
    name: string;
    doCommand(command: Struct | Record<string, JsonValue>): Promise<JsonValue>;
    getPosition(
        positionType?: PositionType,
        extra?: Struct,
    ): Promise<readonly [number, PositionType]>;
    getProperties(extra?: Struct): Promise<encoderApi.GetPropertiesResponse>;
    getStatus(): Promise<JsonValue>;
    resetPosition(extra?: Struct): Promise<void>;
}

Hierarchy (View Summary)

Resource
- Encoder

Implemented by

EncoderClient

Index

Properties

Methods

doCommand getPosition getProperties getStatus resetPosition

Properties

`Readonly`name

name: string

The name of the resource.

Methods

doCommand

doCommand(command: Struct | Record<string, JsonValue>): Promise<JsonValue>
Send/Receive arbitrary commands to the resource.
Parameters
- command: Struct | Record<string, JsonValue>
  The command to execute. Accepts either a Struct or a plain object, which will be converted automatically.
Returns Promise<JsonValue>
Example
```
// Plain object (recommended)
const result = await resource.doCommand({
  myCommand: { key: 'value' },
});

// Struct (still supported)
import { Struct } from '@viamrobotics/sdk';

const result = await resource.doCommand(Struct.fromJson({ myCommand: { key: 'value' } }));
```
Inherited from Resource.doCommand

getPosition

getPosition(
positionType?: PositionType,
extra?: Struct,
): Promise<readonly [number, PositionType]>
Return the current position either in relative units (ticks away from a zero position) or absolute units (degrees along a circle).
Parameters
- OptionalpositionType: PositionType
  The type of position the encoder returns (ticks or degrees)
- Optionalextra: Struct
Returns Promise<readonly [number, PositionType]>
Example
```
const encoder = new VIAM.EncoderClient(machine, 'my_encoder');

// Get the position of the encoder in ticks
const [position, posType] = await encoder.getPosition(
  EncoderPositionType.POSITION_TYPE_TICKS_COUNT,
);
console.log('The encoder position is currently', position, posType);
```
For more information, see Encoder API.

getProperties

getProperties(extra?: Struct): Promise<encoderApi.GetPropertiesResponse>
Return the encoder's properties.
Parameters
- Optionalextra: Struct
Returns Promise<encoderApi.GetPropertiesResponse>
Example
```
const encoder = new VIAM.EncoderClient(machine, 'my_encoder');

// Get whether the encoder returns position in ticks or degrees
const properties = await encoder.getProperties();
```
For more information, see Encoder API.

getStatus

getStatus(): Promise<JsonValue>
Get the status of the resource.

Returns Promise<JsonValue>
Inherited from Resource.getStatus

resetPosition

resetPosition(extra?: Struct): Promise<void>
Set the current position of the encoder as the new zero position.
Parameters
- Optionalextra: Struct
Returns Promise<void>
Example
```
const encoder = new VIAM.EncoderClient(machine, 'my_encoder');

// Reset the zero position of the encoder
await encoder.resetPosition();
```
For more information, see Encoder API.