Learn Robotics Programming

Simple counting

This code will count the number of cycles up and down on the signal pin for each wheel, and print them as we go to test the sensors. We will run our motors for about 1 second.

The following code can be found in GitHub under Chapter 12 as test_encoders.py (https://github.com/PacktPublishing/Learn-Robotics-Fundamentals-of-Robotics-Programming/blob/master/chapter12/test_encoders.py).

Let's start with the usual robot class import and time:

from robot import Robotimport time...

Next, we'll add an import for a GPIOZero input device. We can use the pin it sets up to count our pulses:

...from gpiozero import DigitalInputDevice...

The encoders generate pulses; we will want to count them and track their state. We will use more than ...