Encoder

Description

Encoders are available on the following module:

• OI-Stepper (x2)

Main characteristics

• Accurate measurement of rotation count, angular position, and speed.

Warning

Encoders use digital inputs DIN_1 to DIN_4 of the OI-Stepper module. When you use an encoder, the corresponding inputs are no longer available as standard digital inputs.

Characteristics

Encoder specifications

Requirements	Value	Remark
Voltage	5 - 30V
Maximum number of encoders	2

Code examples

The example code below demonstrates how to use an encoder with the OI-Stepper module:

/**
 * @file Encoder.cpp
 * @brief Encoder example using OpenIndus API
 * @author Kévin Lefeuvre (kevin.lefeuvre@openindus.com)
 * @copyright (c) [2025] OpenIndus, Inc. All rights reserved.
 * @see https://openindus.com
 */

#include "OpenIndus.h"
#include "Arduino.h"

OIStepper stepper;

void setup(void)
{
    printf("Hello OpenIndus!\n");
    stepper.encoder[0]->begin(DIN1, DIN2, 1024);
}

void loop(void)
{
    delay(1000);
    printf("Revolutions : %d | Pulses : %d | Angle : %.2frad | Speed : %.2fp/s\n", 
        stepper.encoder[0]->getRevolutions(),
        stepper.encoder[0]->getPulses(),
        stepper.encoder[0]->getAngle(),
        stepper.encoder[0]->getSpeed());
}

Software API

class Encoder

Public Functions

int begin(DIn_Num_t A, DIn_Num_t B, int16_t ppr)

Encoder initialization.

Parameters:

• A – Digital input number A

• B – Digital input number B

• ppr – Pulse per revolution

Returns:

int

void end(void)

Encoder end.

void reset(void)

Reset the number of pulses and revolutions.

int getRevolutions(void)

Get the number of revolutions.

Returns:

int number of revolutions

int getPulses(void)

Get the number of pulses.

Returns:

int number of pulses

float getAngle(void)

Get the angle.

Returns:

float angle in radians

float getSpeed(void)

Get the speed.

Returns:

float speed in pulses per second