DutyCycleEncoder

The DutyCycleEncoder node reads an absolute position encoder from a PWM duty cycle signal and tracks total rotation across all revolutions.

Configuration

duty_cycle:
  enabled: true
  sensors: ["arm_encoder"]
  arm_encoder:
    port: 8
    topic: "arm_angle"

Parameters

Parameter	Description
port	Duty cycle input channel — valid values: 0, 2, 4, 6, 8, 10
topic	Topic name to publish on

Topics

Published

Topic	Type	Description	Rate
/<topic>	studica_control/DutyCycleEncoderMsg	absolute_angle (float64), rollover_count (int32), total_rotation (float64)	20 Hz

Service

Service name: /<name>/duty_cycle_encoder_cmd
Type: studica_control/SetData

Command	Description
get_absolute_position	Absolute angle within one revolution
get_rollover_count	Number of complete revolutions
get_total_rotation	Total rotation across all revolutions