Encoder

The Encoder node reads a quadrature encoder via two digital input channels and publishes count and direction.

Configuration

encoder:
  enabled: true
  sensors: ["left_wheel"]
  left_wheel:
    port_a: 0
    port_b: 1
    topic: "left_encoder"

Parameters

Parameter	Description
port_a	DIO channel for encoder channel A (range 0 – 21)
port_b	DIO channel for encoder channel B (range 0 – 21)
topic	Topic name to publish on

Topics

Published

Topic	Type	Description	Rate
/<topic>	studica_control/EncoderMsg	encoder_count (int32) and encoder_direction (string)	20 Hz

Service

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

Command	Description
get_count	Read current tick count
get_direction	Read current direction string