pimoroni-pico/micropython/examples/inventor2040w/read_encoders.py

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Python
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import time
from inventor import Inventor2040W, NUM_MOTORS # , MOTOR_A, MOTOR_B
# from pimoroni import REVERSED_DIR
"""
Demonstrates how to read the angles of Inventor 2040 W's two encoders.
Press "User" to exit the program.
"""
# Wheel friendly names
NAMES = ["LEFT", "RIGHT"]
# Constants
GEAR_RATIO = 50 # The gear ratio of the motor
# Create a new Inventor2040W
board = Inventor2040W(motor_gear_ratio=GEAR_RATIO)
# Uncomment the below lines (and the top imports) to
# reverse the counting direction of an encoder
# encoders[MOTOR_A].direction(REVERSED_DIR)
# encoders[MOTOR_B].direction(REVERSED_DIR)
# Read the encoders until the user button is pressed
while not board.switch_pressed():
# Print out the angle of each encoder
for i in range(NUM_MOTORS):
print(NAMES[i], "=", board.encoders[i].degrees(), end=", ")
print()
time.sleep(0.1)