Method offset_motor_encoder

Software/Python/gopigo3.py:571–584

Offset a motor encoder Keyword arguments: port -- The motor port(s). MOTOR_LEFT and/or MOTOR_RIGHT. offset -- The encoder offset Zero the encoder by offsetting it by the current position

(self, port, offset)

        return int(encoder / self.MOTOR_TICKS_PER_DEGREE)

    def offset_motor_encoder(self, port, offset):
        """
        Offset a motor encoder

        Keyword arguments:
        port -- The motor port(s). MOTOR_LEFT and/or MOTOR_RIGHT.
        offset -- The encoder offset

        Zero the encoder by offsetting it by the current position
        """
        offset = int(offset * self.MOTOR_TICKS_PER_DEGREE)
        outArray = [self.SPI_Address, self.SPI_MESSAGE_TYPE.OFFSET_MOTOR_ENCODER, int(port),\
                    ((offset >> 24) & 0xFF), ((offset >> 16) & 0xFF), ((offset >> 8) & 0xFF), (offset & 0xFF)]
        self.spi_transfer_array(outArray)

    def reset_motor_encoder(self, port):
        """