Raw encoder ticks

controller/python/controller.py

@@ -3,7 +3,7 @@ from numbers import Real
 from typing import Optional
 
 # Major and minor version of required firmware
-_REQUIRED_FIRMWARE_VERSION = (1, 0)
+_REQUIRED_FIRMWARE_VERSION = (1, 1)
 
 
 class FirmwareVersionMismatch(Exception):
@@ -28,6 +28,7 @@ class Controller:
     CMD_RAW_MOTOR_SPEED = 0x30
     CMD_CONTROLLED_MOTOR_SPEED = 0x31
     CMD_ENCODER_TICKS = 0x32
+    CMD_RAW_ENCODER_TICKS = 0x33
     CMD_STATUS = 0x36
     CMD_RESET = 0xE0
     CMD_REBOOT_TO_BOOTLOADER = 0xE1
@@ -137,6 +138,12 @@ class Controller:
         sense. Return a pair with left and right data."""
         return self._read(self.CMD_ENCODER_TICKS, 4, "hh")
 
+    def get_raw_encoder_ticks(self) -> tuple[int, int]:
+        """Retrieve the raw encoder ticks as an unsigned absolute 16 bit
+        value with wraparound arithmetic for each encoder. Return a pair
+        with left and right data."""
+        return self._read(self.CMD_RAW_ENCODER_TICKS, 4, "HH")
+
     def get_status(self) -> dict[str, bool]:
         """Return a dict with status fields:
         - "moving": True if at least one motor is moving, False otherwise