Add encoder abstraction. (#21548)
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@@ -6,6 +6,10 @@
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"encoder_config": {
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"type": "object",
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"properties": {
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"driver": {
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"type": "string",
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"enum": ["quadrature", "custom"]
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},
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"rotary": {
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"type": "array",
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"items": {
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