Encoders: Add encoders_test.py

Try to compare encoders work

encoders/encoders_test.py

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+# encoders_test.py
+
+from time import sleep
+from machine import Pin
+
+# YOU MAY USE
+#from machine import Encoder  # encoder based on hardware counters from ESP32, mimxrt, STM32 ports
+#OR
+from encoder_state import Encoder
+# OR
+#from encoder_portable import Encoder
+# OR
+#from encoder_timed import EncoderTimed as Encoder
+# OR
+#from encoder import Encoder  # suitable for old Pyboard-specific version
+
+#Encoder pins
+ENCODER_DATA = 16  # as input A
+ENCODER_CLK = 17  # as input B
+ENCODER_SW = 18  # as "index" input, typically labeled Z
+
+PPR = 30  # pulses per revolution of the encoder shaft
+
+try:
+    data = Pin(ENCODER_DATA, mode=Pin.IN, pull=Pin.PULL_UP)
+    clk = Pin(ENCODER_CLK, mode=Pin.IN, pull=Pin.PULL_UP)
+    sw = Pin(ENCODER_SW, mode=Pin.IN, pull=Pin.PULL_UP)
+    print('data as A', data, data.value())
+    print('clk as B', clk, clk.value())
+    print('sw as Z', sw, sw.value())
+
+    enc = Encoder(data, clk, scale=360 / PPR)  # degreses
+    #enc = Encoder(data, clk, scale=2*3.141592/PPR)  # radians
+    #enc = Encoder(data, clk, scale=1/PPR)  # rotations
+    print(enc)
+
+    _data = None
+    _clk = None
+    _sw = None
+    _value = None
+
+    while True:
+        __data = data.value()
+        __clk = clk.value()
+        __sw = sw.value()
+        __value = enc.value()
+        _position = enc.position()
+
+        if (_data != __data) or (_clk != __clk) or (_sw != __sw) or (_value != __value):
+            _data = __data
+            _clk = __clk
+            _sw = __sw
+            _value = __value
+
+            if _sw == 0:
+                enc.set_value(PPR * round(enc.value() / PPR))
+                # enc.set_value(0)
+                # enc.position(0)
+
+            print("data={}, clk={}, sw={}, value={:10}, position={:13.2f}".format(_data, _clk, _sw, _value, _position), end='        \r')
+            # enc.rate(),
+
+        sleep(0.1)
+
+finally:
+    try:
+        enc.deinit()
+    except:
+        pass