From f33c824047648892067a119cdb6d6746a1a1c3c2 Mon Sep 17 00:00:00 2001 From: IhorNehrutsa Date: Fri, 8 Oct 2021 02:28:29 +0300 Subject: [PATCH] Encoders/encoder_portable.py: Make callbacks faster --- encoders/encoder_portable.py | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/encoders/encoder_portable.py b/encoders/encoder_portable.py index b5bfb97..f8ddcb1 100644 --- a/encoders/encoder_portable.py +++ b/encoders/encoder_portable.py @@ -11,7 +11,6 @@ from machine import Pin class Encoder: def __init__(self, pin_a, pin_b, scale=1): self.scale = scale # Optionally scale encoder rate to distance/angle - self.forward = True self.pin_a = pin_a self.pin_b = pin_b self._pos = 0 @@ -23,12 +22,10 @@ class Encoder: self.b_interrupt = pin_b.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.b_callback) def x_callback(self, pin): - self.forward = pin() ^ self.pin_b() - self._pos += 1 if self.forward else -1 + self._pos += 1 if (pin() ^ self.pin_b()) else -1 def y_callback(self, pin): - self.forward = self.pin_a() ^ pin() ^ 1 - self._pos += 1 if self.forward else -1 + self._pos += 1 if (self.pin_a() ^ pin() ^ 1) else -1 def position(self, value=None): if value is not None: