# encoder.py

# Copyright (c) 2016-2021 Peter Hinch
# Released under the MIT License (MIT) - see LICENSE file

import pyb

class Encoder:
    def __init__(self, pin_x, pin_y, reverse, scale):
        self.reverse = reverse
        self.scale = scale
        self.forward = True
        self.pin_x = pin_x
        self.pin_y = pin_y
        self._pos = 0
        self.x_interrupt = pyb.ExtInt(pin_x, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_NONE, self.x_callback)
        self.y_interrupt = pyb.ExtInt(pin_y, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_NONE, self.y_callback)

    def x_callback(self, line):
        self.forward = self.pin_x.value() ^ self.pin_y.value() ^ self.reverse
        self._pos += 1 if self.forward else -1

    def y_callback(self, line):
        self.forward = self.pin_x.value() ^ self.pin_y.value() ^ self.reverse ^ 1
        self._pos += 1 if self.forward else -1

    def position(self, value=None):
        if value is not None:
            self._pos = round(value / self.scale)
        return self._pos * self.scale

    def reset(self):
        self._pos = 0

    def value(self, value=None):
        if value is not None:
            self._pos = value
        return self._pos