kopia lustrzana https://github.com/peterhinch/micropython-samples
37 wiersze
1.4 KiB
Python
37 wiersze
1.4 KiB
Python
# encoder_portable.py
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# Encoder Support: this version should be portable between MicroPython platforms
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# Thanks to Evan Widloski for the adaptation to use the machine module
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# Copyright (c) 2017-2021 Peter Hinch
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# Released under the MIT License (MIT) - see LICENSE file
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from machine import Pin
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class Encoder:
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def __init__(self, pin_x, pin_y, scale=1):
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self.scale = scale
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self.forward = True
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self.pin_x = pin_x
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self.pin_y = pin_y
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self._pos = 0
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try:
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self.x_interrupt = pin_x.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.x_callback, hard=True)
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self.y_interrupt = pin_y.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.y_callback, hard=True)
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except TypeError:
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self.x_interrupt = pin_x.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.x_callback)
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self.y_interrupt = pin_y.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.y_callback)
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def x_callback(self, pin):
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self.forward = pin() ^ self.pin_y()
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self._pos += 1 if self.forward else -1
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def y_callback(self, pin):
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self.forward = self.pin_x() ^ pin() ^ 1
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self._pos += 1 if self.forward else -1
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def position(self, value=None):
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if value is not None:
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self._pos = value // self.scale
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return self._pos * self.scale
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