kopia lustrzana https://github.com/peterhinch/micropython-samples
29 wiersze
915 B
Python
29 wiersze
915 B
Python
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import pyb
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class Encoder(object):
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def __init__(self, pin_x, pin_y, reverse, scale):
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self.reverse = reverse
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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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self.x_interrupt = pyb.ExtInt(pin_x, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_NONE, self.x_callback)
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self.y_interrupt = pyb.ExtInt(pin_y, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_NONE, self.y_callback)
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def x_callback(self, line):
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self.forward = self.pin_x.value() ^ self.pin_y.value() ^ self.reverse
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self._pos += 1 if self.forward else -1
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def y_callback(self, line):
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self.forward = self.pin_x.value() ^ self.pin_y.value() ^ self.reverse ^ 1
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self._pos += 1 if self.forward else -1
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@property
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def position(self):
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return self._pos*self.scale
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def reset(self):
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self._pos = 0
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