kopia lustrzana https://github.com/peterhinch/micropython-samples
Encoders: add changes suggested by IhorNehrutsa.
rodzic
f8e7ebabae
commit
577a3ab67b
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@ -61,7 +61,7 @@ class Encoder:
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def position(self, value=None):
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def position(self, value=None):
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if value is not None:
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if value is not None:
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self._pos = value // self.scale
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self._pos = round(value / self.scale)
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return self._pos * self.scale
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return self._pos * self.scale
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```
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```
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If the direction is incorrect, transpose the X and Y pins in the constructor
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If the direction is incorrect, transpose the X and Y pins in the constructor
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@ -24,8 +24,10 @@ class Encoder:
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self.forward = self.pin_x.value() ^ self.pin_y.value() ^ self.reverse ^ 1
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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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self._pos += 1 if self.forward else -1
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def position(self):
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def position(self, value=None):
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return self._pos*self.scale
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if value is not None:
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self._pos = round(value / self.scale)
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return self._pos * self.scale
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def reset(self):
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def reset(self):
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self._pos = 0
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self._pos = 0
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@ -32,5 +32,5 @@ class Encoder:
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def position(self, value=None):
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def position(self, value=None):
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if value is not None:
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if value is not None:
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self._pos = value // self.scale
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self._pos = round(value / self.scale) # # Improvement provided by @IhorNehrutsa
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return self._pos * self.scale
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return self._pos * self.scale
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@ -2,6 +2,7 @@
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# Copyright (c) 2016-2021 Peter Hinch
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# Copyright (c) 2016-2021 Peter Hinch
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# Released under the MIT License (MIT) - see LICENSE file
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# Released under the MIT License (MIT) - see LICENSE file
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# Improvements provided by IhorNehrutsa
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import utime
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import utime
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from machine import Pin, disable_irq, enable_irq
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from machine import Pin, disable_irq, enable_irq
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@ -9,8 +10,8 @@ from machine import Pin, disable_irq, enable_irq
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class EncoderTimed:
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class EncoderTimed:
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def __init__(self, pin_x, pin_y, scale=1):
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def __init__(self, pin_x, pin_y, scale=1):
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self.scale = scale # Optionally scale encoder rate to distance/angle
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self.scale = scale # Optionally scale encoder rate to distance/angle
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self.tprev = 0
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self.tprev = -1
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self.tlast = 0
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self.tlast = -1
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self.forward = True
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self.forward = True
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self.pin_x = pin_x
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self.pin_x = pin_x
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self.pin_y = pin_y
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self.pin_y = pin_y
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@ -39,14 +40,20 @@ class EncoderTimed:
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tlast = self.tlast # Cache current values
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tlast = self.tlast # Cache current values
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tprev = self.tprev
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tprev = self.tprev
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enable_irq(state)
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enable_irq(state)
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if utime.ticks_diff(utime.ticks_us(), tlast) > 2_000_000: # It's stopped
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if self.tprev == -1: # No valid times yet
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result = 0.0
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return 0.0
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else:
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dt = utime.ticks_diff(utime.ticks_us(), tlast)
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result = 1000000.0/(utime.ticks_diff(tlast, tprev))
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if dt > 2_000_000: # Stopped
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result *= self.scale
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return 0.0
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dt = utime.ticks_diff(tlast, tprev)
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if dt == 0: # Could happen on future rapid hardware
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return 0.0
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result = self.scale * 1_000_000.0/dt
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return result if self.forward else -result
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return result if self.forward else -result
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def position(self):
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def position(self, value=None):
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if value is not None:
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self._pos = round(value / self.scale)
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return self._pos * self.scale
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return self._pos * self.scale
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def reset(self):
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def reset(self):
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