Encoders: add changes suggested by IhorNehrutsa.

pull/25/head
Peter Hinch 2021-10-14 19:01:28 +01:00
rodzic f8e7ebabae
commit 577a3ab67b
4 zmienionych plików z 21 dodań i 12 usunięć

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@ -61,7 +61,7 @@ class Encoder:
def position(self, value=None): def position(self, value=None):
if value is not None: if value is not None:
self._pos = value // self.scale self._pos = round(value / self.scale)
return self._pos * self.scale return self._pos * self.scale
``` ```
If the direction is incorrect, transpose the X and Y pins in the constructor If the direction is incorrect, transpose the X and Y pins in the constructor

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@ -24,8 +24,10 @@ class Encoder:
self.forward = self.pin_x.value() ^ self.pin_y.value() ^ self.reverse ^ 1 self.forward = self.pin_x.value() ^ self.pin_y.value() ^ self.reverse ^ 1
self._pos += 1 if self.forward else -1 self._pos += 1 if self.forward else -1
def position(self): def position(self, value=None):
return self._pos*self.scale if value is not None:
self._pos = round(value / self.scale)
return self._pos * self.scale
def reset(self): def reset(self):
self._pos = 0 self._pos = 0

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@ -32,5 +32,5 @@ class Encoder:
def position(self, value=None): def position(self, value=None):
if value is not None: if value is not None:
self._pos = value // self.scale self._pos = round(value / self.scale) # # Improvement provided by @IhorNehrutsa
return self._pos * self.scale return self._pos * self.scale

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@ -2,6 +2,7 @@
# Copyright (c) 2016-2021 Peter Hinch # Copyright (c) 2016-2021 Peter Hinch
# Released under the MIT License (MIT) - see LICENSE file # Released under the MIT License (MIT) - see LICENSE file
# Improvements provided by IhorNehrutsa
import utime import utime
from machine import Pin, disable_irq, enable_irq from machine import Pin, disable_irq, enable_irq
@ -9,8 +10,8 @@ from machine import Pin, disable_irq, enable_irq
class EncoderTimed: class EncoderTimed:
def __init__(self, pin_x, pin_y, scale=1): def __init__(self, pin_x, pin_y, scale=1):
self.scale = scale # Optionally scale encoder rate to distance/angle self.scale = scale # Optionally scale encoder rate to distance/angle
self.tprev = 0 self.tprev = -1
self.tlast = 0 self.tlast = -1
self.forward = True self.forward = True
self.pin_x = pin_x self.pin_x = pin_x
self.pin_y = pin_y self.pin_y = pin_y
@ -39,14 +40,20 @@ class EncoderTimed:
tlast = self.tlast # Cache current values tlast = self.tlast # Cache current values
tprev = self.tprev tprev = self.tprev
enable_irq(state) enable_irq(state)
if utime.ticks_diff(utime.ticks_us(), tlast) > 2_000_000: # It's stopped if self.tprev == -1: # No valid times yet
result = 0.0 return 0.0
else: dt = utime.ticks_diff(utime.ticks_us(), tlast)
result = 1000000.0/(utime.ticks_diff(tlast, tprev)) if dt > 2_000_000: # Stopped
result *= self.scale return 0.0
dt = utime.ticks_diff(tlast, tprev)
if dt == 0: # Could happen on future rapid hardware
return 0.0
result = self.scale * 1_000_000.0/dt
return result if self.forward else -result return result if self.forward else -result
def position(self): def position(self, value=None):
if value is not None:
self._pos = round(value / self.scale)
return self._pos * self.scale return self._pos * self.scale
def reset(self): def reset(self):