kopia lustrzana https://github.com/peterhinch/micropython-samples
41 wiersze
1.2 KiB
Python
41 wiersze
1.2 KiB
Python
# encoder.py
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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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import pyb
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class Encoder:
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def __init__(self, pin_a, pin_b, reverse=0, scale=1):
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self.reverse = reverse
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self.scale = scale # Optionally scale encoder rate to distance/angle
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self.forward = True
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self.pin_a = pin_a
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self.pin_b = pin_b
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self._pos = 0
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self.a_interrupt = pyb.ExtInt(pin_a, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_NONE, self.a_callback)
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self.b_interrupt = pyb.ExtInt(pin_b, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_NONE, self.b_callback)
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def x_callback(self, line):
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self.forward = self.pin_a.value() ^ self.pin_b.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_a.value() ^ self.pin_b.value() ^ self.reverse ^ 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 = round(value / self.scale)
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return self._pos * self.scale
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def value(self):
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return self._pos
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def set_value(self, value):
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self._pos = value
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def reset(self):
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self._pos = 0
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