kopia lustrzana https://github.com/peterhinch/micropython-samples
59 wiersze
1.8 KiB
Python
59 wiersze
1.8 KiB
Python
import pyb, utime
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def tdiff():
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new_semantics = utime.ticks_diff(2, 1) == 1
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def func(old, new):
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nonlocal new_semantics
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if new_semantics:
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return utime.ticks_diff(new, old)
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return utime.ticks_diff(old, new)
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return func
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ticksdiff = tdiff()
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class EncoderTimed(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.tprev = 0
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self.tlast = 0
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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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self.tprev = self.tlast
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self.tlast = utime.ticks_us()
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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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self.tprev = self.tlast
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self.tlast = utime.ticks_us()
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@property
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def rate(self): # Return rate in edges per second
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self.x_interrupt.disable()
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self.y_interrupt.disable()
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if ticksdiff(self.tlast, utime.ticks_us) > 2000000: # It's stopped
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result = 0.0
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else:
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result = 1000000.0/(ticksdiff(self.tprev, self.tlast))
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self.x_interrupt.enable()
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self.y_interrupt.enable()
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result *= self.scale
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return result if self.forward else -result
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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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