Added encoder C++ examples

examples/CMakeLists.txt

@@ -44,3 +44,4 @@ add_subdirectory(badger2040)
 add_subdirectory(interstate75)
 add_subdirectory(servo2040)
 add_subdirectory(motor2040)
+add_subdirectory(encoder)

examples/encoder/CMakeLists.txt

@@ -0,0 +1,5 @@
+include(encoder_item_selector.cmake)
+include(encoder_read_change.cmake)
+include(encoder_read_counts.cmake)
+include(encoder_read_speed.cmake)
+include(encoder_value_dial.cmake)

examples/encoder/README.md

@@ -0,0 +1,40 @@
+# Encoder C++ Examples <!-- omit in toc -->
+
+- [Examples](#examples)
+  - [Read Counts](#read-counts)
+  - [Read Change](#read-change)
+  - [Read Speed](#read-speed)
+  - [Value Dial](#value-dial)
+  - [Item Selector](#item-selector)
+
+
+## Examples
+
+### Read Counts
+[encoder_read_counts.cpp](encoder_read_counts.cpp)
+
+An example of how to read a mechanical rotary encoder.
+
+
+### Read Change
+[encoder_read_change.cpp](encoder_read_change.cpp)
+
+An example of how to read a mechanical rotary encoder, only when a change has occurred.
+
+
+### Read Speed
+[encoder_read_speed.cpp](encoder_read_speed.cpp)
+
+An example of how to read the speed a mechanical rotary encoder is being turned at.
+
+
+### Value Dial
+[encoder_value_dial.cpp](encoder_value_dial.cpp)
+
+A demonstration of a rotary encoder being used to control a value.
+
+
+### Item Selector
+[encoder_item_selector.cpp](encoder_item_selector.cpp)
+
+A demonstration of a rotary encoder being used to select items based on its physical position.

examples/encoder/encoder_item_selector.cmake

@@ -0,0 +1,12 @@
+set(OUTPUT_NAME encoder_item_selector)
+add_executable(${OUTPUT_NAME} encoder_item_selector.cpp)
+
+target_link_libraries(${OUTPUT_NAME}
+        pico_stdlib
+        encoder
+        )
+
+# enable usb output
+pico_enable_stdio_usb(${OUTPUT_NAME} 1)
+
+pico_add_extra_outputs(${OUTPUT_NAME})

examples/encoder/encoder_item_selector.cpp

@@ -0,0 +1,54 @@
+#include <cstdio>
+#include "pico/stdlib.h"
+
+#include "encoder.hpp"
+
+/*
+A demonstration of a rotary encoder being used to
+select items based on its physical position.
+
+This requires that the encoder is positioned in the same
+direction at the start of every program run (e.g. upwards).
+"""
+*/
+
+using namespace encoder;
+
+// Create an encoder on the 3 ADC pins, using PIO 0 and State Machine 0
+const uint PIN_A = 26;  // The A channel pin
+const uint PIN_B = 28;  // The B channel pin
+const uint PIN_C = 27;  // The common pin
+Encoder enc(pio0, 0, {PIN_A, PIN_B}, PIN_C);
+
+
+// An array of items, up to the encoder's counts_per_rev
+const char* ITEMS[] = {"Red", "Orange", "Yellow", "Green", "Blue", "Indigo", "Violet", "Black", "White"};
+const int16_t NUM_ITEMS = count_of(ITEMS);
+
+int16_t last_step = -1;
+
+
+int main() {
+  stdio_init_all();
+
+  // Sleep 8 seconds to give enough time to connect up a terminal
+  sleep_ms(8000);
+
+  // Uncomment the below line to reverse the counting direction
+  // enc.direction(REVERSED_DIR);
+
+  // Initialise the encoder
+  enc.init();
+
+  // Loop forever
+  while(true) {
+    int16_t step = enc.step();
+    if(step != last_step) {
+      if(step < NUM_ITEMS)
+        printf("%d/%d: %s\n", step, (int)enc.counts_per_rev() - 1, ITEMS[step]);
+      else
+        printf("%d/%d: %s\n", step, (int)enc.counts_per_rev() - 1, "Undefined");
+      last_step = step;
+    }
+  }
+}

examples/encoder/encoder_read_change.cmake

@@ -0,0 +1,12 @@
+set(OUTPUT_NAME encoder_read_change)
+add_executable(${OUTPUT_NAME} encoder_read_change.cpp)
+
+target_link_libraries(${OUTPUT_NAME}
+        pico_stdlib
+        encoder
+        )
+
+# enable usb output
+pico_enable_stdio_usb(${OUTPUT_NAME} 1)
+
+pico_add_extra_outputs(${OUTPUT_NAME})

examples/encoder/encoder_read_change.cpp

@@ -0,0 +1,45 @@
+#include <cstdio>
+#include "pico/stdlib.h"
+
+#include "encoder.hpp"
+
+/*
+An example of how to read a mechanical rotary encoder, only when a change has occurred.
+*/
+
+using namespace encoder;
+
+// Create an encoder on the 3 ADC pins, using PIO 0 and State Machine 0
+const uint PIN_A = 26;  // The A channel pin
+const uint PIN_B = 28;  // The B channel pin
+const uint PIN_C = 27;  // The common pin
+Encoder enc(pio0, 0, {PIN_A, PIN_B}, PIN_C);
+
+
+int main() {
+  stdio_init_all();
+
+  // Sleep 8 seconds to give enough time to connect up a terminal
+  sleep_ms(8000);
+
+  // Uncomment the below line to reverse the counting direction
+  // enc.direction(REVERSED_DIR);
+
+  // Initialise the encoder
+  enc.init();
+
+  // Print out the initial count, step, and turn (they should all be zero)
+  printf("Count = %ld, ", enc.count());
+  printf("Step = %d, ", enc.step());
+  printf("Turn = %d\n", enc.turn());
+
+  // Loop forever
+  while(true) {
+    if(enc.delta() != 0) {
+      // Print out the new count, step, and turn
+      printf("Count = %ld, ", enc.count());
+      printf("Step = %d, ", enc.step());
+      printf("Turn = %d\n", enc.turn());
+    }
+  }
+}

examples/encoder/encoder_read_counts.cmake

@@ -0,0 +1,12 @@
+set(OUTPUT_NAME encoder_read_counts)
+add_executable(${OUTPUT_NAME} encoder_read_counts.cpp)
+
+target_link_libraries(${OUTPUT_NAME}
+        pico_stdlib
+        encoder
+        )
+
+# enable usb output
+pico_enable_stdio_usb(${OUTPUT_NAME} 1)
+
+pico_add_extra_outputs(${OUTPUT_NAME})

examples/encoder/encoder_read_counts.cpp

@@ -0,0 +1,38 @@
+#include <cstdio>
+#include "pico/stdlib.h"
+
+#include "encoder.hpp"
+
+/*
+An example of how to read a mechanical rotary encoder.
+*/
+
+using namespace encoder;
+
+// Create an encoder on the 3 ADC pins, using PIO 0 and State Machine 0
+const uint PIN_A = 26;  // The A channel pin
+const uint PIN_B = 28;  // The B channel pin
+const uint PIN_C = 27;  // The common pin
+Encoder enc(pio0, 0, {PIN_A, PIN_B}, PIN_C);
+
+
+int main() {
+  stdio_init_all();
+
+  // Uncomment the below line to reverse the counting direction
+  // enc.direction(REVERSED_DIR);
+
+  // Initialise the encoder
+  enc.init();
+
+  // Loop forever
+  while(true) {
+    // Print out the count, delta, step, and turn
+    printf("Count = %ld, ", enc.count());
+    printf("Delta = %ld, ", enc.delta());
+    printf("Step = %d, ", enc.step());
+    printf("Turn = %d\n", enc.turn());
+
+    sleep_ms(100);
+  }
+}

examples/encoder/encoder_read_speed.cmake

@@ -0,0 +1,12 @@
+set(OUTPUT_NAME encoder_read_speed)
+add_executable(${OUTPUT_NAME} encoder_read_speed.cpp)
+
+target_link_libraries(${OUTPUT_NAME}
+        pico_stdlib
+        encoder
+        )
+
+# enable usb output
+pico_enable_stdio_usb(${OUTPUT_NAME} 1)
+
+pico_add_extra_outputs(${OUTPUT_NAME})

examples/encoder/encoder_read_speed.cpp

@@ -0,0 +1,39 @@
+#include <cstdio>
+#include "pico/stdlib.h"
+
+#include "encoder.hpp"
+
+/*
+An example of how to read the speed a mechanical rotary encoder is being turned at.
+*/
+
+using namespace encoder;
+
+// Create an encoder on the 3 ADC pins, using PIO 0 and State Machine 0
+const uint PIN_A = 26;  // The A channel pin
+const uint PIN_B = 28;  // The B channel pin
+const uint PIN_C = 27;  // The common pin
+Encoder enc(pio0, 0, {PIN_A, PIN_B}, PIN_C);
+
+
+int main() {
+  stdio_init_all();
+
+  // Uncomment the below line to reverse the counting direction
+  // enc.direction(REVERSED_DIR);
+
+  // Initialise the encoder
+  enc.init();
+
+  // Loop forever
+  while(true) {
+    Encoder::Capture capture = enc.capture();
+
+    printf("Count = %ld, ", capture.count());
+    printf("Angle = %f, ", capture.degrees());
+    printf("Freq = %f, ", capture.frequency());
+    printf("Speed = %f\n", capture.degrees_per_second());
+
+    sleep_ms(100);
+  }
+}

examples/encoder/encoder_value_dial.cmake

@@ -0,0 +1,12 @@
+set(OUTPUT_NAME encoder_value_dial)
+add_executable(${OUTPUT_NAME} encoder_value_dial.cpp)
+
+target_link_libraries(${OUTPUT_NAME}
+        pico_stdlib
+        encoder
+        )
+
+# enable usb output
+pico_enable_stdio_usb(${OUTPUT_NAME} 1)
+
+pico_add_extra_outputs(${OUTPUT_NAME})

examples/encoder/encoder_value_dial.cpp

@@ -0,0 +1,54 @@
+#include <cstdio>
+#include "pico/stdlib.h"
+
+#include "encoder.hpp"
+
+/*
+A demonstration of a rotary encoder being used to control a value.
+*/
+
+using namespace encoder;
+
+// Create an encoder on the 3 ADC pins, using PIO 0 and State Machine 0
+const uint PIN_A = 26;  // The A channel pin
+const uint PIN_B = 28;  // The B channel pin
+const uint PIN_C = 27;  // The common pin
+Encoder enc(pio0, 0, {PIN_A, PIN_B}, PIN_C);
+
+
+// The min and max value
+const int MIN_VALUE = 0;
+const int MAX_VALUE = 100;
+
+int value = 50;
+
+
+int main() {
+  stdio_init_all();
+
+  // Sleep 8 seconds to give enough time to connect up a terminal
+  sleep_ms(8000);
+
+  // Uncomment the below line to reverse the counting direction
+  // enc.direction(REVERSED_DIR);
+
+  // Initialise the encoder
+  enc.init();
+
+  // Print out the initial value
+  printf("Value = %d\n", value);
+
+  // Loop forever
+  while(true) {
+    int32_t delta = enc.delta();
+    if(delta != 0) {
+      if(delta > 0)
+        value = MIN(value + 1, MAX_VALUE);
+      else
+        value = MAX(value - 1, MIN_VALUE);
+
+      // Print out the new value
+      printf("Value = %d\n", value);
+    }
+  }
+}

micropython/examples/encoder/README.md

@@ -1,7 +1,7 @@
 # Encoder MicroPython Examples <!-- omit in toc -->
 
 - [Examples](#examples)
-  - [Read Encoder](#read-encoder)
+  - [Read Counts](#read-counts)
   - [Read Change](#read-change)
   - [Read Speed](#read-speed)
   - [Value Dial](#value-dial)
@@ -10,8 +10,8 @@
 
 ## Examples
 
-### Read Encoder
-[read_encoder.py](read_encoder.py)
+### Read Counts
+[read_counts.py](read_counts.py)
 
 An example of how to read a mechanical rotary encoder.
 

micropython/examples/encoder/item_selector.py

@@ -1,13 +1,13 @@
 import gc
-from encoder import Encoder, ROTARY_CPR
-# from encoder import REVERSED
+from encoder import Encoder
+# from encoder import REVERSED_DIR
 
 """
 A demonstration of a rotary encoder being used to
 select items based on its physical position.
 
 This requires that the encoder is positioned in the same
-direction (e.g. upwards) at the start of every program run.
+direction at the start of every program run (e.g. upwards).
 """
 
 # Free up hardware resources ahead of creating a new Encoder
@@ -17,10 +17,10 @@ gc.collect()
 PIN_A = 26    # The A channel pin
 PIN_B = 28    # The B channel pin
 PIN_C = 27    # The common pin
-enc = Encoder(0, 0, (PIN_A, PIN_B), PIN_C, counts_per_rev=ROTARY_CPR)
+enc = Encoder(0, 0, (PIN_A, PIN_B), PIN_C)
 
 # Uncomment the below line (and the top import) to reverse the counting direction
-# enc.direction(REVERSED)
+# enc.direction(REVERSED_DIR)
 
 
 # A list of items, up to the encoder's counts_per_rev
@@ -33,7 +33,7 @@ while True:
     step = enc.step()
     if step != last_step:
         if step < len(ITEMS):
-            print(step, ": ", ITEMS[step], sep="")
+            print(step, "/", int(enc.counts_per_rev()) - 1, ": ", ITEMS[step], sep="")
         else:
-            print(step, ": ", "Undefined", sep="")
+            print(step, "/", int(enc.counts_per_rev()) - 1, ": ", "Undefined", sep="")
         last_step = step

micropython/examples/encoder/read_change.py

@@ -1,6 +1,6 @@
 import gc
 from encoder import Encoder
-# from encoder import REVERSED
+# from encoder import REVERSED_DIR
 
 """
 An example of how to read a mechanical rotary encoder, only when a change has occurred.
@@ -16,7 +16,7 @@ PIN_C = 27    # The common pin
 enc = Encoder(0, 0, (PIN_A, PIN_B), PIN_C)
 
 # Uncomment the below line (and the top import) to reverse the counting direction
-# enc.direction(REVERSED)
+# enc.direction(REVERSED_DIR)
 
 
 # Print out the initial count, step, and turn (they should all be zero)

micropython/examples/encoder/read_counts.py

@@ -1,7 +1,7 @@
 import gc
 import time
 from encoder import Encoder
-# from encoder import REVERSED
+# from encoder import REVERSED_DIR
 
 """
 An example of how to read a mechanical rotary encoder.
@@ -17,7 +17,7 @@ PIN_C = 27    # The common pin
 enc = Encoder(0, 0, (PIN_A, PIN_B), PIN_C)
 
 # Uncomment the below line (and the top import) to reverse the counting direction
-# enc.direction(REVERSED)
+# enc.direction(REVERSED_DIR)
 
 
 # Loop forever

micropython/examples/encoder/read_speed.py

@@ -1,7 +1,7 @@
 import gc
 import time
 from encoder import Encoder
-# from encoder import REVERSED
+# from encoder import REVERSED_DIR
 
 """
 An example of how to read the speed a mechanical rotary encoder is being turned at.
@@ -17,7 +17,7 @@ PIN_C = 27    # The common pin
 enc = Encoder(0, 0, (PIN_A, PIN_B), PIN_C)
 
 # Uncomment the below line (and the top import) to reverse the counting direction
-# enc.direction(REVERSED)
+# enc.direction(REVERSED_DIR)
 
 
 # Loop forever

micropython/examples/encoder/value_dial.py

@@ -1,6 +1,6 @@
 import gc
 from encoder import Encoder
-# from encoder import REVERSED
+# from encoder import REVERSED_DIR
 
 """
 A demonstration of a rotary encoder being used to control a value.
@@ -16,13 +16,13 @@ PIN_C = 27    # The common pin
 enc = Encoder(0, 0, (PIN_A, PIN_B), PIN_C)
 
 # Uncomment the below line (and the top import) to reverse the counting direction
-# enc.direction(REVERSED)
+# enc.direction(REVERSED_DIR)
 
 # The min and max value
 MIN_VALUE = 0
-MAX_VALUE = 11
+MAX_VALUE = 100
 
-value = 1
+value = 50
 
 # Print out the initial value
 print("Value =", value)