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67 lines
2.0 KiB
Python
67 lines
2.0 KiB
Python
"""Module containing an implementation for reading the rotary encoder directions through
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the i2c multiplexer + interrupt"""
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from ctrlboard_hw.hardware_button import HardwareButton
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class Encoder:
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"""Class implementing a detection mechanism to detect the rotary encoder directions
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through the i2c multiplexer + interrupt"""
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def __init__(self, enc_a: HardwareButton, enc_b: HardwareButton):
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self.enc_a = enc_a
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self.enc_b = enc_b
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self.pos = 0
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self.state = 0b0011
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self.direction = 0
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def update(self):
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"""Updates the internal attributes wrt. to the encoder position and direction."""
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self.update2()
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def update2(self):
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"""Primary method for detecting the direction"""
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value_enc_a = self.enc_a.state_interrupt
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value_enc_b = self.enc_b.state_interrupt
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self.direction = 0
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state = self.state & 0b0011
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if value_enc_a:
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state |= 0b0100
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if value_enc_b:
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state |= 0b1000
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if state == 0b1011:
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self.pos += 1
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self.direction = 1
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if state == 0b0111:
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self.pos -= 1
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self.direction = -1
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self.state = state >> 2
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self.enc_a.state_interrupt = True
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self.enc_b.state_interrupt = True
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def update1(self):
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"""Secondary, less well working method to detect the direction"""
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if self.enc_a.state_interrupt is True and self.enc_b.state_interrupt is True:
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return
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if self.enc_a.state_interrupt is False and self.enc_b.state_interrupt is False:
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self.enc_a.state_interrupt = True
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self.enc_b.state_interrupt = True
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return
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self.direction = 0
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if self.enc_a.state_interrupt is False:
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self.pos += 1
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self.direction = 1
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elif self.enc_a.state_interrupt is True:
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self.pos -= 1
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self.direction = -1
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self.enc_a.state_interrupt = True
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self.enc_b.state_interrupt = True
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