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- from machine import Pin
- class Encoder:
- _increment_grid = [[0, -1, 1, None],
- [1, 0, None, -1],
- [-1, None, 0, 1],
- [None, 1, -1, 0]]
- @property
- def total_change(self):
- return self._total_change
- def __init__(self, channel_a, channel_b):
- self.channel_a = self._configure_channel(channel_a)
- self.reset()
- def disable(self):
- self.channel_a.irq(None)
- def enable(self):
- self.channel_a.irq(self._irq_cb, trigger=Pin.IRQ_RISING)
- def reset(self):
- self._total_change = 0
- def _irq_cb(self, input_pin):
- self._total_change += 1
- def _configure_channel(self, pin):
- p = pin if isinstance(pin, Pin) else Pin(pin, Pin.IN, pull=Pin.PULL_UP)
- p.irq(self._irq_cb, trigger=Pin.IRQ_RISING)
- return p
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