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encoder.py
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encoder.py
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import pigpio
class Encoder:
def __init__(self, pi, pins):
self.pi = pi
self.pins = pins
self.speed = 0
self.levA = 0
self.levB = 0
self.lastGpio = None
self.cb = []
for pin in pins:
self.pi.set_mode(pin, pigpio.INPUT)
self.pi.set_pull_up_down(pin, pigpio.PUD_UP)
self.cb.append(self.pi.callback(pin, pigpio.EITHER_EDGE, self._pulse))
def _pulse(self, gpio, level, tick):
"""
Decode the rotary encoder pulse.
+---------+ +---------+ 0
| | | |
A | | | |
| | | |
+---------+ +---------+ +----- 1
+---------+ +---------+ 0
| | | |
B | | | |
| | | |
----+ +---------+ +---------+ 1
"""
if gpio == self.pins[0]:
self.levA = level
else:
self.levB = level
if gpio != self.lastGpio: # debounce
self.lastGpio = gpio
if gpio == self.pins[0] and level == 1:
if self.levB == 1:
self.speed += 1
elif gpio == self.pins[1] and level == 1:
if self.levA == 1:
self.speed -= 1
def cancel(self):
"""
Cancel the rotary encoder decoder.
"""
for cb in self.cb:
cb.cancel()
self.speed = 0
self.levA = 0
self.levB = 0
self.lastGpio = None
def reset(self):
self.speed = 0
self.levA = 0
self.levB = 0
self.lastGpio = None
if __name__ == '__main__':
'''
测试编码器,每0.5秒打印编码器数据
'''
import settings
import time
pi = pigpio.pi()
encoder_left = Encoder(pi, settings.PINS['encoder']['left'])
encoder_right = Encoder(pi, settings.PINS['encoder']['right'])
while True:
print("左:", encoder_left.speed, ",右:", encoder_right.speed)
time.sleep(0.5)