From 2d782959a2965cd7af5187b706c54e89ec4399d3 Mon Sep 17 00:00:00 2001
From: marisa <marisa@fwmari.net>
Date: Sun, 29 Oct 2023 20:56:03 -0300
Subject: [PATCH] Add executables dir & Encoder class

---
 motor_passo/encoder.py                   | 34 ++++++++++++++++++++++++
 motor_passo/exec/encoder/__init__.py     |  0
 motor_passo/exec/encoder/__main__.py     | 17 ++++++++++++
 motor_passo/exec/motor/__init__.py       |  0
 motor_passo/{ => exec/motor}/__main__.py |  6 +++--
 motor_passo/utils.py                     | 12 +++++++++
 6 files changed, 67 insertions(+), 2 deletions(-)
 create mode 100644 motor_passo/encoder.py
 create mode 100644 motor_passo/exec/encoder/__init__.py
 create mode 100644 motor_passo/exec/encoder/__main__.py
 create mode 100644 motor_passo/exec/motor/__init__.py
 rename motor_passo/{ => exec/motor}/__main__.py (55%)
 create mode 100644 motor_passo/utils.py

diff --git a/motor_passo/encoder.py b/motor_passo/encoder.py
new file mode 100644
index 0000000..051a47f
--- /dev/null
+++ b/motor_passo/encoder.py
@@ -0,0 +1,34 @@
+import RPi.GPIO as gpio
+
+from dataclasses import dataclass
+
+
+@dataclass
+class Encoder:
+    pin_a: int
+    pin_b: int
+
+    _curr_steps: int = 0
+
+    def setup(self):
+        gpio.setmode(gpio.BCM)
+
+        gpio.setup(self.pin_a, gpio.IN)
+        gpio.setup(self.pin_b, gpio.IN)
+        gpio.add_event_detect(self.pin_a,
+                              gpio.RISING,
+                              callback=self._event_detect)
+        gpio.add_event_detect(self.pin_b,
+                              gpio.RISING,
+                              callback=self._event_detect)
+
+    def _event_detect(self, pin):
+        a = gpio.input(self.pin_a)
+        b = gpio.input(self.pin_b)
+
+        if a ^ b:
+            self._curr_steps += 1 if a else -1
+
+    @property
+    def angle(self) -> float:
+        return self._curr_steps / 5000 * 360
diff --git a/motor_passo/exec/encoder/__init__.py b/motor_passo/exec/encoder/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/motor_passo/exec/encoder/__main__.py b/motor_passo/exec/encoder/__main__.py
new file mode 100644
index 0000000..b1eda93
--- /dev/null
+++ b/motor_passo/exec/encoder/__main__.py
@@ -0,0 +1,17 @@
+from motor_passo.encoder import Encoder
+from motor_passo.utils import setup_cleanup
+from time import sleep
+
+
+def main():
+    setup_cleanup()
+    encoder = Encoder(6, 5)
+    encoder.setup()
+
+    while True:
+        print(encoder.angle)
+        sleep(1)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/motor_passo/exec/motor/__init__.py b/motor_passo/exec/motor/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/motor_passo/__main__.py b/motor_passo/exec/motor/__main__.py
similarity index 55%
rename from motor_passo/__main__.py
rename to motor_passo/exec/motor/__main__.py
index 1ec6b40..96bdbbc 100644
--- a/motor_passo/__main__.py
+++ b/motor_passo/exec/motor/__main__.py
@@ -1,11 +1,13 @@
 from motor_passo.motor import Motor
+from motor_passo.utils import setup_cleanup
 
 
 def main():
+    setup_cleanup()
     motor = Motor([13, 19, 26])
     motor.setup()
-    motor.set_speed(90)
-    motor.step(24 * 100)
+    motor.set_speed(10)
+    motor.step(24 * 2)
 
 
 if __name__ == "__main__":
diff --git a/motor_passo/utils.py b/motor_passo/utils.py
new file mode 100644
index 0000000..f9ea39e
--- /dev/null
+++ b/motor_passo/utils.py
@@ -0,0 +1,12 @@
+import signal
+
+
+def _cleanup(sig, frame):
+    import sys
+    import RPi.GPIO as gpio
+    gpio.cleanup()
+    sys.exit(0)
+
+
+def setup_cleanup():
+    signal.signal(signal.SIGINT, _cleanup)