Add executables dir & Encoder class

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