36 lines
861 B
Python
36 lines
861 B
Python
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):
|
|
if not gpio.getmode():
|
|
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
|