primitives/tests/encoder_stop.py

   1 # encoder_stop.py Demo of callback which occurs after motion has stopped.
   2
   3 from machine import Pin
   4 import uasyncio as asyncio
   5 from primitives.encoder import Encoder
   6 from primitives.delay_ms import Delay_ms
   7
   8 px = Pin('X1', Pin.IN, Pin.PULL_UP)
   9 py = Pin('X2', Pin.IN, Pin.PULL_UP)
  10
  11 tim = Delay_ms(duration=400)  # High value for test
  12 d = 0
  13
  14 def tcb(pos, delta):  # User callback gets args of encoder cb
  15     global d
  16     d = 0
  17     print(pos, delta)
  18
  19 def cb(pos, delta):  # Encoder callback occurs rapidly
  20     global d
  21     tim.trigger()  # Postpone the user callback
  22     tim.callback(tcb, (pos, d := d + delta))  # and update its args
  23
  24 async def main():
  25     while True:
  26         await asyncio.sleep(1)
  27
  28 def test():
  29     print('Running encoder test. Press ctrl-c to teminate.')
  30     Encoder.delay = 0  # No need for this delay
  31     enc = Encoder(px, py, callback=cb)
  32     try:
  33         asyncio.run(main())
  34     except KeyboardInterrupt:
  35         print('Interrupted')
  36     finally:
  37         asyncio.new_event_loop()
  38
  39 test()