59 lines
1.3 KiB
Rust
59 lines
1.3 KiB
Rust
use either::Either;
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use embedded_hal as hal;
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use hal::digital::v2::InputPin;
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#[derive(Clone, Debug, Eq, PartialEq)]
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pub struct Rotary<A, B> {
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pub pin_a: A,
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pub pin_b: B,
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prev_a: bool,
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prev_c: bool,
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}
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/// The encoder direction is either `Clockwise`, `CounterClockwise`, or `None`
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#[derive(Clone, Copy, Debug, Eq, PartialEq)]
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pub enum Direction {
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/// A clockwise turn
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Clockwise,
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/// A counterclockwise turn
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CounterClockwise,
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/// No change
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None,
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}
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impl<A, B> Rotary<A, B>
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where
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A: InputPin,
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B: InputPin,
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{
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pub fn new(pin_a: A, pin_b: B) -> Self {
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Self {
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pin_a,
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pin_b,
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prev_a: false,
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prev_c: false,
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}
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}
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pub fn update(&mut self) -> Result<Direction, Either<A::Error, B::Error>> {
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let a = self.pin_a.is_high().map_err(Either::Left)?;
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let dir = if a != self.prev_a {
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self.prev_a = a;
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let b = self.pin_b.is_high().map_err(Either::Right)?;
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if b != self.prev_c {
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self.prev_c = b;
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if a == b {
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Direction::CounterClockwise
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} else {
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Direction::Clockwise
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}
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} else {
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Direction::None
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}
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} else {
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Direction::None
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};
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Ok(dir)
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}
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}
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