Embedded Toolkit / rotary-encoder

Documentation

On docs.rs

License

Licensed under either of

• Apache License, Version 2.0, (LICENSE-APACHE)
• MIT license (LICENSE-MIT)

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

lib.rs:

A helper for handling rotary encoder input, mainly for use on embedded platforms.

use embtk_rotary_encoder::RotaryEncoder;

// The `u16` type will be accepted as a raw position output from your QEI peripheral
let mut enc: RotaryEncoder<u16, _, _> =
// `4i8` below is the number of raw divisions per full physical division.
// `10u32` is the timeout in any kind of ticks you like.
// You'll supply a timestamp every time you receive an even from a peripheral.
RotaryEncoder::new(4i8, 10u32);

assert_eq!(enc.get_delta(65534u16, 1), 0); // we haven't moved full 4 divisions yet
assert_eq!(enc.get_delta(65532u16, 2), -1); // full 4 divisions down => 1 logical division down

assert_eq!(enc.get_delta(65530u16, 3), 0);
assert_eq!(enc.get_delta(65528u16, 20), 0); // too late, read about timeouts below

A note about timeout:

Sometimes you may lose an event from a peripheral or even a peripheral might be buggy. In this case you'll end up slightly off grid, i.e. you'll see the transition to a next division not when you feel the tactile feedback from an encoder but somewhere between the positions.

To remedy that, there's a timeout which, on expiry, makes a current position of an encoder a reference for subsequent moves.