gpioRotaryEncoder.py 文件源码

def loop(gpio0, gpio1, resource):
    print (str(gpio0) + " " + str(gpio1))
    GPIO.setwarnings(False)
    GPIO.setmode(GPIO.BCM)
    GPIO.setup(gpio0, GPIO.IN, pull_up_down=GPIO.PUD_UP)
    GPIO.setup(gpio1, GPIO.IN, pull_up_down=GPIO.PUD_UP)
    previousCode = 0
    while True:
        # code(FW) = 0 1 3 2 0 1 3 2 0 1 3 2
        rotationTable = [0,1,-1,0,-1,0,0,1,1,0,0,-1,0,-1,1,0]
        val0 = GPIO.input(gpio0)
        val1 = GPIO.input(gpio1)
        currentCode = val0 << 1 | val1
        # todo: chattering
        if currentCode != previousCode:
            code = previousCode << 2 | currentCode
            rotation = rotationTable[code & 0x0f]
            resource.diffRotate += rotation * TICK_DEGREE
            resource.totalRotate += rotation * TICK_DEGREE
        previousCode = currentCode
        time.sleep(0.002)