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42 lines
1.1 KiB
Python
42 lines
1.1 KiB
Python
3 years ago
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from machine import Pin
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import utime
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MOTOR_LEFT_DIR = True # False if Reverse
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MOTOR_RIGHT_DIR = True # False if Reverse
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ENCODER_LEFT_COUNT = 0
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ENCODER_RIGHT_COUNT = 0
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ENCODER_LEFT_PIN = Pin(4, Pin.IN)
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ENCODER_RIGHT_PIN = Pin(5, Pin.IN)
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def handle_encoder_left(pin):
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global ENCODER_LEFT_COUNT
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if MOTOR_LEFT_DIR:
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ENCODER_LEFT_COUNT += 1
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else:
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ENCODER_LEFT_COUNT -= 1
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def handle_encoder_right(pin):
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global ENCODER_RIGHT_COUNT
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if MOTOR_RIGHT_DIR:
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ENCODER_RIGHT_COUNT += 1
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else:
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ENCODER_RIGHT_COUNT -= 1
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def main():
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global MOTOR_LEFT_DIR
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ENCODER_LEFT_PIN.irq(trigger=Pin.IRQ_RISING, handler=handle_encoder_left)
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ENCODER_RIGHT_PIN.irq(trigger=Pin.IRQ_RISING, handler=handle_encoder_right)
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while True:
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print("LEFT: {} , RIGHT: {}".format(ENCODER_LEFT_COUNT, ENCODER_RIGHT_COUNT))
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utime.sleep(3)
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print("LEFT: {} , RIGHT: {}".format(ENCODER_LEFT_COUNT, ENCODER_RIGHT_COUNT))
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utime.sleep(3)
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print("LEFT: {} , RIGHT: {}".format(ENCODER_LEFT_COUNT, ENCODER_RIGHT_COUNT))
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utime.sleep(3)
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print("SWITCH DIR")
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MOTOR_LEFT_DIR = not MOTOR_LEFT_DIR
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