#include <stdio.h>
#include <stdint.h>
uint32_t states[4] = {0b01, 0b11, 0b00, 0b10};
uint32_t A = 0, B = 0, AB_old = 0, AB_new = 0;
int32_t pos = 0;
void encoder_main_loop() {
AB_new = (A ? 0b10 : 0x00) | ( B ? 0b01 : 0x00);
if ( AB_new == AB_old ) return;
pos += states[AB_old] == AB_new ? 1 : -1;
printf("A:%u, B:%u, AB_new:%u, AB_old:%u, pos:%i \n",A,B,AB_new,AB_old,pos);
AB_old = AB_new;
}
int main() {
uint32_t i, p, pulses = 100;
printf("--- making %u pulses forward --------------\n", pulses);
for ( i = pulses, p = 0; i--; ) {
// Encoder pulses generator, direction = Clockwise
// A _____|`````|_____|`````|_____|`````|__
// B __|`````|_____|`````|_____|`````|_____
switch (p) {
case 0: { B = !B; break; }
case 1: { A = !A; break; }
case 2: { B = !B; break; }
case 3: { A = !A; break; }
}
p = (++p) & 0b11;
// encoder counter
encoder_main_loop();
}
printf("--- making %u pulses back --------------\n", pulses);
for ( i = pulses, p = 0; i--; ) {
// Encoder pulses generator, direction = Counter-Clockwise
// A __|`````|_____|`````|_____|`````|_____
// B _____|`````|_____|`````|_____|`````|__
switch (p) {
case 0: { A = !A; break; }
case 1: { B = !B; break; }
case 2: { A = !A; break; }
case 3: { B = !B; break; }
}
p = (++p) & 0b11;
// encoder counter
encoder_main_loop();
}
return 0;
}
