import RPi.GPIO as GPIO
import time
P_A = 21
P_B = 25
class rotaryenc():
def __init__(self, phase_a = P_A, phase_b = P_B):
self.phase_a = phase_a
self.phase_b = phase_b
GPIO.setmode(GPIO.BCM)
GPIO.setup(phase_a, GPIO.IN)
GPIO.setup(phase_b, GPIO.IN)
GPIO.add_event_detect(phase_a, GPIO.RISING, callback=self.__changeStatus)
self.__callback = None
self.prev_forward_time = 0
self.prev_backward_time = 0
def __changeStatus(self, gpio):
pa = GPIO.input(self.phase_a)
pb = GPIO.input(self.phase_b)
if pa == GPIO.LOW: # チャタリング等
return
value = 0
current = time.time()
if pb == GPIO.LOW: # 時計回り
value = 1
if self.prev_forward_time != 0:
if (current - self.prev_forward_time) < 0.1: # 100ms以内
value = 10
self.prev_forward_time = current
self.prev_backward_time = 0
if pb == GPIO.HIGH:
value = -1
if self.prev_backward_time != 0:
if (current - self.prev_backward_time) < 0.1: # 100ms以内
value = -10
self.prev_forward_time = 0
self.prev_backward_time = current
if value != 0 and self.__callback is not None:
self.__callback(value)
def registerCallback(self, c):
self.__callback = c
return
def unregisterCallback(self):
self.__callback = None
def __del__(self):
GPIO.cleanup()
