52 lines
1.1 KiB
Rust
52 lines
1.1 KiB
Rust
use embedded_hal::digital::v2::InputPin;
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pub struct Rotary<A, B> {
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pin_a: A,
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pin_b: B,
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state: u8,
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}
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pub enum Direction {
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Clockwise,
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CounterClockwise,
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None,
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}
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impl<A, B> Rotary<A, B>
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where
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A: InputPin,
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B: InputPin,
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{
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pub fn new(pin_a: A, pin_b: B) -> Self {
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Self {
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pin_a,
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pin_b,
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state: 0,
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}
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}
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pub fn update(&mut self) -> Direction {
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let a = self.pin_a.is_low();
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let b = self.pin_b.is_low();
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let new_state = match (a, b) {
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(Ok(true), Ok(true)) => 0b00,
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(Ok(true), Ok(false)) => 0b01,
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(Ok(false), Ok(true)) => 0b10,
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(Ok(false), Ok(false)) => 0b11,
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_ => return Direction::None,
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};
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let direction = match (self.state, new_state) {
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(0b10, 0b11) => Direction::Clockwise,
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(0b01, 0b00) => Direction::Clockwise,
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(0b01, 0b11) => Direction::CounterClockwise,
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(0b10, 0b00) => Direction::CounterClockwise,
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_ => Direction::None,
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};
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self.state = new_state;
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direction
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}
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}
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