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tests/extmod_hardware/machine_encoder.py: Fix initial rotation count.

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ESP32 requires initial high levels of the channels before starting the
count, in order to have 4 pulse for the first rotation.

Also add tests for encoder phases x2 and x4.

Signed-off-by: Ihor Nehrutsa <Ihor.Nehrutsa@gmail.com>
This commit is contained in:
Ihor Nehrutsa
2025-08-13 17:13:49 +03:00
committed by Damien George
parent f3804c6589
commit d980bbd237
1 changed files with 82 additions and 22 deletions
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104
tests/extmod_hardware/machine_encoder.py
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@@ -13,6 +13,9 @@ except ImportError:
import sys
from machine import Pin
PRINT = False
PIN_INIT_VALUE = 1
if "esp32" in sys.platform:
id = 0
out0_pin = 4
@@ -33,25 +36,70 @@ in1_pin = Pin(in1_pin, mode=Pin.IN)
class TestEncoder(unittest.TestCase):
def setUp(self):
out0_pin(0)
out1_pin(0)
self.enc = Encoder(id, in0_pin, in1_pin)
out0_pin(PIN_INIT_VALUE)
out1_pin(PIN_INIT_VALUE)
self.enc = Encoder(id, in0_pin, in1_pin, phases=1)
self.enc2 = Encoder(id + 1, in0_pin, in1_pin, phases=2)
self.enc4 = Encoder(id + 2, in0_pin, in1_pin, phases=4)
self.pulses = 0 # track the expected encoder position in software
if PRINT:
print(
"\nout0_pin() out1_pin() enc.value() enc2.value() enc4.value() |",
out0_pin(),
out1_pin(),
"|",
self.enc.value(),
self.enc2.value(),
self.enc4.value(),
)
def tearDown(self):
self.enc.deinit()
try:
self.enc2.deinit()
except:
pass
try:
self.enc4.deinit()
except:
pass
def rotate(self, pulses):
for _ in range(abs(pulses)):
self.pulses += 1 if (pulses > 0) else -1
q = self.pulses % 4
# Only one pin should change state each "step" so output won't glitch
out0_pin(q in (1, 2))
out1_pin(q in (2, 3))
if pulses > 0:
if self.pulses % 2:
out0_pin(not out0_pin())
else:
out1_pin(not out1_pin())
else:
if self.pulses % 2:
out1_pin(not out1_pin())
else:
out0_pin(not out0_pin())
if PRINT:
print(
"out0_pin() out1_pin() enc.value() enc2.value() enc4.value() pulses self.pulses |",
out0_pin(),
out1_pin(),
"|",
self.enc.value(),
self.enc2.value(),
self.enc4.value(),
"|",
pulses,
self.pulses,
)
def assertPosition(self, value):
def assertPosition(self, value, value2=None, value4=None):
self.assertEqual(self.enc.value(), value)
if not value2 is None:
self.assertEqual(self.enc2.value(), value2)
if not value4 is None:
self.assertEqual(self.enc4.value(), value4)
pass
@unittest.skipIf(sys.platform == "mimxrt", "cannot read back the pin")
def test_connections(self):
# Test the hardware connections are correct. If this test fails, all tests will fail.
for ch, outp, inp in ((0, out0_pin, in0_pin), (1, out1_pin, in1_pin)):
@@ -64,7 +112,7 @@ class TestEncoder(unittest.TestCase):
def test_basics(self):
self.assertPosition(0)
self.rotate(100)
self.assertPosition(100 // 4)
self.assertPosition(100 // 4, 100 // 2, 100)
self.rotate(-100)
self.assertPosition(0)
@@ -72,27 +120,39 @@ class TestEncoder(unittest.TestCase):
# With phase=1 (default), need 4x pulses to count a rotation
self.assertPosition(0)
self.rotate(1)
self.assertPosition(0)
self.assertPosition(1, 1, 1)
self.rotate(1)
self.assertPosition(0)
self.assertPosition(1, 1, 2)
self.rotate(1)
self.assertPosition(1) # only 3 pulses to count first rotation?
self.assertPosition(1, 2, 3)
self.rotate(1)
self.assertPosition(1)
self.assertPosition(1, 2, 4) # +4
self.rotate(1)
self.assertPosition(1)
self.assertPosition(2, 3, 5)
self.rotate(1)
self.assertPosition(1)
self.assertPosition(2, 3, 6)
self.rotate(1)
self.assertPosition(2) # 4 for next rotation
self.assertPosition(2, 4, 7)
self.rotate(1)
self.assertPosition(2, 4, 8) # +4
self.rotate(-1)
self.assertPosition(1)
self.rotate(-4)
self.assertPosition(0)
self.rotate(-4)
self.assertPosition(-1)
self.assertPosition(2, 4, 7)
self.rotate(-3)
self.assertPosition(-1)
self.assertPosition(1, 2, 4) # -4
self.rotate(-4)
self.assertPosition(0, 0, 0) # -4
self.rotate(-1)
self.assertPosition(0, 0, -1)
self.rotate(-1)
self.assertPosition(0, -1, -2)
self.rotate(-1)
self.assertPosition(0, -1, -3)
self.rotate(-1)
self.assertPosition(-1, -2, -4) # -4
self.rotate(-1)
self.assertPosition(-1, -2, -5)
self.rotate(-3)
self.assertPosition(-2, -4, -8) # -4
if __name__ == "__main__":