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d980bbd237
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>
160 lines
4.6 KiB
Python
160 lines
4.6 KiB
Python
# Test machine.Encoder implementation
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#
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# IMPORTANT: This test requires hardware connections:
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# - out0_pin and in0_pin must be wired together.
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# - out1_pin and in1_pin must be wired together.
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try:
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from machine import Encoder
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except ImportError:
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print("SKIP")
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raise SystemExit
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import sys
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from machine import Pin
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PRINT = False
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PIN_INIT_VALUE = 1
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if "esp32" in sys.platform:
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id = 0
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out0_pin = 4
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in0_pin = 5
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out1_pin = 12
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in1_pin = 13
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else:
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print("Please add support for this test on this platform.")
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raise SystemExit
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import unittest
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out0_pin = Pin(out0_pin, mode=Pin.OUT)
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in0_pin = Pin(in0_pin, mode=Pin.IN)
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out1_pin = Pin(out1_pin, mode=Pin.OUT)
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in1_pin = Pin(in1_pin, mode=Pin.IN)
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class TestEncoder(unittest.TestCase):
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def setUp(self):
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out0_pin(PIN_INIT_VALUE)
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out1_pin(PIN_INIT_VALUE)
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self.enc = Encoder(id, in0_pin, in1_pin, phases=1)
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self.enc2 = Encoder(id + 1, in0_pin, in1_pin, phases=2)
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self.enc4 = Encoder(id + 2, in0_pin, in1_pin, phases=4)
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self.pulses = 0 # track the expected encoder position in software
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if PRINT:
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print(
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"\nout0_pin() out1_pin() enc.value() enc2.value() enc4.value() |",
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out0_pin(),
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out1_pin(),
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"|",
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self.enc.value(),
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self.enc2.value(),
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self.enc4.value(),
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)
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def tearDown(self):
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self.enc.deinit()
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try:
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self.enc2.deinit()
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except:
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pass
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try:
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self.enc4.deinit()
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except:
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pass
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def rotate(self, pulses):
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for _ in range(abs(pulses)):
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self.pulses += 1 if (pulses > 0) else -1
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if pulses > 0:
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if self.pulses % 2:
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out0_pin(not out0_pin())
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else:
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out1_pin(not out1_pin())
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else:
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if self.pulses % 2:
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out1_pin(not out1_pin())
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else:
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out0_pin(not out0_pin())
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if PRINT:
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print(
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"out0_pin() out1_pin() enc.value() enc2.value() enc4.value() pulses self.pulses |",
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out0_pin(),
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out1_pin(),
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"|",
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self.enc.value(),
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self.enc2.value(),
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self.enc4.value(),
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"|",
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pulses,
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self.pulses,
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)
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def assertPosition(self, value, value2=None, value4=None):
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self.assertEqual(self.enc.value(), value)
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if not value2 is None:
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self.assertEqual(self.enc2.value(), value2)
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if not value4 is None:
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self.assertEqual(self.enc4.value(), value4)
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pass
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@unittest.skipIf(sys.platform == "mimxrt", "cannot read back the pin")
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def test_connections(self):
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# Test the hardware connections are correct. If this test fails, all tests will fail.
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for ch, outp, inp in ((0, out0_pin, in0_pin), (1, out1_pin, in1_pin)):
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print("Testing channel ", ch)
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outp(1)
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self.assertEqual(1, inp())
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outp(0)
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self.assertEqual(0, inp())
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def test_basics(self):
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self.assertPosition(0)
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self.rotate(100)
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self.assertPosition(100 // 4, 100 // 2, 100)
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self.rotate(-100)
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self.assertPosition(0)
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def test_partial(self):
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# With phase=1 (default), need 4x pulses to count a rotation
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self.assertPosition(0)
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self.rotate(1)
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self.assertPosition(1, 1, 1)
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self.rotate(1)
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self.assertPosition(1, 1, 2)
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self.rotate(1)
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self.assertPosition(1, 2, 3)
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self.rotate(1)
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self.assertPosition(1, 2, 4) # +4
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self.rotate(1)
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self.assertPosition(2, 3, 5)
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self.rotate(1)
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self.assertPosition(2, 3, 6)
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self.rotate(1)
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self.assertPosition(2, 4, 7)
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self.rotate(1)
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self.assertPosition(2, 4, 8) # +4
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self.rotate(-1)
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self.assertPosition(2, 4, 7)
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self.rotate(-3)
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self.assertPosition(1, 2, 4) # -4
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self.rotate(-4)
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self.assertPosition(0, 0, 0) # -4
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self.rotate(-1)
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self.assertPosition(0, 0, -1)
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self.rotate(-1)
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self.assertPosition(0, -1, -2)
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self.rotate(-1)
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self.assertPosition(0, -1, -3)
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self.rotate(-1)
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self.assertPosition(-1, -2, -4) # -4
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self.rotate(-1)
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self.assertPosition(-1, -2, -5)
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self.rotate(-3)
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self.assertPosition(-2, -4, -8) # -4
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if __name__ == "__main__":
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unittest.main()
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