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

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>

1 files changed, 81 insertions, 21 deletions

diff --git a/tests/extmod_hardware/machine_encoder.py b/tests/extmod_hardware/machine_encoder.py
index 9bd2bb464..f28eb6de6 100644
--- a/tests/extmod_hardware/machine_encoder.py
+++ b/tests/extmod_hardware/machine_encoder.py
@@ -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.assertPosition(2, 4, 7)
+        self.rotate(-3)
+        self.assertPosition(1, 2, 4)  # -4
         self.rotate(-4)
-        self.assertPosition(-1)
+        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(-1)
+        self.assertPosition(-2, -4, -8)  # -4
 
 
 if __name__ == "__main__":