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# Test machine.Encoder implementation
#
# IMPORTANT: This test requires hardware connections:
# - out0_pin and in0_pin must be wired together.
# - out1_pin and in1_pin must be wired together.
try:
from machine import Encoder
except ImportError:
print("SKIP")
raise SystemExit
import sys
from machine import Pin
if "esp32" in sys.platform:
id = 0
out0_pin = 4
in0_pin = 5
out1_pin = 12
in1_pin = 13
else:
print("Please add support for this test on this platform.")
raise SystemExit
import unittest
out0_pin = Pin(out0_pin, mode=Pin.OUT)
in0_pin = Pin(in0_pin, mode=Pin.IN)
out1_pin = Pin(out1_pin, mode=Pin.OUT)
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)
self.pulses = 0 # track the expected encoder position in software
def tearDown(self):
self.enc.deinit()
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))
def assertPosition(self, value):
self.assertEqual(self.enc.value(), value)
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)):
print("Testing channel ", ch)
outp(1)
self.assertEqual(1, inp())
outp(0)
self.assertEqual(0, inp())
def test_basics(self):
self.assertPosition(0)
self.rotate(100)
self.assertPosition(100 // 4)
self.rotate(-100)
self.assertPosition(0)
def test_partial(self):
# With phase=1 (default), need 4x pulses to count a rotation
self.assertPosition(0)
self.rotate(1)
self.assertPosition(0)
self.rotate(1)
self.assertPosition(0)
self.rotate(1)
self.assertPosition(1) # only 3 pulses to count first rotation?
self.rotate(1)
self.assertPosition(1)
self.rotate(1)
self.assertPosition(1)
self.rotate(1)
self.assertPosition(1)
self.rotate(1)
self.assertPosition(2) # 4 for next rotation
self.rotate(-1)
self.assertPosition(1)
self.rotate(-4)
self.assertPosition(0)
self.rotate(-4)
self.assertPosition(-1)
self.rotate(-3)
self.assertPosition(-1)
if __name__ == "__main__":
unittest.main()
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