├── README.md ├── library.properties ├── examples ├── BasicExample │ └── BasicExample.ino └── InterruptExample │ └── InterruptExample.ino ├── EncoderStepCounter.h ├── EncoderStepCounter.cpp └── LICENSE /README.md: -------------------------------------------------------------------------------- 1 | EncoderStepCounter library 2 | ========================== 3 | 4 | A library which can be used th increment/decrement a counter based on rotary encoder movement. 5 | 6 | It supports full-step and half-step encoders. 7 | 8 | For more details on how to use this library, have a look at the examples. 9 | -------------------------------------------------------------------------------- /library.properties: -------------------------------------------------------------------------------- 1 | name=EncoderStepCounter 2 | version=1.1.0 3 | author=Manuel Reimer 4 | maintainer=Manuel Reimer 5 | sentence=Quadrature Encoder library for half-step and full-step encoders. 6 | paragraph=Counts up or down an counter depending on encoder rotation. Allows to read/write and reset this library-internal counter. 7 | category=Device Control 8 | url=https://www.github.com/M-Reimer/EncoderStepCounter 9 | architectures=* 10 | -------------------------------------------------------------------------------- /examples/BasicExample/BasicExample.ino: -------------------------------------------------------------------------------- 1 | #include "EncoderStepCounter.h" 2 | 3 | #define ENCODER_PIN1 2 4 | #define ENCODER_PIN2 3 5 | 6 | // Create instance for one full step encoder 7 | EncoderStepCounter encoder(ENCODER_PIN1, ENCODER_PIN2); 8 | // Use the following for half step encoders 9 | //EncoderStepCounter encoder(ENCODER_PIN1, ENCODER_PIN2, HALF_STEP); 10 | 11 | void setup() { 12 | Serial.begin(9600); 13 | // Initialize encoder 14 | encoder.begin(); 15 | } 16 | 17 | void interrupt() { 18 | encoder.tick(); 19 | } 20 | 21 | signed char lastpos = 0; 22 | void loop() { 23 | // Call tick on every loop 24 | encoder.tick(); 25 | // Print out current encoder value 26 | // Have a look at the InterruptExample on how 27 | // to have a bigger variable for the counter 28 | signed char pos = encoder.getPosition(); 29 | if (pos != lastpos) { 30 | lastpos = pos; 31 | Serial.println(pos); 32 | } 33 | } 34 | -------------------------------------------------------------------------------- /examples/InterruptExample/InterruptExample.ino: -------------------------------------------------------------------------------- 1 | #include "EncoderStepCounter.h" 2 | 3 | #define ENCODER_PIN1 2 4 | #define ENCODER_INT1 digitalPinToInterrupt(ENCODER_PIN1) 5 | #define ENCODER_PIN2 3 6 | #define ENCODER_INT2 digitalPinToInterrupt(ENCODER_PIN2) 7 | 8 | // Create instance for one full step encoder 9 | EncoderStepCounter encoder(ENCODER_PIN1, ENCODER_PIN2); 10 | // Use the following for half step encoders 11 | //EncoderStepCounter encoder(ENCODER_PIN1, ENCODER_PIN2, HALF_STEP); 12 | 13 | void setup() { 14 | Serial.begin(9600); 15 | // Initialize encoder 16 | encoder.begin(); 17 | // Initialize interrupts 18 | attachInterrupt(ENCODER_INT1, interrupt, CHANGE); 19 | attachInterrupt(ENCODER_INT2, interrupt, CHANGE); 20 | } 21 | 22 | // Call tick on every change interrupt 23 | void interrupt() { 24 | encoder.tick(); 25 | } 26 | 27 | // This is an example on how to change a "long" variable 28 | // with the library. With every loop the value is added 29 | // and then cleared in the encoder library 30 | signed long position = 0; 31 | void loop() { 32 | signed char pos = encoder.getPosition(); 33 | if (pos != 0) { 34 | position += pos; 35 | encoder.reset(); 36 | Serial.println(position); 37 | } 38 | } 39 | -------------------------------------------------------------------------------- /EncoderStepCounter.h: -------------------------------------------------------------------------------- 1 | /* 2 | Arduino EncoderStepCounter library 3 | Copyright (C) 2019 Manuel Reimer 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Lesser General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU Lesser General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #ifndef HalfStepEncoder_h 20 | #define HalfStepEncoder_h 21 | 22 | #include "Arduino.h" 23 | 24 | enum EncoderType: unsigned char { HALF_STEP, FULL_STEP }; 25 | 26 | class EncoderStepCounter { 27 | public: 28 | EncoderStepCounter(int aPin1, int aPin2, EncoderType aEncType = FULL_STEP); 29 | signed char getPosition() const; 30 | void setPosition(signed char aPosition); 31 | void reset(); 32 | void tick(); 33 | virtual void begin(); 34 | void begin(EncoderType aEncType); 35 | private: 36 | // Arduino pins for polling 37 | int encoder_pin1; 38 | int encoder_pin2; 39 | 40 | // Attribute to remember which encoder type we have 41 | EncoderType encoder_type; 42 | 43 | // Enum for the direction 44 | enum EncDir: signed char { CW = 1, CCW = -1, UNKNOWN_DIR = 0 }; 45 | 46 | // Attributes to remember some values for the CheckEncoderPos() method 47 | bool lastpin1; 48 | bool lastpin2; 49 | bool lastfull; 50 | 51 | // Attributes to remember some values for the tick() method 52 | EncDir last_zero_dir; 53 | 54 | // Attribute for current position 55 | signed volatile char encoderpos; 56 | 57 | // Helper to get current encoder position 58 | bool CheckEncoderPos(bool& aPosValue, EncDir& aDirection); 59 | }; 60 | 61 | #endif 62 | -------------------------------------------------------------------------------- /EncoderStepCounter.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | Arduino EncoderStepCounter library 3 | Copyright (C) 2019 Manuel Reimer 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Lesser General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU Lesser General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #include "Arduino.h" 20 | #include "EncoderStepCounter.h" 21 | 22 | // Constructor 23 | // Sets default values for attributes 24 | EncoderStepCounter::EncoderStepCounter(int aPin1, int aPin2, EncoderType aEncType): 25 | encoder_pin1(aPin1), 26 | encoder_pin2(aPin2), 27 | encoder_type(aEncType), 28 | last_zero_dir(UNKNOWN_DIR), 29 | encoderpos(0) 30 | { 31 | } 32 | 33 | // This one is meant to be used for derived libraries. 34 | // You set the defalt encoder type in your initialization list. 35 | // The user is able to override with the begin() call in the setup() routine. 36 | void EncoderStepCounter::begin(EncoderType aEncType) { 37 | encoder_type = aEncType; 38 | begin(); 39 | } 40 | 41 | // Does all the initialization 42 | // Has to be called in setup() 43 | void EncoderStepCounter::begin() { 44 | pinMode(encoder_pin1, INPUT_PULLUP); 45 | pinMode(encoder_pin2, INPUT_PULLUP); 46 | delay(5); // Wait for the filter cap to charge 47 | lastpin1 = digitalRead(encoder_pin1); 48 | lastpin2 = digitalRead(encoder_pin2); 49 | lastfull = lastpin1; 50 | } 51 | 52 | // Returns true if we entered a new half step (both pins are same value) 53 | bool EncoderStepCounter::CheckEncoderPos(bool& aPosValue, EncDir& aDirection) { 54 | // Read current values 55 | bool pin1 = digitalRead(encoder_pin1); 56 | bool pin2 = digitalRead(encoder_pin2); 57 | 58 | // If nothing has changed, then exit 59 | if (pin1 == lastpin1 && pin2 == lastpin2) 60 | return false; 61 | 62 | // Reached a position which is not the last position 63 | bool retval = false; 64 | if (pin1 == pin2 && lastfull != pin1) { 65 | lastfull = pin1; 66 | aPosValue = pin1; 67 | 68 | if (lastpin1 != pin1) 69 | aDirection = CCW; 70 | if (lastpin2 != pin2) 71 | aDirection = CW; 72 | 73 | retval = true; 74 | } 75 | 76 | // Remember last values 77 | lastpin1 = pin1; 78 | lastpin2 = pin2; 79 | 80 | return retval; 81 | } 82 | 83 | // Reads the pins and detects rotation 84 | void EncoderStepCounter::tick() { 85 | // Get actual position change 86 | bool posvalue; 87 | EncDir direction; 88 | if (!CheckEncoderPos(posvalue, direction)) return; 89 | 90 | // For half step encoders, each half step change counts 91 | if (encoder_type == HALF_STEP) { 92 | encoderpos += direction; 93 | } 94 | 95 | // For full step encoders, only the "one position" counts but we have to 96 | // check the "zero position" also for reliability. 97 | else { 98 | if (posvalue == 0) 99 | last_zero_dir = direction; 100 | else if (last_zero_dir == direction) { 101 | last_zero_dir = UNKNOWN_DIR; 102 | encoderpos += direction; 103 | } 104 | } 105 | } 106 | 107 | // Getter and Setter 108 | signed char EncoderStepCounter::getPosition() const { 109 | return encoderpos; 110 | } 111 | void EncoderStepCounter::setPosition(signed char aPosition) { 112 | encoderpos = aPosition; 113 | } 114 | void EncoderStepCounter::reset() { 115 | encoderpos = 0; 116 | } 117 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU LESSER GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | 9 | This version of the GNU Lesser General Public License incorporates 10 | the terms and conditions of version 3 of the GNU General Public 11 | License, supplemented by the additional permissions listed below. 12 | 13 | 0. Additional Definitions. 14 | 15 | As used herein, "this License" refers to version 3 of the GNU Lesser 16 | General Public License, and the "GNU GPL" refers to version 3 of the GNU 17 | General Public License. 18 | 19 | "The Library" refers to a covered work governed by this License, 20 | other than an Application or a Combined Work as defined below. 21 | 22 | An "Application" is any work that makes use of an interface provided 23 | by the Library, but which is not otherwise based on the Library. 24 | Defining a subclass of a class defined by the Library is deemed a mode 25 | of using an interface provided by the Library. 26 | 27 | A "Combined Work" is a work produced by combining or linking an 28 | Application with the Library. The particular version of the Library 29 | with which the Combined Work was made is also called the "Linked 30 | Version". 31 | 32 | The "Minimal Corresponding Source" for a Combined Work means the 33 | Corresponding Source for the Combined Work, excluding any source code 34 | for portions of the Combined Work that, considered in isolation, are 35 | based on the Application, and not on the Linked Version. 36 | 37 | The "Corresponding Application Code" for a Combined Work means the 38 | object code and/or source code for the Application, including any data 39 | and utility programs needed for reproducing the Combined Work from the 40 | Application, but excluding the System Libraries of the Combined Work. 41 | 42 | 1. Exception to Section 3 of the GNU GPL. 43 | 44 | You may convey a covered work under sections 3 and 4 of this License 45 | without being bound by section 3 of the GNU GPL. 46 | 47 | 2. Conveying Modified Versions. 48 | 49 | If you modify a copy of the Library, and, in your modifications, a 50 | facility refers to a function or data to be supplied by an Application 51 | that uses the facility (other than as an argument passed when the 52 | facility is invoked), then you may convey a copy of the modified 53 | version: 54 | 55 | a) under this License, provided that you make a good faith effort to 56 | ensure that, in the event an Application does not supply the 57 | function or data, the facility still operates, and performs 58 | whatever part of its purpose remains meaningful, or 59 | 60 | b) under the GNU GPL, with none of the additional permissions of 61 | this License applicable to that copy. 62 | 63 | 3. Object Code Incorporating Material from Library Header Files. 64 | 65 | The object code form of an Application may incorporate material from 66 | a header file that is part of the Library. You may convey such object 67 | code under terms of your choice, provided that, if the incorporated 68 | material is not limited to numerical parameters, data structure 69 | layouts and accessors, or small macros, inline functions and templates 70 | (ten or fewer lines in length), you do both of the following: 71 | 72 | a) Give prominent notice with each copy of the object code that the 73 | Library is used in it and that the Library and its use are 74 | covered by this License. 75 | 76 | b) Accompany the object code with a copy of the GNU GPL and this license 77 | document. 78 | 79 | 4. Combined Works. 80 | 81 | You may convey a Combined Work under terms of your choice that, 82 | taken together, effectively do not restrict modification of the 83 | portions of the Library contained in the Combined Work and reverse 84 | engineering for debugging such modifications, if you also do each of 85 | the following: 86 | 87 | a) Give prominent notice with each copy of the Combined Work that 88 | the Library is used in it and that the Library and its use are 89 | covered by this License. 90 | 91 | b) Accompany the Combined Work with a copy of the GNU GPL and this license 92 | document. 93 | 94 | c) For a Combined Work that displays copyright notices during 95 | execution, include the copyright notice for the Library among 96 | these notices, as well as a reference directing the user to the 97 | copies of the GNU GPL and this license document. 98 | 99 | d) Do one of the following: 100 | 101 | 0) Convey the Minimal Corresponding Source under the terms of this 102 | License, and the Corresponding Application Code in a form 103 | suitable for, and under terms that permit, the user to 104 | recombine or relink the Application with a modified version of 105 | the Linked Version to produce a modified Combined Work, in the 106 | manner specified by section 6 of the GNU GPL for conveying 107 | Corresponding Source. 108 | 109 | 1) Use a suitable shared library mechanism for linking with the 110 | Library. A suitable mechanism is one that (a) uses at run time 111 | a copy of the Library already present on the user's computer 112 | system, and (b) will operate properly with a modified version 113 | of the Library that is interface-compatible with the Linked 114 | Version. 115 | 116 | e) Provide Installation Information, but only if you would otherwise 117 | be required to provide such information under section 6 of the 118 | GNU GPL, and only to the extent that such information is 119 | necessary to install and execute a modified version of the 120 | Combined Work produced by recombining or relinking the 121 | Application with a modified version of the Linked Version. (If 122 | you use option 4d0, the Installation Information must accompany 123 | the Minimal Corresponding Source and Corresponding Application 124 | Code. If you use option 4d1, you must provide the Installation 125 | Information in the manner specified by section 6 of the GNU GPL 126 | for conveying Corresponding Source.) 127 | 128 | 5. Combined Libraries. 129 | 130 | You may place library facilities that are a work based on the 131 | Library side by side in a single library together with other library 132 | facilities that are not Applications and are not covered by this 133 | License, and convey such a combined library under terms of your 134 | choice, if you do both of the following: 135 | 136 | a) Accompany the combined library with a copy of the same work based 137 | on the Library, uncombined with any other library facilities, 138 | conveyed under the terms of this License. 139 | 140 | b) Give prominent notice with the combined library that part of it 141 | is a work based on the Library, and explaining where to find the 142 | accompanying uncombined form of the same work. 143 | 144 | 6. Revised Versions of the GNU Lesser General Public License. 145 | 146 | The Free Software Foundation may publish revised and/or new versions 147 | of the GNU Lesser General Public License from time to time. Such new 148 | versions will be similar in spirit to the present version, but may 149 | differ in detail to address new problems or concerns. 150 | 151 | Each version is given a distinguishing version number. If the 152 | Library as you received it specifies that a certain numbered version 153 | of the GNU Lesser General Public License "or any later version" 154 | applies to it, you have the option of following the terms and 155 | conditions either of that published version or of any later version 156 | published by the Free Software Foundation. If the Library as you 157 | received it does not specify a version number of the GNU Lesser 158 | General Public License, you may choose any version of the GNU Lesser 159 | General Public License ever published by the Free Software Foundation. 160 | 161 | If the Library as you received it specifies that a proxy can decide 162 | whether future versions of the GNU Lesser General Public License shall 163 | apply, that proxy's public statement of acceptance of any version is 164 | permanent authorization for you to choose that version for the 165 | Library. 166 | --------------------------------------------------------------------------------