quadrature_encoder

Struct HalfStep

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pub struct HalfStep;
Expand description

A step mode that is able to detect a “change” (e.g. movement) (e.g. movement) for every stable half cycle (i.e. 2 changes per quadrature cycle), resulting in an effective 2× resolution multiplication.

Half-step mode effectively doubles the resolution of the decoder.

Half-step mode provides:

  • medium noise-resistance (factor 2× relative to naïve decoding)
  • medium resolution (factor 1× relative to native resolution)

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impl StepMode for HalfStep

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const PULSES_PER_CYCLE: usize = 2usize

The number of pulses per (quadrature) cycle (PPC).

As an example, consider the effective pulses per revolution (PPR) of a rotary encoder with 100 cycles per revolution (CPR): 200 PPR.

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