Struct IncrementalEncoder

pub struct IncrementalEncoder<Mode, Clk, Dt, Steps = FullStep, T = i32, PM = Blocking> { /* private fields */ }

A robust incremental encoder with support for multiple step-modes.

Implementations

impl<Mode, Clk, Dt, Steps, T, PM> IncrementalEncoder<Mode, Clk, Dt, Steps, T, PM>

where Mode: OperationMode, Clk: InputPin, Dt: InputPin, Steps: StepMode, T: Zero, PM: PollMode,

pub fn new(pin_clk: Clk, pin_dt: Dt) -> Self

where IncrementalDecoder<Steps, T>: Default, Clk: InputPin, Dt: InputPin,

Creates an incremental encoder driver for the given pins.

impl<Mode, Clk, Dt, Steps, T, PM> IncrementalEncoder<Mode, Clk, Dt, Steps, T, PM>

where Mode: OperationMode, Clk: InputPin, Dt: InputPin, Steps: StepMode, T: Copy + Zero + One + SaturatingAdd + WrappingNeg + From<i8>, PM: PollMode,

pub fn reversed(self) -> Self

Sets the encoder’s reversed mode, making it report flipped movements and positions.

pub fn is_reversed(&self) -> bool

Returns true if the encoder is reversed, otherwise false.

pub fn pins_mut(&mut self) -> (&mut Clk, &mut Dt)

Returns mutable borrows for the signal channel pins.

pub fn release(self) -> (Clk, Dt)

Consumes self, returning the signal channel pins.

pub fn reset(&mut self)

Resets the encoder to its initial state.

pub fn position(&self) -> T

Returns the encoder’s position counter relative to its initial position in number of cycles.

pub fn set_position(&mut self, position: T)

Sets the encoder’s position.

impl<Mode, Clk, Dt, Steps, T> IncrementalEncoder<Mode, Clk, Dt, Steps, T, Blocking>

where Mode: OperationMode, Clk: InputPin, Dt: InputPin, Steps: StepMode, T: Copy + Zero + One + SaturatingAdd + WrappingNeg + From<i8>,

pub fn poll(&mut self) -> Result<Option<Mode::Movement>, Error>

Updates the encoder’s state based on the given clock and data pins, returning the direction if a movement was detected, None if no movement was detected, or Err(_) if an invalid input (i.e. a positional “jump”) was detected.

Depending on whether it matters why the encoder did not detect a movement (e.g. due to actual lack of movement or an erroneous read) you would either call encoder.poll() directly, or via encoder.poll().unwrap_or_default() to fall back to None in case of Err(_).

impl<Mode, Clk, Dt, Steps, T> IncrementalEncoder<Mode, Clk, Dt, Steps, T, Blocking>

where Mode: OperationMode, Clk: InputPin + Wait, Dt: InputPin + Wait, Steps: StepMode, T: Copy + Zero + One + SaturatingAdd + WrappingNeg + From<i8>,

If async is enabled, and the pins provided satisfy the AsyncInputPin trait, the into_async() method is exposed.

pub fn into_async(self) -> IncrementalEncoder<Mode, Clk, Dt, Steps, T, Async>

where IncrementalDecoder<Steps, T>: Default,

Reconfigure the driver so that poll() is an async fn

impl<Mode, Clk, Dt, Steps, T> IncrementalEncoder<Mode, Clk, Dt, Steps, T, Async>

where Mode: OperationMode, Clk: InputPin + Wait, Dt: InputPin + Wait, Steps: StepMode, T: Copy + Zero + One + SaturatingAdd + WrappingNeg + From<i8>,

pub async fn poll(&mut self) -> Result<Option<Mode::Movement>, Error>

Updates the encoder’s state based on the given clock and data pins, returning the direction if a movement was detected, None if no movement was detected, or Err(_) if an invalid input (i.e. a positional “jump”) was detected.

Depending on whether it matters why the encoder did not detect a movement (e.g. due to actual lack of movement or an erroneous read) you would either call encoder.poll() directly, or via encoder.poll().unwrap_or_default() to fall back to None in case of Err(_).

Waits asynchronously for any of the pins to change state, before returning.

pub fn into_blocking( self, ) -> IncrementalEncoder<Mode, Clk, Dt, Steps, T, Blocking>

where IncrementalDecoder<Steps, T>: Default,

Reconfigure the driver so that poll() is a blocking function

Trait Implementations

impl<Mode: Debug, Clk: Debug, Dt: Debug, Steps: Debug, T: Debug, PM: Debug> Debug for IncrementalEncoder<Mode, Clk, Dt, Steps, T, PM>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.