encoder
wkov/colony/encoder
No description
encoder
@/encoder
Paport
Encoder port A.
Pbport
Encoder port B.
UPDpulse
Trigger to read encoder state. Important! This node is highly affected by trigger behavior of other nodes.
FWDpulse
Forward pulse.
BWDpulse
Backward pulse.
C++ implementation
#pragma XOD dirtieness disable
node {
bool prevA = true;
bool prevB = true;
void evaluate(Context ctx) {
bool nextA = ::digitalRead(constant_input_Pa);
bool nextB = ::digitalRead(constant_input_Pb);
if ((nextA && nextB) || (prevA && prevB && nextA != nextB)) {
prevA = nextA;
prevB = nextB;
} else if (nextA == prevB && nextB == prevA) {
if (nextA) {
emitValue<output_FWD>(ctx, true);
} else {
emitValue<output_BWD>(ctx, true);
}
}
}
}