1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
|
## Copyright (C) 2018-2020 John Donoghue <john.donoghue@ieee.org>
##
## This program is free software: you can redistribute it and/or modify it
## under the terms of the GNU General Public License as published by
## the Free Software Foundation, either version 3 of the License, or
## (at your option) any later version.
##
## This program is distributed in the hope that it will be useful, but
## WITHOUT ANY WARRANTY; without even the implied warranty of
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
## GNU General Public License for more details.
##
## You should have received a copy of the GNU General Public License
## along with this program. If not, see
## <https://www.gnu.org/licenses/>.
classdef rotaryEncoder < handle
## -*- texinfo -*-
## @deftypefn {} {@var{obj} =} rotaryEncoder (@var{ar}, @var{chanApin}, @var{chanBpin})
## @deftypefnx {} {@var{obj} =} rotaryEncoder (@var{ar}, @var{chanApin}, @var{chanBpin}, @var{ppr})
## Create a rotaryEncoder object controlled by the input pins.
##
## @subsubheading Inputs
## @var{ar} - connected arduino object.
##
## @var{chanApin} - pin used for channel A
##
## @var{chanBpin} - pin used for channel B
##
## @var{ppr} - count of encoder pulsed required for a full revolution of the encoder.
##
## @subsubheading Outputs
## @var{obj} - created rotary encoder object
##
## @subsubheading Example
## @example
## a = arduino ();
## enc = rotaryEncoder(a, "d2", "d3", 180);
## @end example
##
## @subsubheading Properties
## The rotaryEncoder object has the following public properties:
## @table @asis
## @item parent
## The parent (arduino) for this device
## @item pins
## pins used by this object
## @item ppr
## Number of pulses used per rotation
## @end table
##
## @seealso{arduino}
## @end deftypefn
properties (Access = private)
parent = [];
id = 0;
pins = {};
ppr = [];
resourceowner = [];
endproperties
methods (Access = public)
function p = rotaryEncoder(ar, pinA, pinB, ppr)
persistent ARDUINO_ROTARYENCODER_CONFIG = 1;
if (nargin == 1 && isa (ar, "rotaryEncoder"))
register = ar; # Copy constructor
elseif nargin < 3
error ('rotaryEncoder: Expected pinA and pinB');
else
p.parent = ar;
pins = {};
pins{end+1} = ar.get_pin(pinA);
pins{end}.func = "channela";
# pin used also to address this obj
p.id = pins{1}.id;
pins{end+1} = ar.get_pin(pinB);
pins{end}.func = "channelb";
if nargin < 4
ppr = [];
endif
if isempty(ppr)
ppr = 0;
endif
if ! isnumeric(ppr) || ppr < 0
error('rotaryEncoder: ppr should be a positive number')
endif
# verify pins support digital i/o
for i = 1:numel(pins)
pin = pins{i}.name;
validatePin(ar, pin, "digital");
endfor
p.pins = pins;
p.ppr = ppr;
name = sprintf("encoder-%d", p.id);
p.resourceowner = name;
count = getResourceCount(ar,name);
if count > 0
error ("@rotaryEncoder.rotaryEncoder: already in use");
endif
try
for i=1:numel(pins)
pin = pins{i}.name;
configurePin(ar, pin, "pullup");
endfor
[tmp, sz] = sendCommand(ar, "rotaryencoder", ARDUINO_ROTARYENCODER_CONFIG, [p.id 1 pins{2}.id]);
incrementResourceCount(ar, name);
catch
# on error, restore pin state
for i=1:numel(pins)
pin = pins{i};
configurePinResource(ar, pin.name, pin.owner, pin.mode, true)
configurePin(ar, pin.name, pin.mode)
endfor
rethrow (lasterror);
end_try_catch
# set clean up function
# p.cleanup = onCleanup (@() cleanupEncoder (ar, name, pins));
endif
endfunction
endmethods
endclassdef
%!shared ar
%! ar = arduino();
%!test
%! assert (configurePin(ar, "d2"), "unset")
%! assert (configurePin(ar, "d3"), "unset")
%! enc = rotaryEncoder(ar, "d2", "d3");
%! assert (isa (enc, "rotaryEncoder"))
%! assert (!strcmpi(configurePin(ar, "d2"), "unset"))
%! assert (!strcmpi(configurePin(ar, "d3"), "unset"))
%! delete (enc)
%! assert (configurePin(ar, "d2"), "unset")
%! assert (configurePin(ar, "d3"), "unset")
%!test
%! enc = rotaryEncoder(ar, "d2", "d3", 100);
%! assert (isa (enc, "rotaryEncoder"))
%! delete (enc)
%!test
%! enc = rotaryEncoder(ar, "d2", "d3");
%! fail ('rotaryEncoder(ar, "d2", "d3");', "already in use");
%! delete (enc)
%!error rotaryEncoder(ar);
%!error rotaryEncoder(ar, "d2");
|
