小白学习pid环控制-概览篇 测试代码文件

from machine import Pin import time # def global var # encode now value encode_value = 0 last_a = 0 last_b = 0 # def pin number for each encode AB line encode_a = 15 encode_b = 14 p_a = Pin(encode_a, Pin.IN) p_b = Pin(encode_b, Pin.IN) # def encode count function def read_encode(a_v, b_v): global encode_value global last_a global last_b if a_v != last_a or b_v != last_b: if last_a == 0 and last_b == 0: if a_v == 0 and b_v == 1: encode_value -= 1 if a_v == 1 and b_v == 0: encode_value += 1 elif last_a == 0 and last_b == 1: if a_v == 1 and b_v == 1: encode_value -= 1 if a_v == 0 and b_v == 0: encode_value += 1 elif last_a == 1 and last_b == 1: if a_v == 1 and b_v == 0: encode_value -= 1 if a_v == 0 and b_v == 1: encode_value += 1 elif last_a == 1 and last_b == 0: if a_v == 0 and b_v == 0: encode_value -= 1 if a_v == 1 and b_v == 1: encode_value += 1 last_a = a_v last_b = b_v p_a.irq(lambda pin: read_encode(p_a.value(), p_b.value())) p_b.irq(lambda pin: read_encode(p_a.value(), p_b.value())) # main loop while True: print(encode_value) time.sleep(0.1)