first re-commit.

pigpio-master/EXAMPLES/Python/ROTARY_ENCODER/rotary_encoder.py

@@ -0,0 +1,135 @@
+#!/usr/bin/env python
+
+import pigpio
+
+class decoder:
+
+   """Class to decode mechanical rotary encoder pulses."""
+
+   def __init__(self, pi, gpioA, gpioB, callback):
+
+      """
+      Instantiate the class with the pi and gpios connected to
+      rotary encoder contacts A and B.  The common contact
+      should be connected to ground.  The callback is
+      called when the rotary encoder is turned.  It takes
+      one parameter which is +1 for clockwise and -1 for
+      counterclockwise.
+
+      EXAMPLE
+
+      import time
+      import pigpio
+
+      import rotary_encoder
+
+      pos = 0
+
+      def callback(way):
+
+         global pos
+
+         pos += way
+
+         print("pos={}".format(pos))
+
+      pi = pigpio.pi()
+
+      decoder = rotary_encoder.decoder(pi, 7, 8, callback)
+
+      time.sleep(300)
+
+      decoder.cancel()
+
+      pi.stop()
+
+      """
+
+      self.pi = pi
+      self.gpioA = gpioA
+      self.gpioB = gpioB
+      self.callback = callback
+
+      self.levA = 0
+      self.levB = 0
+
+      self.lastGpio = None
+
+      self.pi.set_mode(gpioA, pigpio.INPUT)
+      self.pi.set_mode(gpioB, pigpio.INPUT)
+
+      self.pi.set_pull_up_down(gpioA, pigpio.PUD_UP)
+      self.pi.set_pull_up_down(gpioB, pigpio.PUD_UP)
+
+      self.cbA = self.pi.callback(gpioA, pigpio.EITHER_EDGE, self._pulse)
+      self.cbB = self.pi.callback(gpioB, pigpio.EITHER_EDGE, self._pulse)
+
+   def _pulse(self, gpio, level, tick):
+
+      """
+      Decode the rotary encoder pulse.
+
+                   +---------+         +---------+      0
+                   |         |         |         |
+         A         |         |         |         |
+                   |         |         |         |
+         +---------+         +---------+         +----- 1
+
+             +---------+         +---------+            0
+             |         |         |         |
+         B   |         |         |         |
+             |         |         |         |
+         ----+         +---------+         +---------+  1
+      """
+
+      if gpio == self.gpioA:
+         self.levA = level
+      else:
+         self.levB = level;
+
+      if gpio != self.lastGpio: # debounce
+         self.lastGpio = gpio
+
+         if   gpio == self.gpioA and level == 1:
+            if self.levB == 1:
+               self.callback(1)
+         elif gpio == self.gpioB and level == 1:
+            if self.levA == 1:
+               self.callback(-1)
+
+   def cancel(self):
+
+      """
+      Cancel the rotary encoder decoder.
+      """
+
+      self.cbA.cancel()
+      self.cbB.cancel()
+
+if __name__ == "__main__":
+
+   import time
+   import pigpio
+
+   import rotary_encoder
+
+   pos = 0
+
+   def callback(way):
+
+      global pos
+
+      pos += way
+
+      print("pos={}".format(pos))
+
+   pi = pigpio.pi()
+
+   decoder = rotary_encoder.decoder(pi, 7, 8, callback)
+
+   time.sleep(300)
+
+   decoder.cancel()
+
+   pi.stop()
+