fusion_hat.modules.rotary_encoder module

class fusion_hat.modules.rotary_encoder.Rotary_Encoder(clk, dt, *, bounce_time=0.002, reverse=False)

Bases: object

_a_rising()

Called on rising edge of channel A. Read channel B to determine rotation direction. Typical rule:

A↑ with B=0 -> CW (+1) A↑ with B=1 -> CCW (-1)

_a_falling()

Called on falling edge of channel A. Read channel B to determine rotation direction. Typical rule:

A↓ with B=1 -> CW (+1) A↓ with B=0 -> CCW (-1)

_apply(direction: int)

Apply one step of rotation, considering direction and reverse flag. Then invoke the external callback if set.

steps()

Return the current step count.

reset()

Reset the encoder position to zero.

close()

Release interrupts and clean up GPIO resources.