RotaryEncoder.cpp

#include "RotaryEncoder.h"

const uint8_t RotaryEncoder::s_FINALSTATE_CW = 6;
const uint8_t RotaryEncoder::s_FINALSTATE_CCW = 7;
const int8_t RotaryEncoder::s_transition_table[] = {
        0, 0, 0, 1,
        -1, 1, 2, 0,
        2, 0, -2, -2,
        2, -3, 0, -3,
        0, -4, 2, -4,
        0, 2, -5, -5,
        -6, -6, -6, -6,
        -7, -7, -7, -7
};

RotaryEncoder::RotaryEncoder(){};

RotaryEncoder::RotaryEncoder(int32_t pos){
    m_pos = pos;
}

void RotaryEncoder::update(uint8_t state_a, uint8_t state_b){
    uint8_t input = state_a | (state_b << 1);

    m_state += s_transition_table[(input | (m_state << 2))];

    if((m_state & (1 << 2)) && (m_state & (1 << 1))){
        if(m_state == s_FINALSTATE_CW){
            m_pos++;
        }else if(m_state == s_FINALSTATE_CCW){
            m_pos--;
        }
        m_new_pos = true;
    }
}