testing firmware on new Nano R4.

examples/test_r4/encoder.h

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+/**
+ * @file encoder.h
+ * @author Adam Wonak (https://github.com/awonak)
+ * @brief Class for interacting with encoders.
+ * @version 2.0.0
+ * @date 2025-08-17
+ * 
+ * @copyright MIT - (c) 2025 - Adam Wonak - adam.wonak@gmail.com
+ *
+ */
+#ifndef ENCODER_DIR_H
+#define ENCODER_DIR_H
+
+#include <RotaryEncoder.h>
+
+#include "button.h"
+#include "peripherials.h"
+
+class Encoder {
+   protected:
+    typedef void (*CallbackFunction)(void);
+    typedef void (*RotateCallbackFunction)(int val);
+    CallbackFunction on_press;
+    RotateCallbackFunction on_press_rotate;
+    RotateCallbackFunction on_rotate;
+    int change;
+
+   public:
+    Encoder() : encoder_(ENCODER_PIN1, ENCODER_PIN2, RotaryEncoder::LatchMode::FOUR3),
+                   button_(ENCODER_SW_PIN) {
+        _instance = this;
+    }
+    ~Encoder() {}
+
+    // Set to true if the encoder read direction should be reversed.
+    void SetReverseDirection(bool reversed) {
+        reversed_ = reversed;
+    }
+    void AttachPressHandler(CallbackFunction f) {
+        on_press = f;
+    }
+
+    void AttachRotateHandler(RotateCallbackFunction f) {
+        on_rotate = f;
+    }
+
+    void AttachPressRotateHandler(RotateCallbackFunction f) {
+        on_press_rotate = f;
+    }
+
+    void Process() {
+        encoder_.tick();
+        // Get encoder position change amount.
+        int encoder_rotated = _rotate_change() != 0;
+        bool button_pressed = button_.On();
+        button_.Process();
+
+        // Handle encoder position change and button press.
+        if (button_pressed && encoder_rotated) {
+            rotated_while_held_ = true;
+            if (on_press_rotate != NULL) on_press_rotate(change);
+        } else if (!button_pressed && encoder_rotated) {
+            if (on_rotate != NULL) on_rotate(change);
+        } else if (button_.Change() == Button::CHANGE_RELEASED && !rotated_while_held_) {
+            if (on_press != NULL) on_press();
+        }
+
+        // Reset rotate while held state.
+        if (button_.Change() == Button::CHANGE_RELEASED && rotated_while_held_) {
+            rotated_while_held_ = false;
+        }
+    }
+
+    static void isr() {
+        // If the instance has been created, call its tick() method.
+        if (_instance) {
+            _instance->encoder_.tick();
+        }
+    }
+
+   private:
+    static Encoder* _instance;
+
+    int previous_pos_;
+    bool rotated_while_held_;
+    bool reversed_ = false;
+    RotaryEncoder encoder_;
+    Button button_;
+
+    // Return the number of ticks change since last polled.
+    int _rotate_change() {
+        int position = encoder_.getPosition();
+        unsigned long ms = encoder_.getMillisBetweenRotations();
+
+        // Validation (TODO: add debounce check).
+        if (previous_pos_ == position) {
+            return 0;
+        }
+
+        // Update state variables.
+        change = position - previous_pos_;
+        previous_pos_ = position;
+
+        // Encoder rotate acceleration.
+        if (ms < 16) {
+            change *= 3;
+        } else if (ms < 32) {
+            change *= 2;
+        }
+
+        if (reversed_) {
+            change = -(change);
+        }
+        return change;
+    }
+};
+
+#endif