BaseTableEncoderAdapter.h

#ifndef INPUT_EVENTS_BASE_TABLE_ENCODER_ADAPTER_H
#define INPUT_EVENTS_BASE_TABLE_ENCODER_ADAPTER_H
 
#include "IEncoderAdapter.h"
#include <Arduino.h>
 
class BaseTableEncoderAdapter : public IEncoderAdapter {
public:
 
    virtual int32_t getPosition() override { 
        if ( !_externalUpdate ) update();
        return _position;
    }
 
 
    virtual void setPosition(int32_t pos) { 
        _position = pos; 
    }
 
    virtual void update() {
        uint8_t state = (readPin(_pinA) << 1) | readPin(_pinB);
        uint8_t idx = (_prevState << 2) | state;
        _position += table[idx];
        _prevState = state;
    }
 
    virtual ~BaseTableEncoderAdapter() {}
 
protected:
 
    virtual uint8_t readPin(uint8_t pin) const = 0;
 
    // Quadrature lookup table
    static constexpr int8_t table[16] = {
        0, 1, -1, 0,
        -1, 0, 0, 1,
        1, 0, 0, -1,
        0, -1, 1, 0
    };
 
    uint8_t _pinA, _pinB;
    uint8_t _prevState = 0;
    int32_t _position = 0;
    bool _externalUpdate = false; 
 
};
 
 
 
#endif