rotaryio – Support for reading rotation sensors

The rotaryio module contains classes to read different rotation encoding schemes. See Wikipedia’s Rotary Encoder page for more background.

All classes change hardware state and should be deinitialized when they are no longer needed if the program continues after use. To do so, either call deinit() or use a context manager. See Lifetime and ContextManagers for more info.

Available on these boards
  • 8086 Commander
  • @sarfata shIRtty
  • ARAMCON Badge 2019
  • ARAMCON2 Badge
  • ATMegaZero ESP32-S2
  • Adafruit CLUE nRF52840 Express
  • Adafruit Circuit Playground Bluefruit
  • Adafruit Circuit Playground Express 4-H
  • Adafruit CircuitPlayground Express
  • Adafruit CircuitPlayground Express with Crickit libraries
  • Adafruit EdgeBadge
  • Adafruit Feather Bluefruit Sense
  • Adafruit Feather M0 Adalogger
  • Adafruit Feather M0 Basic
  • Adafruit Feather M0 Express
  • Adafruit Feather M0 Express with Crickit libraries
  • Adafruit Feather M4 CAN
  • Adafruit Feather M4 Express
  • Adafruit Feather RP2040
  • Adafruit Feather nRF52840 Express
  • Adafruit FunHouse
  • Adafruit Gemma M0
  • Adafruit Gemma M0 PyCon 2018
  • Adafruit Grand Central M4 Express
  • Adafruit Hallowing M4 Express
  • Adafruit ItsyBitsy M0 Express
  • Adafruit ItsyBitsy M4 Express
  • Adafruit ItsyBitsy RP2040
  • Adafruit ItsyBitsy nRF52840 Express
  • Adafruit LED Glasses Driver nRF52840
  • Adafruit Macropad RP2040
  • Adafruit MagTag
  • Adafruit Matrix Portal M4
  • Adafruit Metro ESP32S2
  • Adafruit Metro M0 Express
  • Adafruit Metro M4 Airlift Lite
  • Adafruit Metro M4 Express
  • Adafruit Metro nRF52840 Express
  • Adafruit Monster M4SK
  • Adafruit PyGamer
  • Adafruit PyPortal
  • Adafruit PyPortal Pynt
  • Adafruit PyPortal Titano
  • Adafruit PyRuler
  • Adafruit Pybadge
  • Adafruit QT Py M0
  • Adafruit QT Py M0 Haxpress
  • Adafruit QT Py RP2040
  • Adafruit QT2040 Trinkey
  • Adafruit Rotary Trinkey M0
  • Adafruit Trellis M4 Express
  • Adafruit Trinket M0
  • AloriumTech Evo M51
  • Arduino MKR Zero
  • Arduino MKR1300
  • Arduino Nano 33 BLE
  • Arduino Nano 33 IoT
  • Arduino Nano RP2040 Connect
  • Arduino Zero
  • Artisense Reference Design RD00
  • AtelierDuMaker nRF52840 Breakout
  • BDMICRO VINA-D21
  • BDMICRO VINA-D51
  • BLE-SS dev board Multi Sensor
  • BastBLE
  • BastWiFi
  • BlueMicro840
  • CP Sapling M0
  • CP Sapling M0 w/ SPI Flash
  • CP32-M4
  • Capable Robot Programmable USB Hub
  • Cedar Grove StringCar M0 Express
  • Challenger NB RP2040 WiFi
  • Challenger RP2040 LTE
  • Challenger RP2040 WiFi
  • Circuit Playground Express Digi-Key PyCon 2019
  • CircuitBrains Basic
  • CircuitBrains Deluxe
  • CrumpS2
  • Cytron Maker Pi RP2040
  • DynOSSAT-EDU-OBC
  • DynaLoRa_USB
  • ESP 12k NodeMCU
  • Electronic Cats Bast Pro Mini M0
  • Electronic Cats CatWAN USBStick
  • Electronic Cats Hunter Cat NFC
  • Electronic Cats NFC Copy Cat
  • Electronut Labs Blip
  • Electronut Labs Papyr
  • EncoderPad RP2040
  • Escornabot Makech
  • Feather ESP32S2 without PSRAM
  • FeatherS2
  • FeatherS2 Neo
  • FeatherS2 PreRelease
  • Fluff M0
  • Franzininho WIFI w/Wroom
  • Franzininho WIFI w/Wrover
  • Gravitech Cucumber M
  • Gravitech Cucumber MS
  • Gravitech Cucumber R
  • Gravitech Cucumber RS
  • HMI-DevKit-1.1
  • Hacked Feather M0 Express with 8Mbyte SPI flash
  • HalloWing M0 Express
  • HiiBot BlueFi
  • IkigaiSense Vita nRF52840
  • J&J Studios datum-Distance
  • J&J Studios datum-IMU
  • J&J Studios datum-Light
  • J&J Studios datum-Weather
  • Kaluga 1
  • LILYGO TTGO T8 ESP32-S2 w/Display
  • LoC BeR M4 base board
  • MDBT50Q-DB-40
  • MDBT50Q-RX Dongle
  • MORPHEANS MorphESP-240
  • MakerDiary nRF52840 MDK
  • MakerDiary nRF52840 MDK USB Dongle
  • Makerdiary M60 Keyboard
  • Makerdiary Pitaya Go
  • Makerdiary nRF52840 M.2 Developer Kit
  • Melopero Shake RP2040
  • Meow Meow
  • MicroDev microS2
  • Mini SAM M4
  • Oak Dev Tech BREAD2040
  • Oak Dev Tech PixelWing ESP32S2
  • Open Hardware Summit 2020 Badge
  • PCA10056 nRF52840-DK
  • PCA10059 nRF52840 Dongle
  • PCA10100 nRF52833 DK
  • Particle Argon
  • Particle Boron
  • Particle Xenon
  • PicoPlanet
  • Pimoroni Interstate 75
  • Pimoroni Keybow 2040
  • Pimoroni PGA2040
  • Pimoroni Pico LiPo (16MB)
  • Pimoroni Pico LiPo (4MB)
  • Pimoroni PicoSystem
  • Pimoroni Plasma 2040
  • Pimoroni Tiny 2040
  • PyCubedv04
  • PyCubedv04-MRAM
  • PyCubedv05
  • PyCubedv05-MRAM
  • PyKey60
  • Raspberry Pi Pico
  • Robo HAT MM1 M4
  • S2Mini
  • S2Pico
  • SAM E54 Xplained Pro
  • SAM32v26
  • Saola 1 w/Wroom
  • Saola 1 w/Wrover
  • Seeeduino Wio Terminal
  • Seeeduino XIAO
  • Seeeduino XIAO KB
  • Serpente
  • Silicognition LLC M4-Shim
  • SparkFun LUMIDrive
  • SparkFun MicroMod RP2040 Processor
  • SparkFun MicroMod SAMD51 Processor
  • SparkFun MicroMod nRF52840 Processor
  • SparkFun Pro Micro RP2040
  • SparkFun Pro nRF52840 Mini
  • SparkFun Qwiic Micro
  • SparkFun RedBoard Turbo
  • SparkFun SAMD21 Dev Breakout
  • SparkFun SAMD21 Mini Breakout
  • SparkFun Thing Plus - RP2040
  • SparkFun Thing Plus - SAMD51
  • StackRduino M0 PRO
  • TG-Boards' Datalore IP M4
  • TG-Watch
  • Targett Module Clip w/Wroom
  • Targett Module Clip w/Wrover
  • Teknikio Bluebird
  • The Open Book Feather
  • TinkeringTech ScoutMakes Azul
  • TinyS2
  • Trinket M0 Haxpress
  • UARTLogger II
  • WarmBit BluePixel nRF52840
  • Winterbloom Big Honking Button
  • Winterbloom Sol
  • keithp.com snekboard
  • micro:bit v2
  • nanoESP32-S2 w/Wrover
  • nanoESP32-S2 w/Wroom
  • ndGarage[n°] Bit6: FeatherSnow-v2
  • ndGarage[n°]Bit6:FeatherSnow
  • nice!nano
  • senseBox MCU
  • uChip
  • uGame10

class rotaryio.IncrementalEncoder(pin_a: microcontroller.Pin, pin_b: microcontroller.Pin, divisor: int = 4)

IncrementalEncoder determines the relative rotational position based on two series of pulses.

Create an IncrementalEncoder object associated with the given pins. It tracks the positional state of an incremental rotary encoder (also known as a quadrature encoder.) Position is relative to the position when the object is contructed.

Parameters
  • pin_a (Pin) – First pin to read pulses from.

  • pin_b (Pin) – Second pin to read pulses from.

  • divisor (int) – The divisor of the quadrature signal.

For example:

import rotaryio
import time
from board import *

enc = rotaryio.IncrementalEncoder(D1, D2)
last_position = None
while True:
    position = enc.position
    if last_position == None or position != last_position:
        print(position)
    last_position = position
divisor :int

The divisor of the quadrature signal. Use 1 for encoders without detents, or encoders with 4 detents per cycle. Use 2 for encoders with 2 detents per cycle. Use 4 for encoders with 1 detent per cycle.

position :int

The current position in terms of pulses. The number of pulses per rotation is defined by the specific hardware and by the divisor.

deinit(self)None

Deinitializes the IncrementalEncoder and releases any hardware resources for reuse.

__enter__(self)IncrementalEncoder

No-op used by Context Managers.

__exit__(self)None

Automatically deinitializes the hardware when exiting a context. See Lifetime and ContextManagers for more info.