Arduino-esp32: can not run 2 encoders with interrupts

[cnc4less]

this the code i made for two encoders, the problem is that both encoders
will have the same pins and will share the same results, for example

if setup then the freqEnc will be working and pwmEnc will just share the same value
pwmEnc.begin();
freqEnc.begin();

if setup then the pwmEnc will be working and freqEnc will just share the same value
freqEnc.begin();
pwmEnc.begin();

maybe something wrong with the attachInterrupt with esp32 !!! please advise.

espEncoder class
void espEncoder::begin() {
pinMode(encoderPinA, INPUT_PULLUP);
pinMode(encoderPinB, INPUT_PULLUP);
attachInterrupt(encoderPinA, read_encoder, CHANGE);
attachInterrupt(encoderPinB, read_encoder, CHANGE);

---

include "Arduino.h"

include "espEncoder.h"

espEncoder freqEnc(4, 5);
espEncoder pwmEnc(16, 17);

volatile int NewValueFreq, OldValueFreq = 0;
volatile int NewValuePwm, OldValuePwm = 0;

void setup() {

Serial.begin(115200);
delay(1000);
pwmEnc.begin();
freqEnc.begin();
}

void loop() {
NewValueFreq = freqEnc.Value();
if (OldValueFreq != NewValueFreq) {
Serial.print("Freq ? = ");
Serial.println(NewValueFreq);
OldValueFreq = NewValueFreq;
}

delay(50);

NewValuePwm = pwmEnc.Value();
if (OldValuePwm != NewValuePwm) {
Serial.print("Pwm ? = ");
Serial.println(NewValuePwm);
OldValuePwm = NewValuePwm;
}
}

[me-no-dev]

Maybe post more of the class source? Where is the constructor? Class properties?

[cnc4less]

/*
   espEncoder.cpp

    Created on: Aug 9, 2014
        Author: Konstantin Gredeskoul


// grey code
// http://hades.mech.northwestern.edu/index.php/Rotary_Encoder
// also read up on 'Understanding Quadrature Encoded Signals'
// https://www.pjrc.com/teensy/td_libs_Encoder.html
//int8_t enc_states[] = { 0, -1, 1, 0, 1, 0, 0, -1, -1, 0, 0, 1, 0, 1, -1, 0 };
//static int16_t lastencoder = 0;


*/

int8_t enc_states[] = { 0, -1, 1, 0, 1, 0, 0, -1, -1, 0, 0, 1, 0, 1, -1, 0 };

#include "espEncoder.h"
#include "Arduino.h"

volatile int16_t encoderPoss = 0;
uint8_t encoderPinAA;
uint8_t encoderPinBB;
uint8_t encoderPinButton;
uint8_t old_AB = 0;



void  read_encoder() {


  old_AB <<= 2;
  old_AB |= ((digitalRead(encoderPinBB)) ? (1 << 1) : 0)
            | ((digitalRead(encoderPinAA)) ? (1 << 0) : 0);
  encoderPoss += (enc_states[(old_AB & 0x0F)]);
}


espEncoder::espEncoder(uint8_t rotaryPinA, uint8_t rotaryPinB)

{

  encoderPinA = rotaryPinA;
  encoderPinB = rotaryPinB;

  encoderPinAA = rotaryPinA;
  encoderPinBB = rotaryPinB;


}



void espEncoder::begin() {


  pinMode(encoderPinA, INPUT_PULLUP);
  pinMode(encoderPinB, INPUT_PULLUP);


  attachInterrupt(encoderPinA, read_encoder, CHANGE);
  // delay(50);

  attachInterrupt(encoderPinB, read_encoder, CHANGE);
}

int16_t espEncoder::Value() {

  return  encoderPoss /  4;

}

[cnc4less]

/*
 * espEncoder.h
 *
 *  Created on: Apr 24, 2017
 *      Author: goodness
 */

#ifndef ESPENCODER_H_
#define ESPENCODER_H_

/*
 * espEncoder
 *
 *  Created on: Aug 9, 2014
 *      Author: Konstantin Gredeskoul
 *
 *  (c) 2014 All rights reserved.  Please see LICENSE.
 *
 *  Example of such Rotary Encoder is this one:
 *  https://www.adafruit.com/products/377
 *
 */

/*
 #if defined(ARDUINO) && ARDUINO >= 100
 #include <Arduino.h>
 #else
 #include //<WProgram.h>
 #include <pins_arduino.h>
 #endif
 */

#include <Arduino.h>
//#include "Encoder.h"
//#include <pins_arduino.h>

#define DEBOUNCE_DELAY      30

// once you press the button, no other events to the button matter
// until this time has passed.
#define BUTTON_PRESS_DELAY 300

class espEncoder {
public:
    // int16_t encoderPos = 0;
     espEncoder(uint8_t rotaryPinA, uint8_t rotaryPinB);
    // void read_encoder();
    void begin();
    bool buttonClicked();
    int16_t Value(); 

private:
//int16_t Value();
  int16_t encoderPos = 0;
    uint8_t encoderPinA;
    uint8_t encoderPinB;
    int _buttonPin;
    bool _hasNotReadRotary;
    unsigned long int _lastButtonPressedAt;
    signed long int _lastRotaryValue;
};

#endif /* ESPENCODER_H_ */

[cnc4less]

serial output coming from encoder on pis 16,17 , the other one just dead. and vise vesa if i switch the order in the setup of which one gets initialized last.

Freq ? = -1
Pwm ? = 0
Freq ? = 0
Pwm ? = -1
Freq ? = -1
Pwm ? = -2
Freq ? = -2
Pwm ? = -3
Freq ? = -3
Pwm ? = -4
Freq ? = -4
Pwm ? = -5
Freq ? = -5

[me-no-dev]

Those are global so maybe that is your problem

volatile int16_t encoderPoss = 0;
uint8_t encoderPinAA;
uint8_t encoderPinBB;
uint8_t encoderPinButton;
uint8_t old_AB = 0;

[cnc4less]

i changed them and made the in many formats from class to class objects of pointers still all have the same results, will you please explain how to fix it if u still believe it is just problem in the code not else.

[me-no-dev]

it surely is somewhere in the code :) there is no other reason. Sadly I do not have the time currently to get two encoders and go through the code :(

[everslick]

This issue is closed, because it looks as if it is not a bug or problem with the ESP32 Arduino core or its support libraries. For general API usage questions or help on specific coding challenges, please visit the arduino-esp32 Gitter channel. If you feel this issue was closed in error, reopen it and comment, why you think this is a bug in the Arduino-Core.

[zhivko]

I created fork of this project at: https://github.com/zhivko/ai-esp32-rotary-encoder that allows you to have multiple instances.
Also I created pull request.
Please check if you still have the problem.