void *Rotary::monitor(void *arg) {
Rotary *rotary = static_cast<Rotary *>(arg);
int state = DETENT;
int last = -1;
while (rotary->run_state) {
int value = rotary->phase();
if (value != last) {
//printf("value: %x\n", value);
switch (state) {
case DETENT:
if (value == 2) {
state = CW_1;
}
else if (value == 1) {
state = CCW_1;
}
break;
case CW_1:
if (value == 0) {
state = DETENT;
}
else if (value == 3) {
state = CW_2;
}
break;
case CW_2:
if (value == 2) {
state = CW_1;
}
else if (value == 1) {
state = CW_3;
}
break;
case CW_3:
if (value == 1) {
state = CW_2;
}
else if (value == 0) {
state = DETENT;
rotary->_position++;
//printf("CW! position: %d\n", rotary->_position);
}
break;
case CCW_1:
if (value == 0) {
state = DETENT;
}
else if (value == 3) {
state = CCW_2;
}
break;
case CCW_2:
if (value == 1) {
state = CCW_1;
}
else if (value == 2) {
state = CCW_3;
}
break;
case CCW_3:
if (value == 3) {
state = CCW_2;
}
else if (value == 0) {
state = DETENT;
rotary->_position--;
//printf("CCW! position: %d\n", rotary->_position);
}
}
last = value;
//usleep(10);
}
//usleep(3);
rotary->loop_count++;
}
pthread_exit(NULL);
}
