Edited encoder.py to work without global variables

mappingbot/encoder.py

@@ -8,70 +8,69 @@ print(GPIO.VERSION)
 class Encoder:
 
     def __init__(self, name, encoder_pin: int):
-        # Initialize some stuff
-        global pulse_count, start_time, time_passed, old_time_passed, old_pulse_count
+        """Initialize some stuff"""
         self.name = name
         self.encoder_pin = encoder_pin
-        pulse_count = 0
-        start_time = time.time()
-        time_passed = 0
-        old_time_passed = 0
-        old_pulse_count = 0
+        self.pulse_count = 0
+        self.start_time = time.time()
+        self.time_passed = 0
+        self.old_time_passed = 0
+        self.old_pulse_count = 0
 
         GPIO.setup(self.encoder_pin, GPIO.IN, GPIO.PUD_DOWN)
 
     def callback_encoder(self, channel):
-        # Interrupt handler, increases pulse_count and updates time
-        global pulse_count, start_time, time_passed
-        time_passed = time.time() - start_time
-        pulse_count += 1
+        """Interrupt handler, increases pulse_count and updates time"""
+        self.time_passed = time.time() - self.start_time
+        self.pulse_count += 1
 
     def get_pulse_count(self) -> int:
-        # return pulse_count
-        global pulse_count
-        return pulse_count
+        """return pulse_count"""
+        return self.pulse_count
 
     def reset_pulse_count(self):
-        # reset pulse_count
-        global pulse_count
-        pulse_count = 0
+        """reset pulse_count"""
+        self.pulse_count = 0
 
     def reset_time(self):
-        # reset time_passed and start_time
-        global time_passed, start_time
-        time_passed = 0
-        start_time = time.time()
+        """reset time_passed and start_time"""
+        self.time_passed = 0
+        self.start_time = time.time()
 
     def get_current_pulse_speed(self) -> float:
-        # Get average speed since last call in pulses/s
-        global pulse_count, time_passed, old_time_passed, old_pulse_count
-        if (time_passed - old_time_passed):
-            speed = (pulse_count - old_pulse_count) / (time_passed - old_time_passed)
+        """Get average speed since last call in pulses/s"""
+        if self.time_passed - self.old_time_passed != 0:  # If the time has changed
+            speed = (self.pulse_count - self.old_pulse_count) / (self.time_passed - self.old_time_passed)
         else:
             speed = 0
-        old_pulse_count = pulse_count
-        old_time_passed = time_passed
+        self.old_pulse_count = self.pulse_count
+        self.old_time_passed = self.time_passed
         return speed
 
     def get_speed(self) -> float:
-        # Convert pulse speed to cm/s
+        """Convert pulse speed to cm/s"""
         pulse_per_second = self.get_current_pulse_speed()
         return pulse_per_second * (6 * 2 * math.pi) / 40
 
     def init_callback(self):
-        # Initialize the interrupt
+        """Initialize the interrupt"""
         GPIO.add_event_detect(self.encoder_pin, GPIO.BOTH, callback=self.callback_encoder, bouncetime=10)
 
-# try:
-#     encoder1 = Encoder(name="encoder1", encoder_pin=4)
-#     encoder1.init_callback()
-#     while True:
-#         print(encoder1.get_pulse_count())
-#         print(encoder1.get_speed())
-#         time.sleep(1)
-# except KeyboardInterrupt:  # Exit by pressing CTRL + C
-#     GPIO.cleanup()
-#     print("Measurement stopped by User")
-# finally:
-#     GPIO.cleanup()
+if __name__ == '__main__':
+    try:
+        # encoder1 = Encoder(name="encoder1", encoder_pin=4)
+        encoder1 = Encoder(name='encoder1', encoder_pin=23)
+        encoder2 = Encoder(name='encoder2', encoder_pin=24)
+        encoder1.init_callback()
+        encoder2.init_callback()
+        while True:
+            print("%s pulses: %d" % (encoder1.name, encoder1.get_pulse_count()))
+            print("%s speed : %0.2f" % (encoder1.name, encoder1.get_speed()))
+            print("%s pulses: %d" % (encoder2.name, encoder2.get_pulse_count()))
+            print("%s speed : %0.2f" % (encoder2.name, encoder2.get_speed()))
+            time.sleep(1)
+    except KeyboardInterrupt:  # Exit by pressing CTRL + C
+        print("Measurement stopped by User")
+    finally:
+        GPIO.cleanup()