KY-040 Rotary encoder
When the rotary switch is moved, the direction of movement and the current position of the rotary switch are coded and output via the outputs.
When the rotary switch is moved, the direction of movement and the current position of the rotary switch are coded and output via the outputs and can therefore be used in other applications.
coding
The idea with a rotary switch / encoder is that for each rotated "step", the state only changes one of the two output pins. Depending on which of the two changed first, you can deduce the direction of rotation if you pay attention to the following coding.
Clockwise [A changes first] -> Pin_CLK
| A | B |
|---|---|
| 0 | 0 |
| 1 | 0 |
| 1 | 1 |
| 0 | 1 |
| 0 | 0 |
Counterclockwise [B changes first] -> Pin_DT
| A | B |
|---|---|
| 0 | 0 |
| 0 | 1 |
| 1 | 1 |
| 1 | 0 |
| 0 | 0 |
pin assignment
Code example Arduino
Pin assignment Arduino
| Arduino | Sensor |
|---|---|
| 5V | + V |
| Mass | GND |
| Pin 3 | CLK |
| Pin 4 | DT |
| Pin 5 | Button |
If the pin status has changed, the program checks which of the two pins changed first, which indicates the direction of rotation. This information is obtained by comparing one of the two pin values from a previous run with the value of the current run.
After the direction has been determined, the steps from the starting position are counted and output. Pressing the rotary encoder button resets the current position.
** For the serial output: baud rate = 115200 **
// Initialization of the required variables
int counter = 0;
boolean direction;
int Pin_clk_Last;
int Pin_clk_Aktuell;
// Definition of the input pins
int pin_clk = 3;
int pin_dt = 4;
int button_pin = 5;
void setup ()
{
// input pins are initialized ...
pinMode (pin_clk, INPUT);
pinMode (pin_dt, INPUT);
pinMode (button_pin, INPUT);
// ... and their pull-up resistors activated
digitalWrite (pin_clk, true);
digitalWrite (pin_dt, true);
digitalWrite (button_pin, true);
// Initial reading of the Pin_CLK
Pin_clk_last = digitalRead (pin_clk);
Serial.begin (115200);
}
// If the pin status has changed, the program checks which of the two
// Pins changed first, which indicates the direction of rotation.
// This information is obtained by taking one of the two pin values from a previous
// Compare pass with the value of the current pass.
// After the direction has been determined, the steps are counted and output from the start position.
// Pressing the rotary encoder button resets the current position.
void loop ()
{
// Read out the current status
Pin_clk_Aktuell = digitalRead (pin_clk);
// Check for change
if (Pin_clk_Aktuell! = Pin_clk_Lieter)
{
if (digitalRead (pin_dt)! = Pin_clk_Aktuell)
{
// Pin_CLK changed first
Counter ++;
Direction = true;
}
else
{// Otherwise, Pin_DT changed first
Direction = false;
Counter--;
}
Serial.println ("Rotation detected:");
Serial.print ("Direction of rotation:");
if (direction)
{
Serial.println ("clockwise");
}
else
{
Serial.println ("counterclockwise");
}
Serial.print ("Current position:");
Serial.println (Counter);
Serial.println ("------------------------------");
}
// Preparation for the next run:
// The value of the current run is the previous value for the next run
Pin_clk_Lieter = Pin_clk_Aktuell;
// Reset function to save the current position
if (! digitalRead (button_pin) && Counter! = 0)
{
Counter = 0;
Serial.println ("position reset");
}
}
Sample program download
Code example Raspberry Pi
Pin assignment Raspberry Pi
| Raspberry Pi | Sensor |
|---|---|
| GPIO 14 [pin 8] | Button |
| 3.3V [pin 1] | + V |
| Ground [pin 6] | GND |
| GPIO 16 [pin 36] | CLK |
| GPIO 15 [pin 10] | DT |
If the pin status has changed, the program checks which of the two pins changed first, which indicates the direction of rotation. This information is obtained by comparing one of the two pin values from a previous run with the value of the current run.
After the direction has been determined, the steps from the starting position are counted and output. Pressing the rotary encoder button resets the current position.
# coding=utf-8
# required modules are imported and set up
import RPi.GPIO as GPIO
import time
GPIO.setmode(GPIO.BCM)
# Here the input pins are declared, to which the sensor is connected.
PIN_CLK = 16
PIN_DT = 15
BUTTON_PIN = 14
GPIO.setup(PIN_CLK, GPIO.IN, pull_up_down = GPIO.PUD_UP)
GPIO.setup(PIN_DT, GPIO.IN, pull_up_down = GPIO.PUD_UP)
GPIO.setup(BUTTON_PIN, GPIO.IN, pull_up_down = GPIO.PUD_UP)
# Required variables are initialized
Counter = 0
direction = True
PIN_CLK_LAST = 0
PIN_CLK_CURRENT = 0
delayTime = 0.01
# Initial readout of the pin_CLK
PIN_CLK_LETZTER = GPIO.input(PIN_CLK)
# This output function is executed on signal detection
def outputFunction(null):
global Counter
PIN_CLK_CURRENT = GPIO.input(PIN_CLK)
if PIN_CLK_ACTUAL != PIN_CLK_LETZTER:
if GPIO.input(PIN_DT) != PIN_CLK_ACTUAL:
Counter += 1
Direction = True;
else:
Direction = False
Counter = Counter - 1
print ("Rotation detected: ")
if Direction:
print ("Direction of rotation: Clockwise")
else:
print ("Direction of rotation: Counterclockwise")
print ("Current position: ", Counter)
print ("------------------------------")
def CounterReset(null):
global Counter
print ("Position reset!")
print ("------------------------------")
Counter = 0
# To integrate a debounce directly, the functions for output are initialized using the
# CallBack option initialized by the GPIO Python module
GPIO.add_event_detect(PIN_CLK, GPIO.BOTH, callback=output_function, bouncetime=50)
GPIO.add_event_detect(BUTTON_PIN, GPIO.FALLING, callback=CounterReset, bouncetime=50)
print ("Sensor test [press CTRL+C to end test]")
# main program loop
try:
while True:
time.sleep(delayTime)
# clean up after the program is finished
except KeyboardInterrupt:
GPIO.cleanup()
Sample program download
To start with the command:
sudo python3 KY040.py
Code example Micro:Bit
Pinout Micro:Bit:
| Micro:Bit | Sensor |
|---|---|
| 3V | +V |
| ground | GND |
| Pin 1 | CLK |
| Pin 2 | DT |
| Pin 0 | Button |
This is a MakeCode example for Micro:Bit which essentially does the same as the examples of the other two variants. However, this example is closer to the Raspberry Pi example than the Arduino example.
