Incremental Encoder Decode Trick
This is a simple trick to detrmine the direction of rotation of a 2bit incremental encoder. This avoids the traditional tree of if-then statements that looks at both bits on each transition. An XOR statment is used on the lower bit of the new sample and the upper bit of last sample.
// Incremental encoder decoding. uint new; uint old; bool direction; int count=0; /* Get the latest 2bit sample. */ new = get_new_bits(); // Your function to get new samples. /* XOR the lower bit from the new sample with the upper bit from the old.*/ direction = (new&1) ^ (old>>1) /* The "direction" var holds the direction of rotation. */ /* Transfer the new sample to the old sample. */ old = new; /* We can use this to inc or dec a counter to maintain position of rotation. */ if(direction) counter--; else counter++;