From b62dd11dd60cf1ffe0ce83c504d986314b16c19e Mon Sep 17 00:00:00 2001
From: Duckida <61168649+duckida@users.noreply.github.com>
Date: Wed, 29 Oct 2025 16:40:14 +0000
Subject: [PATCH 1/2] Adds motor encoder demo code

---
 sampleCode/encoder_demo.py | 58 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 58 insertions(+)
 create mode 100644 sampleCode/encoder_demo.py

diff --git a/sampleCode/encoder_demo.py b/sampleCode/encoder_demo.py
new file mode 100644
index 0000000..1a8cf9b
--- /dev/null
+++ b/sampleCode/encoder_demo.py
@@ -0,0 +1,58 @@
+# UKMARS Gemini Encoder Demo
+# Oct 29 2025
+# Prints the left and right motor encoder values
+
+from machine import Pin
+from time import sleep
+
+# Define pins
+# You may need to swap the numbers if one encoder is negative when going forward
+left_a = Pin(8, Pin.IN, Pin.PULL_UP)
+left_b = Pin(9, Pin.IN, Pin.PULL_UP)
+
+right_a = Pin(7, Pin.IN, Pin.PULL_UP)
+right_b = Pin(6, Pin.IN, Pin.PULL_UP)
+
+
+# Global state
+last_left_a = left_a.value()
+last_right_a = left_a.value()
+
+left_counts = 0
+right_counts = 0
+
+def left_encoder_callback(pin):
+    global left_counts, last_left_a
+    a = left_a.value()
+    b = left_b.value()
+    
+    if a != last_left_a:
+        # Check direction based on B when A changes
+        if a == b:
+            left_counts -= 1
+        else:
+            left_counts += 1
+        last_a = a
+        
+def right_encoder_callback(pin):
+    global right_counts, last_right_a
+    a = right_a.value()
+    b = right_b.value()
+    
+    if a != last_right_a:
+        # Check direction based on B when A changes
+        if a == b:
+            right_counts -= 1
+        else:
+            right_counts += 1
+        last_a = a
+
+
+# Attach interrupts
+left_a.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=left_encoder_callback)
+right_a.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=right_encoder_callback)
+
+# Main loop
+while True:
+    print(f"Left: {left_counts} Right: {right_counts}")
+    sleep(0.1)

From a0f3b38daa7ab3eaa61ad9868d8373a860718385 Mon Sep 17 00:00:00 2001
From: Duckida <61168649+duckida@users.noreply.github.com>
Date: Thu, 30 Oct 2025 18:13:54 +0000
Subject: [PATCH 2/2] Fix variable name for last encoder value tracking

---
 sampleCode/encoder_demo.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/sampleCode/encoder_demo.py b/sampleCode/encoder_demo.py
index 1a8cf9b..3acbcfc 100644
--- a/sampleCode/encoder_demo.py
+++ b/sampleCode/encoder_demo.py
@@ -32,7 +32,7 @@ def left_encoder_callback(pin):
             left_counts -= 1
         else:
             left_counts += 1
-        last_a = a
+        last_left_a = a
         
 def right_encoder_callback(pin):
     global right_counts, last_right_a
@@ -45,7 +45,7 @@ def right_encoder_callback(pin):
             right_counts -= 1
         else:
             right_counts += 1
-        last_a = a
+        last_right_a = a
 
 
 # Attach interrupts