esp32-node/src/rotary.cpp

 /* interrupt routine for Rotary Encoders
   tested with Noble RE0124PVB 17.7FINB-24 http://www.nobleusa.com/pdf/xre.pdf - available at pollin.de
   and a few others, seems pretty universal

   The average rotary encoder has three pins, seen from front: A C B
   Clockwise rotation A(on)->B(on)->A(off)->B(off)
   CounterCW rotation B(on)->A(on)->B(off)->A(off)

   and may be a push switch with another two pins, pulled low at pin 8 in this case
   raf@synapps.de 20120107

*/

#include "rotary.h"

//using namespace std;

Rotary::Rotary() {}

bool Rotary::begin(uint8_t pinA, uint8_t pinB, uint8_t pinButton) {
  this->pinA = pinA;
  this->pinB = pinB;
  this->pinButton = pinButton;
  pinMode(pinA, INPUT_PULLUP);
  pinMode(pinB, INPUT_PULLUP);
  pinMode(pinButton, INPUT_PULLUP);

  encoder = new ClickEncoder(pinA, pinB, pinButton, 4);
  //encoder->setButtonOnPinZeroEnabled(true);

  xTaskCreate(
                    &cTaskWrapper,          /* Task function. */
                    "encoderTask",        /* String with name of task. */
                    1024,            /* Stack size in words. */
                    this,             /* Parameter passed as input of the task */
                    tskIDLE_PRIORITY+2,                /* Priority of the task. */
                    &taskHandle);            /* Task handle. */
  return true;
}

void Rotary::cTaskWrapper(void* parameters) {
  static_cast<Rotary*>(parameters)->task(NULL);
}

void Rotary::task(void *pvParameters) {
  while(true) {
    encoder->service();
    value += encoder->getValue();
    if (value != last) {
      last = value;
      if (callback) callback(value);
    }
    vTaskDelay(1 / portTICK_PERIOD_MS);
  }
  vTaskDelete(NULL);
}

bool Rotary::registerCallback(std::function<void(int)> callback) {
  this->callback = callback;
  return true;
}