from machine import Pin,PWM
from time import sleep
import math
from servo import Servo
from encoder import Encoder
import encoder


led_pin = PWM(Pin(14),freq=2)
#0.1 from 0.5 
led_pin.duty(int((20/100)*(2**10-1)))

def handle_encoder_rotation(direction):
  if direction == Encoder.ROT_CW:
    my_servo1.rotate(9)
    my_servo2.rotate(-9)
  else: 
    my_servo1.rotate(-9)
    my_servo2.rotate(9)



#frequency = 50 , time = 1/50 = 2*10-3 seconds --> 20ms
my_servo1 = Servo(15)
my_servo2 =Servo(16)
my_encoder = Encoder(25,26,handle_encoder_rotation)
my_servo1.configure(0,180,0.55,2.55)

print("Hello, ESP32!")

while True:
  pass



main.py

diagram.json

from machine import PWM,Pin
from time import sleep

class Servo:
    def __init__(self,pin):
        self.__pwm = PWM(Pin(pin),freq = 50)

        self.min_angle = 0
        self.max_angle = 180
        self.min_time = 0.5
        self.max_time = 2.5
        self.current_angle = 0

    
    def move(self,angle):
        # 0 --> 0.5ms
        # 180 --> 2.5ms
        # (2.5-0.5) / (180-0) --> For 1 degree
        # for X degree --> (X * (2/180)) + 0.5 --> on time for X degree
        time_per_angle = ((angle) * ((self.max_time-self.min_time)/(self.max_angle - self.min_angle)) )+ self.min_time
        #DUty cycle = onTime / totalTime
        duty_cycle_for_angle = time_per_angle / 20
        # pwm_value  = duty_cycle * max_value_pwm 
        pwm_config_value = duty_cycle_for_angle * ((2**16) -1)
        self.__pwm.duty_u16(int(pwm_config_value))
        self.current_angle = angle
        sleep(0.02)

    def rotate(self,angle):
        new_angle = (self.current_angle + angle) % 181
        self.move(new_angle)

    def configure(self,min_angle,max_angle,min_time,max_time):
        self.min_angle = min_angle
        self.max_angle = max_angle
        self.min_time = min_time
        self.max_time = max_time

servo.py

from machine import Pin
import time

class Encoder:

    ROT_CW = 0
    ROT_CCW = 1

    def rotary_change(self,pin):
        if self.clk_pin.value() == 0:
            dt_value = self.dt_pin.value()
            if dt_value == 1:
                self.handler_func(Encoder.ROT_CW)
            else:
                self.handler_func(Encoder.ROT_CCW)


    def __init__(self,clk,dt,handler_func):
        self.dt_pin = Pin(dt,Pin.IN,Pin.PULL_UP)
        self.clk_pin = Pin(clk,Pin.IN,Pin.PULL_UP)
        self.last_status = self.clk_pin.value()
        self.handler_func = handler_func
        
        self.clk_pin.irq(handler = self.rotary_change,trigger = Pin.IRQ_FALLING)


    