from machine import PWM,Pin
from time import sleep
from servo import Servo
from encoder import RotaryEncoder


servo1 = Servo(12)
servo2 = Servo(14)

def rotation_handler(direction):
    if direction == RotaryEncoder.ROT_CW:
        servo1.rotate(9)
        servo2.rotate(-9)
    else:
        servo1.rotate(-9)
        servo2.rotate(9)


myEncoder = RotaryEncoder(26,27,rotation_handler)

def main():
    sleep(0.1)

print("Hello, ESP32!")
if __name__ == '__main__':
    while True:
        main()

main.py

diagram.json

from machine import PWM,Pin
from time import sleep

class Servo:
    def __init__(self,servo_pin):
        self.__pwm = PWM(Pin(servo_pin,Pin.OUT),freq = 50)

        self.current_angle = 0

        self.min_angle = 0
        self.max_angle = 180
        self.min_time = 0.5
        self.max_time = 2.5
        self.motor_speed = 60/0.1

    def move(self,angle):
        if not self.min_angle <= angle <= self.max_angle:
            return
        slope = (self.max_time - self.min_time) / (self.max_angle - self.min_angle)
        time_per_angle = (angle * slope)  + self.min_time
        duty_cycle = time_per_angle / 20
        pwm_value = duty_cycle * (2**10 -1)
        self.__pwm.duty(int(pwm_value))

        delta_angle = abs(angle - self.current_angle)
        time_delay = delta_angle / self.motor_speed
        time_delay = max(time_delay,0.02)
        
        self.current_angle = angle
        sleep(time_delay)

    def rotate(self,angle):
        target_angle = (self.current_angle + angle) % (self.max_angle +1)
        self.move(target_angle)

    

servo.py

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