From 21b2ff54a624a66fd716c656aa03772e3b7313c1 Mon Sep 17 00:00:00 2001
From: Jim Anderson <janderson@snaptron.com>
Date: Mon, 21 Jul 2025 14:10:42 -0600
Subject: [PATCH 1/2] Add method to change encoder encoding type.

---
 src/EncoderClass.cpp    |  9 +++++++++
 src/EncoderClass.h      | 10 ++++++++++
 src/utility/QEI/QEI.cpp | 32 +++++++++++++++++++-------------
 src/utility/QEI/QEI.h   |  9 ++++++++-
 4 files changed, 46 insertions(+), 14 deletions(-)

diff --git a/src/EncoderClass.cpp b/src/EncoderClass.cpp
index 3fe546f..7308f07 100644
--- a/src/EncoderClass.cpp
+++ b/src/EncoderClass.cpp
@@ -63,5 +63,14 @@ int EncoderClass::getRevolutions(int channel) {
     }
 }
 
+void EncoderClass::setEncoding(int channel, QEI::Encoding encoding) {
+    switch (channel) {
+        case 0:
+            return _enc0.setEncoding(encoding);
+        case 1:
+            return _enc1.setEncoding(encoding);
+    }
+}
+
 EncoderClass MachineControl_Encoders;
 /**** END OF FILE ****/
\ No newline at end of file
diff --git a/src/EncoderClass.h b/src/EncoderClass.h
index ecb18d1..3f76085 100644
--- a/src/EncoderClass.h
+++ b/src/EncoderClass.h
@@ -94,6 +94,16 @@ class EncoderClass {
      */
     int getRevolutions(int channel);
 
+    /**
+     * @brief Set the encoding type for the specified encoder channel.
+     * 
+     * This method changes the encoding type from the default X2_ENCODING.
+     * 
+     * @param channel The encoder channel (0 or 1) to be changed.
+     * @param encoding The encoding type.
+     */
+    void setEncoding(int channel, QEI::Encoding encoding);
+
 private:
     QEI _enc0;  // QEI object for encoder 0
     QEI _enc1;  // QEI object for encoder 1
diff --git a/src/utility/QEI/QEI.cpp b/src/utility/QEI/QEI.cpp
index db767db..7ef3f57 100644
--- a/src/utility/QEI/QEI.cpp
+++ b/src/utility/QEI/QEI.cpp
@@ -148,19 +148,7 @@ QEI::QEI(PinName channelA,
     currState_ = (chanA << 1) | (chanB);
     prevState_ = currState_;
 
-    //X2 encoding uses interrupts on only channel A.
-    //X4 encoding uses interrupts on      channel A,
-    //and on channel B.
-    channelA_.rise(mbed::callback(this, &QEI::encode));
-    if(encoding != X1_ENCODING){
-        channelA_.fall(mbed::callback(this, &QEI::encode));
-    }
-
-    //If we're using X4 encoding, then attach interrupts to channel B too.
-    if (encoding == X4_ENCODING) {
-        channelB_.rise(mbed::callback(this, &QEI::encode));
-        channelB_.fall(mbed::callback(this, &QEI::encode));
-    }
+    setEncoding(encoding);
     //Index is optional.
     if (index !=  NC) {
         index_.rise(mbed::callback(this, &QEI::index));
@@ -193,6 +181,24 @@ int QEI::getRevolutions(void) {
 
 }
 
+void QEI::setEncoding(Encoding encoding) {
+    //X2 encoding uses interrupts on only channel A.
+    //X4 encoding uses interrupts on      channel A,
+    //and on channel B.
+    channelA_.rise(mbed::callback(this, &QEI::encode));
+    if(encoding != X1_ENCODING){
+        channelA_.fall(mbed::callback(this, &QEI::encode));
+    } else {
+        channelA_.fall(0);
+    }
+
+    //If we're using X4 encoding, then attach interrupts to channel B too.
+    if (encoding == X4_ENCODING) {
+        channelB_.rise(mbed::callback(this, &QEI::encode));
+        channelB_.fall(mbed::callback(this, &QEI::encode));
+    }
+}
+
 // +-------------+
 // | X1 Encoding |
 // +-------------+
diff --git a/src/utility/QEI/QEI.h b/src/utility/QEI/QEI.h
index 8e6fba0..1d26730 100644
--- a/src/utility/QEI/QEI.h
+++ b/src/utility/QEI/QEI.h
@@ -176,7 +176,7 @@ class QEI {
      *                 of only channel A where as X4 uses them on both
      *                 channels.
      */
-    QEI(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding = X2_ENCODING);
+    QEI(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding = X4_ENCODING);
 
     /**
      * Reset the encoder.
@@ -208,6 +208,13 @@ class QEI {
      */
     int getRevolutions(void);
 
+    /**
+     * Set the ecoding type of the encoder.
+     * 
+     * Changes the type of encoding used by the encoder from the default X2_ENCODING.
+     */
+    void setEncoding(Encoding encoding);
+
 private:
 
     /**

From ddb326d7e05589e70f589e835bb0dabae2fb163e Mon Sep 17 00:00:00 2001
From: Jim Anderson <janderson@snaptron.com>
Date: Tue, 22 Jul 2025 06:14:11 -0600
Subject: [PATCH 2/2] Restore encoding default.

---
 src/utility/QEI/QEI.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/utility/QEI/QEI.h b/src/utility/QEI/QEI.h
index 1d26730..caa449d 100644
--- a/src/utility/QEI/QEI.h
+++ b/src/utility/QEI/QEI.h
@@ -176,7 +176,7 @@ class QEI {
      *                 of only channel A where as X4 uses them on both
      *                 channels.
      */
-    QEI(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding = X4_ENCODING);
+    QEI(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding = X2_ENCODING);
 
     /**
      * Reset the encoder.