Rotary Encoder On IRQ RaspberryPi Pico

RotaryEncoderOnIRQ.py

from machine import Pin, I2C
from ssd1306 import SSD1306_I2C
import framebuf
import utime

DT_Pin = Pin(15, Pin.IN)#, Pin.PULL_UP)
CLK_Pin = Pin(14, Pin.IN)#, Pin.PULL_UP)
SW = Pin(2, Pin.IN)#, Pin.PULL_UP)

i2c = I2C(0, scl = Pin(17), sda = Pin(16), freq=400000)

display = SSD1306_I2C(128, 64, i2c)
display.rotate(2)

value = 0

inTurn=0 # -1 for left, +1 for right, 0 - for none
elimateStartClk = 0 # value of utime.ticks_us() when we started eliminating input
IGNORE_MS=500 # when something goes wrong, how long we will ignore input for

lastTick=0


def CLK_Pin_ISR(chn):
    global lastTick
    global elimateStartClk
    global inTurn
    global IGNORE_MS
    global value

    print("CLK %s" % str(chn.value()))

    if elimateStartClk != 0: #do we ignore it?
        currentClk = utime.ticks_us()
        diff = currentClk-elimateStartClk
        if (diff < IGNORE_MS) & (diff > 0):
            print("rejected1 %s" % str(diff))
            return
    elimateStartClk = 0
    
    if chn.value() == 0:
        if inTurn == 0:
            inTurn=-1
            print("start right")
    else:
        if inTurn == -1:
            inTurn = 0
            value += 1

        if inTurn == -1 | inTurn == 1:
            pass
        else:
            elimateStartClk = utime.ticks_us() #something's wrong
            

def DT_Pin_ISR(chn):
    global lastTick
    global elimateStartClk
    global inTurn
    global IGNORE_MS
    global value

    print("DT %s" % str(chn.value()))

    if elimateStartClk != 0: #do we ignore it?
        currentClk = utime.ticks_us()
        diff = currentClk-elimateStartClk
        if (diff < IGNORE_MS) & (diff > 0):
            print("rejected2 %s" % str(diff))
            return
    elimateStartClk = 0
    
    if chn.value() == 0:
        if inTurn == 0:
            print("start left")
            inTurn=1            
    else:
        if inTurn == 1:
            inTurn = 0
            value -= 1
        if inTurn == -1 | inTurn == 1:
            pass
        else:
            elimateStartClk = utime.ticks_us() #something's wrong


CLK_Pin.irq(trigger=Pin.IRQ_FALLING | Pin.IRQ_RISING, handler=CLK_Pin_ISR)
DT_Pin.irq(trigger=Pin.IRQ_FALLING | Pin.IRQ_RISING, handler=DT_Pin_ISR)

while True:
    display.text('Counter:',0,0)
    display.text(str(value), 0,14)
    display.text(str(utime.ticks_us()), 0,30)    
    display.show()
    display.fill(0)
    utime.sleep(0.05)