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#ifndef ROTARYENCODER_h
#define ROTARYENCODER_h
class RotaryEncoder {
// Private members:
int _pinA;
int _pinB;
int _state[2];
int _position;
unsigned long _timer;
int _debounceInterval = 1;
// {newPin2, newPin1, oldPin2, oldPin1}
int movements[5][4][4] = {
{ // No movement
{0, 0, 0, 0},
{0, 1, 0, 1},
{1, 0, 1, 0},
{1, 1, 1, 1}
},
{ // +1
{0, 0, 0, 1},
{0, 1, 1, 1},
{1, 0, 0, 0},
{1, 1, 1, 0}
},
{ // -1
{0, 0, 1, 0},
{0, 1, 0, 0},
{1, 0, 1, 1},
{1, 1, 0, 1}
},
{ // +2
{0, 0, 1, 1},
{1, 1, 0, 0}
},
{ // -2
{0, 1, 1, 0},
{1, 0, 0, 1}
},
};
// Private Functions:
void _setState(int a, int b) {
_state[0] = a;
_state[1] = b;
}
void _incrementPosition(int delta) {
_position = _position + delta;
}
int _findChange(int state1[2], int state2[2]) {
int stateAppend[] = {state1[1], state1[0], state2[1], state2[0]};
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 4; j++) {
if (_compareArrays(stateAppend, movements[i][j])) {
if (i == 0) {
return 0;
}
else if (i == 1) {
return 1;
}
else if (i == 2) {
return -1;
}
else if (i == 3) {
return 2;
}
else if (i == 4) {
return -2;
}
}
}
}
for (int i = 3; i < 5; i++) {
for (int j = 0; j < 2; j++) {
if (_compareArrays(stateAppend, movements[i][j])) {
if (i == 3) {
return 2;
}
else if (i == 4) {
return -2;
}
}
}
}
Serial.println("INVALID DATA");
return 0;
}
boolean _compareArrays(int a[4], int b[4]) {
if (a[0] != b[0]) {
return false;
}
if (a[1] != b[1]) {
return false;
}
if (a[2] != b[2]) {
return false;
}
if (a[3] != b[3]) {
return false;
}
return true;
}
public:
//Public Functions:
RotaryEncoder(int pinA, int pinB) : _pinA(pinA), _pinB(pinB) {
pinMode(_pinA, INPUT_PULLUP);
pinMode(_pinB, INPUT_PULLUP);
_timer = millis();
_setState(digitalRead(_pinA), digitalRead(_pinB));
setPosition(0);
}
void initInterupts(void(*function)()) {
attachInterrupt(_pinA, function, CHANGE);
attachInterrupt(_pinB, function, CHANGE);
}
void setPosition(int value) {
_position = value;
}
void tick() {
int tempState[] = {digitalRead(_pinA), digitalRead(_pinB)};
int change = _findChange(tempState, _state);
if (change != 0) {
_incrementPosition(change);
Serial.println(_position);
}
_setState(tempState[0], tempState[1]);
}
};
#endif