/* KY-040 Rotary Encoder Counter

   Rotate clockwise to count up, counterclockwise to counter done.

   Press to reset the counter.

   Copyright (C) 2021, Uri Shaked
*/

#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 16, 2);

#define ENCODER_CLK 2
#define ENCODER_DT  3
#define ENCODER_SW  4
#define led1 5
#define led2 6

int pauzamica = 250;
long oldPosition  = -999;
byte piviem1 = 0;
byte piviem2 = 0;
byte piviem = 0;
byte pwmmax = 255;
int spid =0;
float k = 25.5;
long posmax = (long)(pwmmax/k);
byte semn = 0;


int counter = 0;

void setup() {
Serial.begin(9600);
Serial.println(" ");
Serial.println("PWM control 2 outputs using Encoder !");

  // Initialize LCD
  lcd.init();
  lcd.backlight();

  // Initialize encoder pins
  pinMode(ENCODER_CLK, INPUT);
  pinMode(ENCODER_DT, INPUT);
  pinMode(ENCODER_SW, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(ENCODER_CLK), readEncoder, FALLING);

pinMode(led1, OUTPUT);
pinMode(led2, OUTPUT);

 analogWrite(led1, 0);
 analogWrite(led2, 0);

}

void readEncoder() {
  int dtValue = digitalRead(ENCODER_DT);
  if (dtValue == HIGH) {
    counter++; // Clockwise
    if (counter > posmax)
      {
  counter = posmax;
      }
  }
  if (dtValue == LOW) {
    counter--; // Counterclockwise
    if (counter < -posmax)
      {
   counter = -posmax;
      }
  }


if (counter > 0)
{
  piviem1 = k*counter;
  piviem2 = 0;
  piviem = piviem1;
  Serial.print(piviem1);
  Serial.print("/255 --> ");
  spid = map(piviem,0,255,0,100);
  Serial.print(spid);
  Serial.println("%");
  semn =1;
}

if (counter < 0)
{
  piviem1 = 0;
  piviem2 = -k*counter; 
  piviem = piviem2;
  Serial.print(piviem2);
  Serial.print("/255 --> ");
  spid = map(piviem,0,255,0,100);
  Serial.print(-spid);
  Serial.println("%");
  semn =2;
}

if (counter == 0)
{
  piviem1 = 0;
  piviem2 = 0;
  piviem = 0;
  semn = 0;
  Serial.print(piviem1);
  Serial.print("/255 --> ");
  spid = map(piviem,0,255,0,100);
  Serial.print(spid);
  Serial.println("%");
}



analogWrite(led1, piviem1);
analogWrite(led2, piviem2);



} // end main loop

// Get the counter value, disabling interrupts.
// This make sure readEncoder() doesn't change the value
// while we're reading it.
int getCounter() {
  int result;
  noInterrupts();
  result = counter;
  interrupts();
  return result;
}

void resetCounter() {
  noInterrupts();
  counter = 0;
  piviem1 = 0;
  piviem2 = 0;
  piviem = 0;
  spid =0;
  semn = 0;
  Serial.println("STOP!");
  interrupts();
}

void loop() {
  lcd.setCursor(0, 0);
  lcd.print("Speed:");
  lcd.setCursor(7,0);
  if (spid < 100) lcd.print(" ");
  if (spid < 10) lcd.print(" ");
  if (semn == 0) lcd.print(" ");
  if (semn == 1) lcd.print("+");
  if (semn == 2) lcd.print("-");
  lcd.print(spid);
  lcd.print("% ");


  lcd.setCursor(0, 1);
  lcd.print("PWM");
  if (semn == 0) lcd.print(" :");
  if (semn == 1) lcd.print("1:");
  if (semn == 2) lcd.print("2:");
  lcd.setCursor(5,1);
  if (piviem < 100) lcd.print(" ");
  if (piviem < 10) lcd.print(" ");

  lcd.print(piviem);
  lcd.print("/255 ");


  if (digitalRead(ENCODER_SW) == LOW) {
    resetCounter();
    delay(pauzamica);
  }
}