#include <Wire.h>
#include <Encoder.h>;
#include <Servo.h>;
const int SW_PIN = 4;
const int PIN_A = 2;
const int PIN_B = 3;



// Change these two numbers to the pins connected to your encoder.
//   Best Performance: both pins have interrupt capability
//   Good Performance: only the first pin has interrupt capability
//   Low Performance:  neither pin has interrupt capability

//   avoid using pins with LEDs attached


Encoder myEnc(PIN_A, PIN_B);
const int homePosition = 90;
const int stepValue = 10;
const int servopin = 9;

Servo myservo;
int servoangle = homePosition;

void setup() {

  Serial.begin(9600);
  pinMode(SW_PIN, INPUT);
  Serial.println("Basic Encoder Test:");
    myservo.attach(servopin);  // attaches the servo on pin
    myservo.write(servoangle);//move servo to initial position
}

 long oldPosition  = -999;

void loop() {
  long newPosition = myEnc.read();
  if (newPosition != oldPosition) {
    
    if (newPosition > oldPosition)
    {
    int newstep = abs(newPosition - oldPosition);
    Serial.print("Angle");
    Serial.println(servoangle);
    servoangle -= stepValue;
    if(servoangle <0)
         servoangle=0;
    }
    if(newPosition < oldPosition){

     int newstep = abs(newPosition - oldPosition);
     Serial.print("Angle");
     Serial.println(servoangle);
     servoangle += stepValue;
     if(servoangle >180)
         servoangle=180;



    }
    oldPosition = newPosition;
    Serial.println(newPosition);
  }

  if ( digitalRead(SW_PIN) == LOW)
  {
    Serial.print("home:");
    Serial.println(homePosition);
     servoangle = homePosition;
                 myservo.write(servoangle);
                 
  }

  delay(200);
  //watch video details https://youtu.be/6xVLbNlmK-g
}