#define _TASK_SLEEP_ON_IDLE_RUN  // Enable 1 ms SLEEP_IDLE powerdowns between runs if no callback methods were invoked during the pass

#include <TaskScheduler.h>
#include <EnableInterrupt.h>

// ==== Scheduler ==============================
Scheduler ts;

void task1Callback();
void task2Callback();

// ==== Task definitions ========================
Task t1 (1000 * TASK_MILLISECOND, TASK_FOREVER, &task1Callback, &ts, true);
Task t2 (500 * TASK_MILLISECOND, TASK_FOREVER, &task2Callback, &ts, true);

const int buttonPin = 3;     // the number of the pushbutton pin
const int ledPin1 =  6;      // the number of the LED pin
const int ledPin2 =  4;      // the number of the LED pin
const int ledPin3 =  5;      // the number of the LED pin
const int ledPin4 =  9;      // the number of the LED pin
const int ledPin5 =  10;      // the number of the LED pin
const int encoderPinA = 2;
const int encoderPinB = 7;
const int encoderButtonPin = 8;

// variables will change:
volatile int buttonState1 = 0;         // variable for reading the pushbutton status
volatile bool ledState2 = false;         // variable for reading the pushbutton status
volatile bool ledState3 = false;         // variable for reading the pushbutton status
volatile int encoderPos = 10;

void setup() {
  // initialize the LED pin as an output:
  pinMode(ledPin1, OUTPUT);
  pinMode(ledPin2, OUTPUT);
  pinMode(ledPin3, OUTPUT);
  pinMode(ledPin4, OUTPUT);
  pinMode(ledPin5, OUTPUT);
  // initialize the pushbutton pin as an input:
  pinMode(buttonPin, INPUT);
  pinMode(encoderPinA, INPUT);
  pinMode(encoderPinB, INPUT);
  // Attach an interrupt to the ISR vector
  attachInterrupt(digitalPinToInterrupt(buttonPin), pin_ISR, CHANGE);
  attachInterrupt(digitalPinToInterrupt(encoderPinA), encoder_ISR, RISING);
}

void loop() {
  ts.execute();
}

void pin_ISR() {
  buttonState1 = digitalRead(buttonPin);
  digitalWrite(ledPin1, buttonState1);
}

void encoder_ISR() {
  static unsigned long lastInterruptTime = 0;
  unsigned long interruptTime = millis();

  if (interruptTime - lastInterruptTime > 5) {  // faster than 5ms is a bounce
    if (digitalRead(encoderPinB) == LOW) {
      // right turn
      encoderPos--;
      digitalWrite(ledPin4, HIGH);
      delay(100);
      digitalWrite(ledPin4, LOW);
    }
    else {
      // left turn
      encoderPos++;
      digitalWrite(ledPin5, HIGH);
      delay(100);
      digitalWrite(ledPin5, LOW);
    }
  }
  encoderPos = max(0, min(20, encoderPos));
  // update mode
}

void task1Callback() {
//  task code
  ledState2 = !ledState2;
  digitalWrite(ledPin2, ledState2);
}

void task2Callback() {
//  task code
  ledState3 = !ledState3;
  digitalWrite(ledPin3, ledState3);
}