#define ENCODER_CLK 34
#define ENCODER_DT  35
#define ENCODER_SW  32
volatile int velocidad;
volatile int dt;
volatile int lastClk = HIGH;
volatile int marcha = HIGH;
volatile int incremento=4;
#define Ap 19  // A+ line
#define Am 18  // A- line
#define Bp 21   //  .
#define Bm 22   //  .

void setup() {
  Serial.begin(115200);
  pinMode(ENCODER_CLK, INPUT_PULLUP);
  pinMode(ENCODER_DT, INPUT_PULLUP);
  pinMode(ENCODER_SW, INPUT_PULLUP);
  pinMode(Ap,OUTPUT);  pinMode(Am,OUTPUT);
  pinMode(Bp,OUTPUT);  pinMode(Bm,OUTPUT);
 attachInterrupt(digitalPinToInterrupt(ENCODER_CLK), readEncoder, FALLING);
 attachInterrupt(digitalPinToInterrupt(ENCODER_SW), detener, FALLING );
 velocidad=10;
 dt=calcularDelay(velocidad);
Serial.println(velocidad);
 }


void loop() {
if ( marcha==1){
 
  if (velocidad>0){
    
    clockwise ();
  }
  else{
    c_clockwise ();
  }
   
  }

}
 void readEncoder() {
  int dtValue = digitalRead(ENCODER_DT);
  if (dtValue == HIGH) {
    velocidad=velocidad+incremento;
    if (velocidad!=0){
    dt=calcularDelay(velocidad);
    }
  }
  if (dtValue == LOW) {
    velocidad=velocidad-incremento;
  if (velocidad!=0){
    dt=calcularDelay(velocidad);
    }
  }
 Serial.println(velocidad);
}
 void detener(){
marcha=!marcha;
 }
int calcularDelay(int vel){
volatile int delaytime;
delaytime=(int(600/(4*abs(vel))));
return delaytime;
 }

   void clockwise (void){
     delay(dt);
    digitalWrite(Bm,LOW) ;  digitalWrite(Ap,HIGH);
    delay(dt);
    digitalWrite(Ap,LOW) ;  digitalWrite(Bp,HIGH);
    delay(dt);
    digitalWrite(Bp,LOW) ;  digitalWrite(Am,HIGH);
    delay(dt);
    digitalWrite(Am,LOW) ;  digitalWrite(Bm,HIGH);


   }
   void c_clockwise (void){
     delay(dt);
    digitalWrite(Am,LOW) ;  digitalWrite(Bp,HIGH);
    delay(dt);
    digitalWrite(Bp,LOW) ;  digitalWrite(Ap,HIGH);
    delay(dt);
    digitalWrite(Ap,LOW) ;  digitalWrite(Bm,HIGH);
    delay(dt);
    digitalWrite(Bm,LOW) ;  digitalWrite(Am,HIGH);


   }