#include "FastInterruptEncoder.h"

//Encoder enc(PA0, PA1, SINGLE /* or HALFQUAD or FULLQUAD */, 250 /* Noise and Debounce Filter (default 0) */); // - Example for STM32, check datasheet for possible Timers for Encoder mode. TIM_CHANNEL_1 and TIM_CHANNEL_2 only
Encoder enc(25, 26, FULLQUAD, 250); 

unsigned long enc_timer = 0;
int ena1 = 13; //Señal de enable para motor A
int ini1 = 2; //Pin ini1 para motor A 
volatile int pulses = 0;
volatile float rpm = 0;
hw_timer_t * timer = NULL; //timer activado por hardware

void IRAM_ATTR activarEncoder()
{ 
  enc.loop(); 
}

void setup() {
  Serial.begin(115200);
  digitalWrite(ini1, HIGH);
  analogWrite(ena1, 50);
  
  if (enc.init()) {
    Serial.println("Encoder OK");
  } else {
    Serial.println("Encoder No Inicia");
    while(1);
  }
  timer = timerBegin(0, 80, true); //Encoder cada 80Hz.
  timerAttachInterrupt(timer, &activarEncoder, true);
  timerAlarmWrite(timer, 1000, true); //Alarma cada 1000Hz
  timerAlarmEnable(timer);
}

void loop() {                  
  if ((millis() > (enc_timer + 100)) || (millis() < enc_timer)) {
    pulses = enc.getTicks();
    Serial.println(pulses);
    if(pulses >= 112){
      enc.resetTicks();
    }else{
    rpm = (pulses * 60) / 112;
    Serial.printf("RPM: %.2f\n", rpm);
    }
    enc_timer = millis();
    enc.resetTicks();
  }

}