#include <stdio.h>
#include <math.h>
#include "pico/stdlib.h"
#include "hardware/gpio.h"
#include "hardware/timer.h"

const uint8_t PIN_A = 11; // GPIO pin connected to encoder A
const uint8_t PIN_B = 12; // GPIO pin connected to encoder B

void send_pulse(uint pin, uint32_t delay_us) {
    gpio_put(pin, 1);
    sleep_us(delay_us);
    gpio_put(pin, 0);
}

void rotate_encoder(int steps) {
    for (int i = 0; i < abs(steps); ++i) {
        // Simulate a falling edge on pin A followed by a falling edge on pin B
        send_pulse(PIN_A, 100); // Adjust the delay as needed
        send_pulse(PIN_B, 100); // Adjust the delay as needed
    }
}

int main() {
    stdio_init_all();

    gpio_init(PIN_A);
    gpio_init(PIN_B);

    gpio_set_dir(PIN_A, GPIO_OUT);
    gpio_set_dir(PIN_B, GPIO_OUT);

    // Simulate rotating the encoder four points to the left
    rotate_encoder(-4);

    return 0;
}