int encPhaseA_1 = 2;       // pin for encoder 1 phase A
int encPhaseB_1 = 3;       // pin for encoder 1 phase B
static bool prevPhaseA;
   static bool prevPhaseB;
   bool currentPhaseA;
   bool currentPhaseB;
volatile int encCount_1 = 0; 
void setup() {
  // put your setup code here, to run once:
 pinMode(encPhaseA_1, INPUT);         // Initiates Encoder 1 Phase A
  pinMode(encPhaseB_1, INPUT);         // Initiates Encoder 1 Phase B
  attachInterrupt(digitalPinToInterrupt(encPhaseA_1),encInc_1,CHANGE); // Create interrupt for change in encoder 1 phase A
  attachInterrupt(digitalPinToInterrupt(encPhaseB_1),encInc_1,CHANGE); // Create interrupt for change in encoder 1 phase B
Serial.begin(9600);
}

void loop() {
  // put your main code here, to run repeatedly:
  float angle = 90- (encCount_1*0.7);
  Serial.print(currentPhaseA);
  Serial.print(",");
  Serial.print(currentPhaseB);
  Serial.print(",");
  Serial.print(angle);
  Serial.print(",");
  Serial.println(encCount_1);
  

}
void encInc_1() {
     
   currentPhaseA = digitalRead(encPhaseA_1);                                       // Get current value of phase A and phase B
   currentPhaseB = digitalRead(encPhaseB_1); 
  
   if (currentPhaseA != prevPhaseA) {                                              // Check for a change in Phase A then apply count logic depending on state of Phase A and Phase B
   if (digitalRead(encPhaseA_1) == HIGH && digitalRead(encPhaseB_1) == HIGH) {
    encCount_1 ++;
   }
   else if (digitalRead(encPhaseA_1) == HIGH && digitalRead(encPhaseB_1) == LOW) {
    encCount_1 --;
   }
   else if (digitalRead(encPhaseA_1) == LOW && digitalRead(encPhaseB_1) == HIGH) {
    encCount_1 --;
   }
   else {
    encCount_1 ++;
   }
   }
   else if (currentPhaseB != prevPhaseB) {                                         // Check for a change in Phase B then apply count logic depending on state of Phase A and Phase B
    if (digitalRead(encPhaseA_1) == HIGH && digitalRead(encPhaseB_1) == HIGH) {
    encCount_1 --;
   }
   else if (digitalRead(encPhaseA_1) == HIGH && digitalRead(encPhaseB_1) == LOW) {
    encCount_1 ++;
   }
   else if (digitalRead(encPhaseA_1) == LOW && digitalRead(encPhaseB_1) == HIGH) {
    encCount_1 ++;
   }
   else {
    encCount_1 --;
   }
   }
   prevPhaseA = currentPhaseA; 
   prevPhaseB = currentPhaseB;  
}