#include <LiquidCrystal_I2C.h>
 #include <Arduino.h>


// -----------------------------------------------------------------------------
// constants

const int                                 PinCLK   = 2;     // Used for generating interrupts using CLK signal
const int                                 PinDT    = 4;     // Used for reading DT signal
const int                                 PinSW    = 8;     // Used for the push button switch

volatile int                             virtualPosition    = 0;
 #define outputA 2
 #define outputB 4

  LiquidCrystal_I2C lcd(0x27, 20, 4);


 int dutyCode = 0; 
 int outPwm = 11;
 int aState;
 int aLastState;  
 int dutypercen = 0;

 //MULTIPLEXER
int s0 = 7;
int s1 = 8;
int s2 = 9;
int s3 = 10;



void isr () {

    static unsigned long                lastInterruptTime = 0;

    unsigned long                       interruptTime = millis();

    // If interrupts come faster than 5ms, assume it's a bounce and ignore
    if (interruptTime - lastInterruptTime > 5) {
        if (!digitalRead(PinDT))
            virtualPosition = (virtualPosition + 1);
        else
            virtualPosition = virtualPosition - 1;
        }
    lastInterruptTime = interruptTime;
    } // ISR



 void setup() { 
    Serial.begin(9600);

    pinMode(PinCLK,INPUT);
    pinMode(PinDT, INPUT);
    pinMode(PinSW, INPUT);

    attachInterrupt(0, isr, FALLING);   // interrupt 0 is always connected to pin 2 on Arduino UNO

    Serial.println("Start");

   pinMode(outPwm, OUTPUT);
   pinMode (outputA,INPUT);
   pinMode (outputB,INPUT);
   pinMode(s0, OUTPUT);
   pinMode(s1, OUTPUT);
   pinMode(s2, OUTPUT);
   pinMode(s3, OUTPUT);

  lcd.init();
  lcd.backlight();
  
  lcd.setCursor(0, 0);    // Mengatur kursor di baris pertama
  lcd.print("LAB ELDA KEL.5");
  delay(3000);
  lcd.clear();
  lcd.setCursor(0, 0);    // Mengatur kursor di baris pertama
  lcd.print("DutyPercen:");
  lcd.setCursor(0, 1);    // Mengatur kursor di baris pertama
  lcd.print("DutyCycle:");

   Serial.begin (9600);

   // Reads the initial state of the outputA
   aLastState = digitalRead(outputA);   


    //PMOS
  digitalWrite(s0, LOW);
  digitalWrite(s1, HIGH);
  digitalWrite(s2, HIGH);
  digitalWrite(s3, HIGH);
 } 

 void loop() { 
   int                                    lastCount = 0;

    while (true) {
        if (!(digitalRead(PinSW))) {        // check if pushbutton is pressed
            virtualPosition = 0;            // if YES, then reset counter to ZERO
            while (!digitalRead(PinSW)) {}  // wait til switch is released
            delay(10);                      // debounce
            Serial.println("Reset");        // Using the word RESET instead of COUNT here to find out a buggy encoder
            }
        if (virtualPosition != lastCount) {
            lastCount = virtualPosition;
            Serial.print("Count = ");
            Serial.println(virtualPosition);
            }
        } // while
  
   aState = digitalRead(outputA); // Reads the "current" state of the outputA
   // If the previous and the current state of the outputA are different, that means a Pulse has occured
   if (aState != aLastState){     
     // If the outputB state is different to the outputA state, that means the encoder is rotating clockwise
     if (digitalRead(outputB) != aState) { 
        dutyCode ++;
     } else {
       dutyCode --;
     }

     if(dutyCode < 0) {dutyCode = 0;}
     if(dutyCode > 255) {dutyCode = 255;}
     dutypercen = (dutyCode * 100 ) / 255;
     analogWrite(outPwm, dutyCode);
     Serial.print("Position: ");
     Serial.print(dutypercen);
     Serial.print("   ");
     Serial.println(dutyCode);
     lcd.setCursor(11 , 0);
     lcd.print(dutypercen); 
     lcd.print("%   ");

     lcd.setCursor(10 , 1);
     lcd.print(dutyCode); 
     lcd.print("   ");
     }
   aLastState = aState; // Updates the previous state of the outputA with the current state
 }