/*
################################################################################
# By DrCrowller                                                                #
#                                                                              #
# Feel free to copy, modify and do whatever you want with this project         #
# Be aware that the use of many variables may consume more memory than wanted  #
#                                                                              #
# Created : 7 Apr. 2022                                                        #
################################################################################
*/

#include <Servo.h>

Servo arm; // Create a "Servo" object called "arm"
float pos = 0.0; // Variable where the arm's position will be stored (in degrees)
float step = 1.0; // Variable used for the arm's position step
#define ENCODER_CLK 2
#define ENCODER_DT  3

void setup()
{
  

  pinMode(ENCODER_CLK, INPUT);
  pinMode(ENCODER_DT, INPUT);
  arm.attach(4); // Attache the arm to the pin 2
  arm.write(pos); // Initialize the arm's position to 0 (leftmost)
  Serial.begin(9600);
}

int lastClk = HIGH;
void loop()
{

   int newClk = digitalRead(ENCODER_CLK);
  if (newClk != lastClk) {
    // There was a change on the CLK pin
    lastClk = newClk;
    int dtValue = digitalRead(ENCODER_DT);
    if (newClk == LOW && dtValue == HIGH) {
        if (pos>0) // Check that the position won't go lower than 0°
          {
            arm.write(pos); // Set the arm's position to "pos" value
            pos-=5*step; // Decrement "pos" of "step" value
            Serial.println(pos);
            delay(5); // Wait 5ms for the arm to reach the position
          }
      Serial.println("Rotated clockwise ⏩");
    }
    if (newClk == LOW && dtValue == LOW) {
       if (pos<180) // Check that the position won't go higher than 180°
        {
          arm.write(pos); // Set the arm's position to "pos" value
          pos+=5*step; // Increment "pos" of "step" value
          Serial.println(pos);
          delay(5); // Wait 5ms for the arm to reach the position
        }
      Serial.println("Rotated counterclockwise ⏪");
    }
  }


}