const int encoderPinA = 2; // Encoder pin A
const int encoderPinB = 3; // Encoder pin B
const int switchPin = 6;   // Sliding switch pin
const int outputPin1 = 10; // Output pin for t > 0 (encoder control)
const int outputPin2 = 11; // Output pin for t <= 0 (encoder control)

volatile int t = 0; // Variable to store the encoder value
volatile int lastEncoded = 0; // Last encoded value

void setup() {
  pinMode(switchPin, INPUT_PULLUP); // Initialize the sliding switch pin as an input
  pinMode(encoderPinA, INPUT_PULLUP);
  pinMode(encoderPinB, INPUT_PULLUP);
  pinMode(outputPin1, OUTPUT);
  pinMode(outputPin2, OUTPUT);

  // Attach interrupts
  attachInterrupt(digitalPinToInterrupt(encoderPinA), updateEncoder, CHANGE);
  attachInterrupt(digitalPinToInterrupt(encoderPinB), updateEncoder, CHANGE);

  Serial.begin(9600); // Initialize serial communication
}

void loop() {
  if (digitalRead(switchPin) == LOW) { // Check if the sliding switch is in the LOW position
    Serial.println("Switch is ON. Running encoder function.");
  
    // Display the value of t in the Serial Monitor
    Serial.print("Encoder Value: ");
    Serial.println(t);

    // Use t to control the output pins
    if (t > 0) {
      digitalWrite(outputPin1, HIGH);
      delay(t * 1000);
      digitalWrite(outputPin1, LOW);
    } else if (t < 0) {
      digitalWrite(outputPin2, HIGH);
      delay(abs(t) * 1000);
      digitalWrite(outputPin2, LOW);
    }

    // Reset t to 0 after using it
    t = 0;

    // Delay for a short period to avoid flooding the Serial Monitor
    delay(100);
  } else {
    Serial.println("Switch is OFF. Running analog function.");

    float in = (float(analogRead(A1)));
    float res = (float(analogRead(A2))) - in;

    Serial.println(res);

    if (res > 20) {
      digitalWrite(outputPin1, HIGH);
      digitalWrite(outputPin2, LOW);
    } else if (res < -20) {
      digitalWrite(outputPin2, HIGH);
      digitalWrite(outputPin1, LOW);
    } else {
      digitalWrite(outputPin1, LOW);
      digitalWrite(outputPin2, LOW);
    }

    delay(100); // Short delay for debouncing and loop pacing
  }
}

void updateEncoder() {
  int MSB = digitalRead(encoderPinA); // Read the current state of pin A
  int LSB = digitalRead(encoderPinB); // Read the current state of pin B

  int encoded = (MSB << 1) | LSB; // Combine the two pin states
  int sum = (lastEncoded << 2) | encoded; // Create a 4-bit value

  if (sum == 0b1101 || sum == 0b0100 || sum == 0b0010 || sum == 0b1011) {
    t++; // Clockwise rotation
  }
  if (sum == 0b1110 || sum == 0b0111 || sum == 0b0001 || sum == 0b1000) {
    t--; // Counterclockwise rotation
  }

  lastEncoded = encoded; // Store the current encoded value
}