#include <Wire.h>
#include <LiquidCrystal_I2C.h>

#define ENCODER_A_PIN 2
#define ENCODER_B_PIN 3
#define ENCODER_Z_PIN 5
#define ZLED_PIN 4
#define INC_PIN 6
#define LATCH_PIN 10
#define INVLATCH_PIN 11

LiquidCrystal_I2C lcd(0x27, 16, 2); // Adjust I2C address as necessary

volatile int counter = 0;
volatile bool updateCounter = false;

void setup() 
{
  pinMode(ENCODER_A_PIN, INPUT_PULLUP);
  pinMode(ENCODER_B_PIN, INPUT_PULLUP);
  pinMode(ENCODER_Z_PIN, INPUT_PULLUP);//
  pinMode(ZLED_PIN, OUTPUT);
  pinMode(INC_PIN, OUTPUT);
  pinMode(LATCH_PIN, OUTPUT);
  pinMode(INVLATCH_PIN, OUTPUT);

  lcd.begin(0,10,8);
  lcd.backlight();
  lcd.print("ENCODER POSITION   ");

  attachInterrupt(digitalPinToInterrupt(ENCODER_A_PIN), encoderA, RISING);
  attachInterrupt(digitalPinToInterrupt(ENCODER_B_PIN), encoderB, RISING);
  attachInterrupt(digitalPinToInterrupt(ENCODER_Z_PIN), encoderZ, RISING);
}

void loop()
 {
  if (updateCounter) 
  {
    updateCounter = false;

    // Display the counter value
    lcd.setCursor(6, 1);
    lcd.print("       "); // Clear previous value
    lcd.setCursor(6, 1);
    lcd.print(counter);

    // Set output pins based on counter
   // if (counter == 358) {
       if (counter == 10) 
       {
      digitalWrite(LATCH_PIN, HIGH);
      digitalWrite(INVLATCH_PIN, LOW);
      delay(104); // Pulse width
      digitalWrite(LATCH_PIN, LOW);
      digitalWrite(INVLATCH_PIN, HIGH);
       }
     else 
     {
      digitalWrite(LATCH_PIN, LOW);
      digitalWrite(INVLATCH_PIN, HIGH);
    }
  }
}

void encoderA() 
{
  // A leads B
  if (digitalRead(ENCODER_B_PIN) == HIGH) 
  {
    counter++;
   // if (counter > 360) counter = 360; // Limit to maximum
    if (counter > 15) counter = 15; // Limit to maximum
    updateCounter = true;
  }
}

void encoderB() 
{
  // B leads A
  if (digitalRead(ENCODER_A_PIN) == HIGH) 
  {
    counter--;
    if (counter < 0) counter = 0; // Limit to minimum
    updateCounter = true;
  }
}

void encoderZ()
 {
  //if (digitalRead(ENCODER_Z_PIN) == HIGH) 
  //if (digitalRead(ENCODER_Z_PIN) == LOW ) 
  {  
  // Reset counter on Z pulse
  // counter = 0; // Reset counter
  digitalWrite(ZLED_PIN, HIGH);
  digitalWrite(INC_PIN, HIGH);
  delay(104); // Pulse width
  digitalWrite(ZLED_PIN, LOW);
  digitalWrite(INC_PIN, LOW);
 counter = 0; // Reset counter
  updateCounter = true;
  }
}