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

// LCD Display setup (change address and size as necessary)
LiquidCrystal_I2C lcd(0x27, 16, 2); // I2C address, columns, rows

// Pin definitions
const int pinA = 2; // Encoder A input
const int pinB = 3; // Encoder B input
const int pinZ = 4; // Z input pulse
const int pinZled = 5; // Z LED output
const int pinINC = 6; // INC output
const int pinLatch = 10; // Latch output
const int pinInvLatch = 11; // Inverted Latch output

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

// Previous state of encoder A and B
volatile int lastAState = LOW;
volatile int lastBState = LOW;

void setup() 
{
  pinMode(pinA, INPUT_PULLUP);
  pinMode(pinB, INPUT_PULLUP);
  pinMode(pinZ, INPUT_PULLUP);
  pinMode(pinZled, OUTPUT);
  pinMode(pinINC, OUTPUT);
  pinMode(pinLatch, OUTPUT);
  pinMode(pinInvLatch, OUTPUT);

  digitalWrite(pinZled, LOW);
  digitalWrite(pinINC, LOW);
 // digitalWrite(pinLatch, LOW);
  //digitalWrite(pinInvLatch, HIGH);

  // Initialize LCD
  lcd.begin(0,10,8);
  lcd.backlight();
  lcd.print("ENCODER POSITION   ");
  
  attachInterrupt(digitalPinToInterrupt(pinA), encoderA, RISING);
  attachInterrupt(digitalPinToInterrupt(pinB), encoderB, RISING);
  attachInterrupt(digitalPinToInterrupt(pinZ), 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 == 10)
         {
         digitalWrite(pinLatch, HIGH);
        digitalWrite(pinInvLatch, LOW);
        delayMicroseconds(104);
        digitalWrite(pinLatch, LOW);
        digitalWrite(pinInvLatch, HIGH);
        } 
        else
         {
        digitalWrite(pinLatch, LOW);
        digitalWrite(pinInvLatch, HIGH);
        }
    }
    if (digitalRead(pinZ) == HIGH)
  {
    // Reset counter on Z pulse
        digitalWrite(pinZled, HIGH);
        digitalWrite(pinINC, HIGH);
        delayMicroseconds(1104);
        digitalWrite(pinZled, LOW);
        digitalWrite(pinINC, LOW);
    counter = 0; // Reset counter
    updateCounter = true;
    }
}
void encoderA() 
{
  // A leads B
  if (digitalRead(pinB) == HIGH) 
  {
    counter++;
   // if (counter > 360) counter = 360; // Limit to maximum
    if (counter > 15) counter = 0 ; // Limit to maximum
    updateCounter = true;
  }
}

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

void encoderZ() 
{
   if (digitalRead(pinZ) == HIGH) 
   {
    // Reset counter on Z pulse
        digitalWrite(pinZled, HIGH);
        digitalWrite(pinINC, HIGH);
        delayMicroseconds(1104);
        digitalWrite(pinZled, LOW);
        digitalWrite(pinINC, LOW);
    counter = 0; // Reset counter
    updateCounter = true;
}
}