// 旋转编码器的引脚定义
const int encoderPinA = 2;
const int encoderPinB = 3;

// 用于记录编码器的当前状态和上一次状态
int encoderStateA;
int encoderStateB;
int lastEncoderStateA;
int lastEncoderStateB;

// 用于记录编码器的旋转方向和步数
int encoderSteps = 0;
int lastEncoderSteps = 0;
bool encoderDirection;

void setup() {
  Serial.begin(9600);
  pinMode(encoderPinA, INPUT);
  pinMode(encoderPinB, INPUT);
  lastEncoderStateA = digitalRead(encoderPinA);
  lastEncoderStateB = digitalRead(encoderPinB);
}

void loop() {
  encoderStateA = digitalRead(encoderPinA);
  encoderStateB = digitalRead(encoderPinB);

  // 判断编码器的旋转方向
  if (encoderStateA!= lastEncoderStateA) {
    if (encoderStateA == HIGH) {
      if (encoderStateB == LOW) {
        encoderDirection = true;  // 顺时针
        encoderSteps++;
      } else {
        encoderDirection = false;  // 逆时针
        encoderSteps--;
      }
      if (encoderSteps!= lastEncoderSteps) {
        Serial.print("Encoder Steps: ");
        Serial.print(encoderSteps);
        Serial.print("  Direction: ");
        Serial.println(encoderDirection? "Clockwise" : "Counter - clockwise");
        lastEncoderSteps = encoderSteps;
      }
    }
    lastEncoderStateA = encoderStateA;
  }
}