#include <PinChangeInterrupt.h>

long actualPointPhd = 0;
long actualPointFeed = 0;
int stepStatusFeed = 0;
byte sensorStatusPhdA = 0;
byte sensorStatusPhdB = 0;
int stepStatusPhd = 0;
byte sensorStatusFeedA = 0;
byte sensorStatusFeedB = 0;

unsigned long timers = 0;
unsigned long timerspast = 0;

void setup() {

pinMode(2, INPUT);
pinMode(3, INPUT);

pinMode(4, INPUT);
pinMode(7, INPUT);

pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);

attachInterrupt(digitalPinToInterrupt(2), zmena, CHANGE);
attachInterrupt(digitalPinToInterrupt(3), zmena, CHANGE);

attachPCINT(digitalPinToPCINT(4), zmena2, CHANGE);
attachPCINT(digitalPinToPCINT(7), zmena2, CHANGE);

Serial.begin(9600);

}

void zmena(){

  sensorStatusPhdA = digitalRead(2);
  sensorStatusPhdB = digitalRead(3);

  if(sensorStatusPhdA == 0 && sensorStatusPhdB == 0){
    if(stepStatusPhd == 3){
      actualPointPhd++;
    }
    if(stepStatusPhd == 1){
      actualPointPhd--;
    }
    stepStatusPhd = 0;
  }

  if(sensorStatusPhdA == 1 && sensorStatusPhdB == 0){
    if(stepStatusPhd == 0){
      actualPointPhd++;
    }
    if(stepStatusPhd == 2){
      actualPointPhd--;
    }
    stepStatusPhd = 1;
  }

  if(sensorStatusPhdA == 1 && sensorStatusPhdB == 1){
    if(stepStatusPhd == 1){
      actualPointPhd++;
    }
    if(stepStatusPhd == 3){
      actualPointPhd--;
    }
    stepStatusPhd = 2;
  }

  if(sensorStatusPhdA == 0 && sensorStatusPhdB == 1){
    if(stepStatusPhd == 2){
      actualPointPhd++;
    }
    if(stepStatusPhd == 0){
      actualPointPhd--;
    }
    stepStatusPhd = 3;
  }

}

void zmena2() {
  sensorStatusFeedA = digitalRead(4);
  sensorStatusFeedB = digitalRead(7);

  if(sensorStatusFeedA == 0 && sensorStatusFeedB == 0){
    if(stepStatusFeed == 3){
      actualPointFeed++;
    }
    if(stepStatusFeed == 1){
      actualPointFeed--;
    }
    stepStatusFeed = 0;
  }

  if(sensorStatusFeedA == 1 && sensorStatusFeedB == 0){
    if(stepStatusFeed == 0){
      actualPointFeed++;
    }
    if(stepStatusFeed == 2){
      actualPointFeed--;
    }
    stepStatusFeed = 1;
  }

  if(sensorStatusFeedA == 1 && sensorStatusFeedB == 1){
    if(stepStatusFeed == 1){
      actualPointFeed++;
    }
    if(stepStatusFeed == 3){
      actualPointFeed--;
    }
    stepStatusFeed = 2;
  }

  if(sensorStatusFeedA == 0 && sensorStatusFeedB == 1){
    if(stepStatusFeed == 2){
      actualPointFeed++;
    }
    if(stepStatusFeed == 0){
      actualPointFeed--;
    }
    stepStatusFeed = 3;
  }

}

void loop() {

  timers = millis();

  if(timers - timerspast >= 100) {

    Serial.print(actualPointPhd);
    Serial.print("  ");
    Serial.println(actualPointFeed);
    timerspast = timers;

  }

}