#include <PinChangeInterrupt.h>

long actualPointPhd = 0;
byte sensorStatusPhdA = 0;
byte sensorStatusPhdB = 0;
int stepStatusPhd = 0;

long setpoint = 0;

void setup() {

pinMode(2, INPUT_PULLUP);
pinMode(3, INPUT_PULLUP);

pinMode(4, INPUT_PULLUP);     // step
pinMode(5, INPUT_PULLUP);    // dir

pinMode(10, OUTPUT);   // left
pinMode(11, OUTPUT);  // right

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

attachPCINT(digitalPinToPCINT(4), zmena2, FALLING);

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() {
  if(digitalRead(5) == HIGH) {
    setpoint = setpoint + 1L;
  }

  if(digitalRead(5) == LOW) {
    setpoint = setpoint - 1L;
  }

}

void loop() {

  if(actualPointPhd < setpoint) {
    digitalWrite(11, LOW);
    digitalWrite(10, HIGH);
  }

  if(actualPointPhd > setpoint) {
    digitalWrite(10, LOW);
    digitalWrite(11, HIGH);
  }

  if(actualPointPhd == setpoint) {
    digitalWrite(10, LOW);
    digitalWrite(11, LOW);
  }

}