From 40c876d282257078f72d43c4551ab7d7a3dc4b56 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=90=D1=80=D1=82=D1=91=D0=BC=20=D0=9D=D0=BE=D0=B2=D0=B8?=
 =?UTF-8?q?=D0=BA=D0=BE=D0=B2?= <stud126169@vyatsu.ru>
Date: Wed, 14 Feb 2024 16:08:48 +0000
Subject: [PATCH] =?UTF-8?q?=D0=9E=D0=B1=D0=BD=D0=BE=D0=B2=D0=B8=D1=82?=
 =?UTF-8?q?=D1=8C=20Encoder.c?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Переделал код согласно замечаниям
---
 Encoder.c | 93 +++++++++++++++++++++++++++++++++----------------------
 1 file changed, 56 insertions(+), 37 deletions(-)

diff --git a/Encoder.c b/Encoder.c
index 5952461..ec1c9e1 100644
--- a/Encoder.c
+++ b/Encoder.c
@@ -1,43 +1,62 @@
-#define ENC_CLK   0b00000100
-#define ENC_DAT   0b00001000
-#define ENC_PIN   PIND
-//----------------------------------------------------------------------
-int  state;
-int old_state = 0;
-//----------------------------------------------------------------------
-int encoder()
-{ 
-  if ( !(ENC_PIN & ENC_CLK) )
-  {
-    if ( ENC_PIN & ENC_DAT)   
-    { 
-      state++;
-    }
-    if ( !(ENC_PIN & ENC_DAT) )
-    { 
-      state--;
-    }
-    while(!(ENC_PIN & ENC_CLK))
+#include <avr/io.h>
+
+#define F_CPU 1000000UL
+#define PIND_MASK 0b11000011
+#define PIND_SHIFT 6
+
+volatile uint8_t next_state, prev_state, state, state_1;
+int sw34; // Передача
+
+void read_encoder_state()
+{
+    // Читаем состояние энкодера
+    next_state = (PIND & PIND_MASK) >> PIND_SHIFT;
+
+    // Обновляем состояние энкодера
+    if (next_state != prev_state)
     {
-      
+        switch (next_state)
+        {
+            case 0: // CW
+                if (prev_state == 3) state++;
+                else if (prev_state == 0) state--;
+                break;
+            case 1: // CCW
+                if (prev_state == 1) state++;
+                else if (prev_state == 2) state--;
+                break;
+            case 2: // CW
+                if (prev_state == 1) state++;
+                else if (prev_state == 3) state--;
+                break;
+            case 3: // CCW
+                if (prev_state == 2) state++;
+                else if (prev_state == 0) state--;
+                break;
+        }
+        prev_state = next_state;
     }
-  }
-  return state;
 }
-//----------------------------------------------------------------------
-void encoder_Initialization() 
+
+void setup()
 {
-  DDRD  = 0b00000010; 
-  PORTD = 0b00001110; 
+    // Инициализация последовательного порта
+    Serial.begin(9600);
+
+    // Настройка портов ввода-вывода
+    DDRD = 0x00;
+    PORTD = PIND_MASK;
 }
-//----------------------------------------------------------------------
-int get_encoder_value() 
+
+void loop()
 {
-  encoder();
-  if(old_state != state)
-  {
-    old_state = encoder();
-  }
-  return state;
-}
-//----------------------------------------------------------------------
+    // Читаем состояние энкодера
+    read_encoder_state();
+
+    // Если состояние энкодера изменилось, выводим его в последовательный порт
+    if (state != sw34)
+    {
+        Serial.println(state);
+        sw34 = state;
+    }
+}
\ No newline at end of file