From d96385496e917853ae5e51e79ac94a848fac8b3b 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: Fri, 1 Mar 2024 17:18:14 +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.h?=
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---
 Encoder.h | 61 ++++++++++++++++++++++++++++++++++++++++++++-----------
 1 file changed, 49 insertions(+), 12 deletions(-)

diff --git a/Encoder.h b/Encoder.h
index 3aafb94..59a7fc1 100644
--- a/Encoder.h
+++ b/Encoder.h
@@ -6,7 +6,7 @@
 // Определяем бит в регистре PIND для сигнала с DT энкодера. 
 #define PIND_DT 0b01000000 
 
- int encoder_state, prev_encoder_state = 3, state = 1; 
+ int encoder_state, prev_encoder_state = 3, state = 1, total_state; 
 
 void read_encoder_state(void) 
 { 
@@ -19,19 +19,56 @@ void read_encoder_state(void)
     pin_clk_2 = (PIND & PIND_CLK) ? 1 : 0; 
     // Устанавливаем значение PIN_DT_2 в зависимости от установки бита PIND_DT в PIND 
     pin_dt_2 = (PIND & PIND_DT) ? 1 : 0; 
+    // Получаем состояние энкодера
+    encoder_state = (pin_clk_2 << 1) | pin_dt_2;
 
-    if ( pin_clk_2 != prev_encoder_state)
-    { 
-      prev_encoder_state = pin_clk_2;
-      if ( !pin_clk_2 )
+     // Проверяем, изменилось ли состояние энкодера
+
+    if (encoder_state != prev_encoder_state)
+    {
+      switch (encoder_state)
       {
-        switch(PIND & pin_dt_2 )
-        {  
-          case  0: state--; break;
-          case  1: state++; break;
-        }  
+        case 0: // Поворот против часовой стрелки (CCW)
+            if (prev_encoder_state == 2) 
+                state++;
+            else if (prev_encoder_state == 1) 
+                state--;
+            break;
+
+        case 1: // Поворот по часовой стрелке (CW)
+            if (prev_encoder_state == 0) 
+                state++;
+            else if (prev_encoder_state == 3) 
+                state--;
+            break;
+
+        case 2: // Поворот против часовой стрелки (CCW)
+            if (prev_encoder_state == 3) 
+                state++;
+            else if (prev_encoder_state == 0) 
+                state--;
+            break;
+
+        case 3: // Поворот по часовой стрелке (CW)
+            if (prev_encoder_state == 1) 
+                state++;
+            else if (prev_encoder_state == 2) 
+                state--;
+            break;
       }
-    } 
+      // Устанавливаем значение prev_encoder_state равным текущему состоянию энкодера
+      prev_encoder_state = encoder_state;
+      if ( state ==  4 )
+      { 
+        total_state++;
+        state=0;
+      }
+      if ( state == -4 )
+      { 
+        total_state--;
+        state=0;
+      }
+    }
 }
 
 void encoder_setup(void) 
@@ -45,7 +82,7 @@ int encoder_value(void)
 { 
     // Читаем состояние энкодера 
     read_encoder_state(); 
-    return state; 
+    return total_state; 
 } 
 //#include "enc.cpp"