added encoder acceleration. still needs fine-tuning

Extra/EncoderTest/EncoderTest.ino

@@ -0,0 +1,115 @@
+#define ENC_D1_PIN 17
+#define ENC_D2_PIN 4
+bool reverseEnc = false;
+
+uint8_t encoderStatus;
+uint32_t encoderCheckTime = 0;
+uint32_t encoderTimeBetweenPulses = 0;
+bool encoderDirectionOld; //0 = -, 1 = +, Old because current direction can be determined by encoderChange
+int8_t encoderChange = 0;
+uint8_t encoderBurstCount = 0;
+
+
+
+void checkEncoderStatus() {
+  bool pin1Status = digitalRead(ENC_D1_PIN);
+  bool pin2Status = digitalRead(ENC_D2_PIN);
+  uint8_t newStatus = (pin1Status << 1) | pin2Status;
+  switch(encoderStatus) { // encoderStatus & 0b00000011 - to check only 2 last bits
+    case 0b00:
+      if (newStatus == 0b01) {
+        encoderChange++;
+      } else if (newStatus == 0b10) {
+        encoderChange--;
+      }
+      break;
+    case 0b01:
+      if (newStatus == 0b11) {
+        encoderChange++;
+      } else if (newStatus == 0b00) {
+        encoderChange--;
+      }
+      break;
+    case 0b11:
+      if (newStatus == 0b10) {
+        encoderChange++;
+      } else if (newStatus == 0b01) {
+        encoderChange--;
+      }
+      break;
+    case 0b10:
+      if (newStatus == 0b00) {
+        encoderChange++;
+      } else if (newStatus == 0b11) {
+        encoderChange--;
+      }
+      break;
+  }
+  //encoderStatus = (encoderStatus << 2); //previous status is now stored in bits 2 and 3
+  encoderStatus = bitWrite(encoderStatus, 1, pin1Status);
+  encoderStatus = bitWrite(encoderStatus, 0, pin2Status); //This can probably be more optimizied with bit logic
+
+  uint32_t currentTime = millis();
+  encoderTimeBetweenPulses = currentTime - encoderCheckTime;
+  encoderCheckTime = currentTime;
+}
+
+
+
+void setup() {
+  Serial.begin(9600);
+
+  pinMode(ENC_D1_PIN, INPUT_PULLUP);
+  pinMode(ENC_D2_PIN, INPUT_PULLUP);
+
+  //Enabling PinChange Interrupts for the encoder 
+  //pins 17 (PC3/PCINT11) and 4 (PD4/PCINT20), ports C and D
+  PCICR |= 0b00000110;
+  PCMSK1 |= 0b00001000;
+  PCMSK2 |= 0b00010000;
+
+  checkEncoderStatus();
+
+}
+
+void loop() {
+  checkInputs();
+}
+
+//Encoder interrupts
+ISR (PCINT1_vect) {
+  checkEncoderStatus();
+}
+ISR (PCINT2_vect) {
+  checkEncoderStatus();
+}
+
+void checkInputs() {
+  //encoder 
+  // things to try:
+  // count "burst" changes and apply acceleration (test the period between ticks in a new sketch)
+  if (encoderChange != 0) {
+    if (!reverseEnc) {
+      encoderChange = encoderChange * -1;
+    }
+
+    if (((encoderChange > 0) != encoderDirectionOld) && encoderTimeBetweenPulses < 200) { //filter out encoder "jumps"
+      encoderChange = 0;
+    }
+    encoderDirectionOld = (encoderChange > 0);
+
+    //encoder acceleration
+    if (encoderTimeBetweenPulses < 50) {
+      encoderBurstCount++;
+    } else {
+      encoderBurstCount = 0;
+    }
+    if (encoderBurstCount > 2) {
+      encoderChange = encoderChange * 2;
+    }
+
+    Serial.print("Change: " + String(encoderChange));
+    Serial.println(", Period " + String(encoderTimeBetweenPulses));
+
+  }
+}