static void encoder_task(void *pvParameters);
static void encoder_task(void *pvParameters)
{
    uint8_t state=0;
    //maszyna stanow pokretla zalezna od pinow Encoder_left i Encoder_right

    uint8_t state_sw=0;
    //state_sw=0 --- przycisk zwolniony
    //state_sw=1 --- przycisk wcisniety

    uint8_t obrot=0;
    //obrot=0  ---  obrot w lewo
    //obrot=1  ---  obrot w prawo

    // {tymczasowo} przyciski SW na plytce
    // 0 -> przycisk zwolniony
    // 1 -> przycisk wcisniety
    uint8_t state_sw1=0;
    uint8_t state_sw2=0;

    for( ;; )
    {
         vTaskDelay(1);

        //////////////////////////////////
        // obsluga przycisku enkodera
        //////////////////////////////////
        if (HAL_GPIO_ReadPin(ENCODER_SW_Port,ENCODER_SW)==0)
        {
            vTaskDelay(60/portTICK_RATE_MS);
            if (HAL_GPIO_ReadPin(ENCODER_SW_Port,ENCODER_SW)==0)
            {
                if (state_sw==0)
                {
                    state_sw=1;
                    xSemaphoreGive(encoder_sw);
                }
            }
        }
        else
            state_sw=0;
        ///////////////////////////////////////////////////////


//      //////////////////////////////////////////////////////
//      //{tymczasowo} oblsuga przyciskow SW3 SW4 na plytce
//      /////////////////////////////////////////////////////
//      if (HAL_GPIO_ReadPin(SW_PORT,SW1_pin)==0)
//      {
//          vTaskDelay(60/portTICK_RATE_MS);
//          if (HAL_GPIO_ReadPin(SW_PORT,SW1_pin)==0)
//          {
//              if (state_sw1==0)
//              {
//                  state_sw1=1;
//                  obrot=0;
//                  HAL_GPIO_TogglePin(LED_1_GPIO_Port, LED_1_Pin);
//                  xQueueSendToBack(obrot_queue,(void*)&obrot,( TickType_t ) 0);
//              }
//          }
//      }
//      else
//          state_sw1=0;
//      ///////////////////////////////////////////
//      if (HAL_GPIO_ReadPin(SW_PORT,SW2_pin)==0)
//      {
//          vTaskDelay(60/portTICK_RATE_MS);
//          if (HAL_GPIO_ReadPin(SW_PORT,SW2_pin)==0)
//          {
//              if (state_sw2==0)
//              {
//                  state_sw2=1;
//                  obrot=1;
//                  HAL_GPIO_TogglePin(LED_2_GPIO_Port, LED_2_Pin);
//                  xQueueSendToBack(obrot_queue,(void*)&obrot,( TickType_t ) 0);
//              }
//          }
//      }
//      else
//          state_sw2=0;
//      ///////////////////////////////////////////////////////



        ///////////////////////////////////////////////
        //oblsuga pokretla - cos nie dziala jak powinno
        /////////////////////////////////////////////
        switch (state)
        {
            case 0:  //00
                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                state=0;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                state=1;

//              if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
//              state=0;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
                state=4;

                break;

            case 1:  //00->10
                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                state=1;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
                state=2;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                state=0;

                break;

            case 2:  //10->11
                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
                state=2;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
                state=3;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                state=1;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                state=0;

                break;

            case 3: //11->01
                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
                state=3;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                {
                    state=0;
                    obrot=0;
                    HAL_GPIO_TogglePin(LED_2_GPIO_Port, LED_2_Pin);
                    xQueueSendToBack(obrot_queue,(void*)&obrot,( TickType_t ) 0);
                }

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
                state=2;

                break;

            case 4:
                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
                state=4;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
                state=5;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                state=0;

                break;

            case 5:
                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
                state=5;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                state=6;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
                state=4;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                state=0;

                break;

            case 6:
                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                state=6;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==1&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==1)
                state=5;

                if (HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_LEFT)==0&&HAL_GPIO_ReadPin(ENCODER_ROT_PORT,ENCODER_RIGHT)==0)
                {
                    state=0;
                    obrot=1;
                    HAL_GPIO_TogglePin(LED_1_GPIO_Port, LED_1_Pin);
                    xQueueSendToBack(obrot_queue,(void*)&obrot,( TickType_t ) 0);
                }
                break;
            }
    }

}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////