encoder working 6.4.2020 daniel

byte cha = 18;
byte chb = 19;
long encoder_pos = 0;
byte last_value = B00000000;
byte counter = 0;
byte cumulator = B00000000;
void setup() {
  pinMode(cha, INPUT_PULLUP);
  pinMode(chb, INPUT_PULLUP);
  attachInterrupt(4, doEncoder, CHANGE);
  Serial.begin(2000000);
}

void loop() {
  // put your main code here, to run repeatedly:
  Serial.println(encoder_pos);
}

void doEncoder()
{
  // pp B11001001
  byte current_value = PIND & B00001100;  // excludem din portu D biti nefolositi => B00001000
  if (last_value != current_value )  // B00001100 -> B00001000
  {
    cumulator <<= 2;   // B00001100 => B00110000
    cumulator |= current_value >> 2; // 1. B00001000 => B00000010 , 2.B00110010
    if (cumulator == 75)
    {
      encoder_pos --;
    }
    if (cumulator == 30)
    {
      encoder_pos ++;
    }
  }
  last_value = current_value;
}