megapi_encodcmotor1

#include <MeMegaPiPro.h>

const byte interruptPin =18;
const byte NE1=31;
long count=0;
unsigned long time;
unsigned long last_time;

MeMegaPiDCMotor motor1(PORT1B);
int motorSpeed = 100;

void setup(){
  pinMode(interruptPin, INPUT_PULLUP);
  pinMode(NE1, INPUT);
  attachInterrupt(digitalPinToInterrupt(interruptPin), blink,RISING);
  Serial.begin(9600);
}
void loop(){
  motor1.run(motorSpeed);       // value: between -255 and 255
  time =millis();
  if(time-last_time>1000) {
     Serial.println(count);
     last_time=time;
     if(abs(count) > 1000) {
        motorSpeed = -1 * motorSpeed;
        Serial.print("M ");
        Serial.println(motorSpeed);
     }
  }
}

void blink(){
   if (digitalRead(NE1)>0)
      count++;
   else
      count--;