rotor_encoder2.c

// Ее нужно поставить через твою среду разработки, ну или положить рядом с проектом
#include <AccelStepper.h>
#include <AceButton.h>

using namespace ace_button;

// Encoder
boolean TurnDetected;
boolean Up;

// Мои настройки
//const int PinCLK = 2;
//const int PinDT = 3;
//const int PinSW = 4;
//
//const int MaxRotation = 100;
//
//// Motor
//const int PinStep = 18;
//const int PinDir = 17;

// Настройки Дениса
const int PinCLK = 18;
const int PinDT = 17;
const int PinSW = 16;

const int MaxRotation = 100;

// Motor 
const int PinStep = 3; 
const int PinDir = 4; 

// Тут можно поиграть.
const int MaxSpeed = 1000;
const int StartDistance = 0;
const float Acceleartion = 100.0;
int Distance = 12000; // Тут надо смотреть. Измеряется в шагах твоего двигателя. Сколько у тебя шагов на один круг?
boolean Derection = true; // Вперед

int lastRotorCLK;

AceButton button(PinSW);
AccelStepper Motor = AccelStepper(2, PinStep, PinDir);

void setup ()  {
  pinMode(PinCLK, INPUT);
  pinMode(PinDT, INPUT);
  pinMode(PinSW, INPUT_PULLUP);
  button.setEventHandler(handleButtonEvent);

  digitalWrite(PinSW, HIGH);

  attachInterrupt(digitalPinToInterrupt(PinCLK), interuption, FALLING);

  pinMode(PinStep, OUTPUT);
  pinMode(PinDir, OUTPUT);

  Motor.setSpeed(0);
  Motor.setMaxSpeed(MaxSpeed);
  Motor.setAcceleration(Acceleartion);

  lastRotorCLK = digitalRead(PinCLK);

  Serial.begin(9600);
  Serial.println("Hello!");
}

float calcSpeed(int currentRotationPosition) {
  int speedModif = 1;
  if (Derection == false) {
    speedModif = -1;
  }
  return float((MaxSpeed / MaxRotation) * currentRotationPosition * speedModif);
}

void interuption() {
  delay(2);

  int rotorCLK = digitalRead(PinCLK);
  if (rotorCLK != lastRotorCLK) {
    if (digitalRead(PinDT) != rotorCLK) {
      Up = false;
    } else {
      Up = true;
    }
    TurnDetected = true;
    lastRotorCLK = rotorCLK;
  }
}

// Button of encoder is pressed
void handleButtonEvent(AceButton* button, uint8_t eventType, uint8_t buttonState) {
  switch (eventType) {
    case AceButton::kEventPressed:
      Derection = !Derection;
      Serial.print("!:");
      break;
  }
}

void loop ()  {
  static int RotaryPosition = 1;

  // Encoder
  button.check();

  if (TurnDetected)  {
    if (Up) {
      // Set max pos == MaxRotation
      if (RotaryPosition + 1 >= MaxRotation) {
        RotaryPosition = MaxRotation;
      } else {
        RotaryPosition++;
      }
      // is Down
    } else {
      // Set min pos == 0
      if (RotaryPosition - 1 < 0) {
        RotaryPosition = 0;
      } else {
        RotaryPosition--;
      }
    }


    TurnDetected = false;

    // Motor
    if (Motor.currentPosition() >= Distance) {
      Derection = false;
    }

    if (Motor.currentPosition() <= StartDistance) {
      Derection = true;
    }

    float Speed = calcSpeed(RotaryPosition);
    Motor.setSpeed(Speed);
    Motor.runSpeed();


    Serial.print("Current encoder rot pos = ");
    Serial.println(RotaryPosition);

    Serial.print("Current speed = ");
    Serial.println(Speed);

    Serial.print("Current dirrection = ");
    Serial.println(Derection);

  }
}