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The example doesn't compile on windows 10 with arduino 1.8.11.
So far I only spent countless hours getting a decent rotary encoder routine to work. This project highlights the issues I've had, so I would hope it would get working.

C:\Users\me\AppData\Local\Temp\cc8tAXOq.ltrans0.ltrans.o: In function rotate': D:\buxtronix-encoder\interrupt/interrupt.ino:29: undefined reference to Rotary::process()'
C:\Users\me\AppData\Local\Temp\cc8tAXOq.ltrans0.ltrans.o: In function global constructors keyed to 65535_0_interrupt.ino.cpp.o.1755': :(.text.startup+0x60): undefined reference to Rotary::Rotary(char, char)'
collect2.exe: error: ld returned 1 exit status
exit status 1
Error compiling for board Arduino Uno.

The problem described in #3 is actually real, the transition table differs from the documentation.

Why from a state of R_CW_BEGIN, with an input of 0-0 the FSM transition to R_CW_NEXT (third line of the matrix)?
It should of course go back to R_START!

The same problem is there for CCW rotation.

It would seem that the matrix is a mix of the one needed for positive logic (rest state 0-0) and the one for negative logic (1-1).

In addition to the above, though it has probably a very minor effect, the readme.MD in Rotary/ states that:

If an invalid state happens (for example we go from '0-1' straight to '1-0'), the state machine resets to the start until 0-0 and the next valid codes occur.

The implementation will not catch a double invalid transition 0-1 -> 1-0 -> 0-1 as it, in fact, does not wait for the 0-0 state. In this example the final state will be R_CW_BEGIN.

This does not look correct, as also the second transition can be considered faulty.

To make sure that the base state R_START is reached only when the input is 0-0, an eight state is needed (R_FAULT?) that must be entered for all the faulty transitions, and move to R_START when input is 0-0 (with the exception of 1-1 -> 0-0, that can go directly to R_START!)

The cost is very low (4 bytes for the new row in the transition table), and the logic is unchanged.
At 0 code cost, the Readme could be updated instead.

When I try to build this project, I get a lot of messages about undefined stuff:

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\esp8266-ledclock.ino: In function 'void handleRoot()':

esp8266-ledclock:32: error: 'hour' was not declared in this scope

s.replace("@@hour@@", String(hour()));

                                 ^

esp8266-ledclock:33: error: 'minute' was not declared in this scope

s.replace("@@min@@", String(minute()));

                                  ^

esp8266-ledclock:36: error: 'timeStatus' was not declared in this scope

s.replace("@@SYNCSTATUS@@", timeStatus() == timeSet ? "OK" : "Overdue");

                                      ^

esp8266-ledclock:36: error: 'timeSet' was not declared in this scope

s.replace("@@SYNCSTATUS@@", timeStatus() == timeSet ? "OK" : "Overdue");

                                           ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\esp8266-ledclock.ino: In function 'void handleForm()':

esp8266-ledclock:59: error: 'getNtpTime' was not declared in this scope

time_t newTime = getNtpTime();

                           ^

esp8266-ledclock:61: error: 'setTime' was not declared in this scope

 setTime(newTime);

                ^

esp8266-ledclock:77: error: 'setupWiFi' was not declared in this scope

 setupWiFi();

           ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\esp8266-ledclock.ino: In function 'void setup()':

esp8266-ledclock:82: error: 'setupDisplay' was not declared in this scope

setupDisplay();

            ^

esp8266-ledclock:85: error: 'setupWiFi' was not declared in this scope

setupWiFi();

         ^

esp8266-ledclock:86: error: 'setupTime' was not declared in this scope

setupTime();

         ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\esp8266-ledclock.ino: In function 'void loop()':

esp8266-ledclock:94: error: 'displayIP' was not declared in this scope

if (displayIP()) return;

             ^

esp8266-ledclock:96: error: 'timeStatus' was not declared in this scope

 if (timeStatus() != timeNotSet) {

                ^

esp8266-ledclock:96: error: 'timeNotSet' was not declared in this scope

 if (timeStatus() != timeNotSet) {

                     ^

esp8266-ledclock:97: error: 'now' was not declared in this scope

   if (now() != prevDisplay) { //update the display only if time has changed

           ^

esp8266-ledclock:99: error: 'displayClock' was not declared in this scope

     displayClock();  

                  ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\esp8266-ledclock.ino: In function 'void setupWiFi()':

esp8266-ledclock:108: error: 'displayBusy' was not declared in this scope

displayBusy(0);

            ^

esp8266-ledclock:111: error: 'stopDisplayBusy' was not declared in this scope

   stopDisplayBusy();

                   ^

esp8266-ledclock:112: error: 'setupAP' was not declared in this scope

   return setupAP();

                  ^

esp8266-ledclock:112: error: return-statement with a value, in function returning 'void' [-fpermissive]

esp8266-ledclock:116: error: 'stopDisplayBusy' was not declared in this scope

stopDisplayBusy();

               ^

esp8266-ledclock:117: error: 'setupSTA' was not declared in this scope

setupSTA();

        ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\esp8266-ledclock.ino: In function 'void setupSTA()':

esp8266-ledclock:126: error: 'displayBusy' was not declared in this scope

displayBusy(1);

            ^

esp8266-ledclock:141: error: 'stopDisplayBusy' was not declared in this scope

stopDisplayBusy();

               ^

esp8266-ledclock:142: error: 'displayDash' was not declared in this scope

displayDash();

           ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\esp8266-ledclock.ino: In function 'void setupAP()':

esp8266-ledclock:149: error: 'displayAP' was not declared in this scope

displayAP();

         ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\display.ino: In function 'void displayBusy(char)':

display:103: error: '_displayBusy' was not declared in this scope

ticker.attach(0.1, _displayBusy);

                  ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\display.ino: In function 'char displayIP()':

display:130: error: '_displayIP' was not declared in this scope

ticker.attach(1.0, _displayIP);

                  ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\display.ino: In function 'void _displayIP()':

display:138: error: 'displayClock' was not declared in this scope

 clockMode == MODE_CLOCK ? displayClock() : displayAP();

                                        ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\display.ino: In function 'void displayClock()':

display:157: error: 'hour' was not declared in this scope

int h = hour();

            ^

display:158: error: 'minute' was not declared in this scope

int m = minute();

              ^

display:173: error: 'second' was not declared in this scope

if (second() & 0x1) decimals = 0x4;

          ^

display:174: error: 'timeStatus' was not declared in this scope

if (timeStatus() != timeSet) decimals |= 0x1;

              ^

display:174: error: 'timeSet' was not declared in this scope

if (timeStatus() != timeSet) decimals |= 0x1;

                   ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\ntp.ino: In function 'void setupTime()':

ntp:13: error: 'getNtpTime' was not declared in this scope

setSyncProvider(getNtpTime);

               ^

ntp:13: error: 'setSyncProvider' was not declared in this scope

setSyncProvider(getNtpTime);

                         ^

ntp:14: error: 'setSyncInterval' was not declared in this scope

setSyncInterval(settings.interval);

                                ^

C:\Users\Alexander\Documents\Arduino\esp8266-ledclock\ntp.ino: In function 'time_t getNtpTime()':

ntp:23: error: 'sendNTPpacket' was not declared in this scope

 sendNTPpacket(&udp);

                   ^

ntp:33: error: 'SECS_PER_HOUR' was not declared in this scope

      return secSince1900 - 2208988800UL + settings.timezone * SECS_PER_HOUR;

                                                               ^

exit status 1
'hour' was not declared in this scope

First of all - using a state machine for this task is an elegant solution I must say.
I tested the code and it looks like it detects full step when both pins are high contrary to written that the step is detected when both pins go low:

CCW:                                CW:
10                                  01
00                                  00
01                                  10
11 <- this state returns DIR_CCW    11 <- this state returns DIR_CW

Maybe I`m doing something wrong or I have different kind of rotary encoder but for me the sequence is like this:

CCW:    CW:
10      01
11      11
01      10
00      00

Here is the state table that works for me:

const unsigned char ttable[7][4] = {
  // R_START
  {R_START,             R_CW_BEGIN,     R_CCW_BEGIN,    R_START},
  // R_CW_FINAL
  {R_START | DIR_CW,    R_START,        R_CW_FINAL,     R_CW_NEXT},
  // R_CW_BEGIN
  {R_START,             R_CW_BEGIN,     R_START,        R_CW_NEXT},
  // R_CW_NEXT
  {R_START,             R_CW_BEGIN,     R_CW_FINAL,     R_CW_NEXT},
  // R_CCW_BEGIN
  {R_START,             R_START,        R_CCW_BEGIN,    R_CCW_NEXT},
  // R_CCW_FINAL
  {R_START | DIR_CCW,   R_CCW_FINAL,    R_START,        R_CCW_NEXT},
  // R_CCW_NEXT
  {R_START,             R_CCW_FINAL,    R_CCW_BEGIN,    R_CCW_NEXT},
};

Maybe this helps someone else...

I can't get this to work with interrupts on an Arduino Nano (and Attiny85 ultimately). Software polling works.

Starting with the example cocde, I defined the rotary encoder with pins 8 and 9, and attached interrupts 0 and 1 to the rotate subroutine.
With software polling I measure a pullup on the rotary encoder, but not when using the interrupts. I added a pullup with a 2K resistor to 5V, which doesn't help.

I´ll dont get it to work with this guys.

Any tips?

The directions of rotation are backwards. To fix this just swap DIR_CCW with DIR_CW in the full step ttable. I have not tested the half step table, but it appears to have the same problem.

8-Dale

This is perfect - thank you so much - it is exactly what I needed!

Hi Ben !

I would want to include some source code from your Rotary arduino library in my project. But I want to keep a FOSS license. Could you please provide a weaker license ? Something like, stronger to weaker : LGPL, Apache v2.0, BSD, MIT ...

Regards.
Gabe

Hi!
I wonder why do I have to make 2 audible clicks (or dents) to get 1 step? (Using the ky-040 - the most common cheap encoders.)
I've tried to #define HALF_STEP but that didn't seem to help. Any hints would be great.

Thanks.

Hi Ben,
Thank you for this excellent rotary encoder lib. I tried many many options and your approach is the best by far.

I did some changes to use it as a header only lib and without relying on macros, so it can be used like this:

#include <RotaryEncoder.h>

Rotary<HalfStepEncoder, INPUT_PULLUP> e(9,8);

void setup() {
  e.begin();
  Serial.begin(9600);
}

void loop() { 
  int dir = e.process();
  if (dir == DIR_CW)
  {
    Serial.println(">>");
  }
  else if (dir == DIR_CCW)
  {
    Serial.println("<<");
  }  
}

The complete and compact code is here:
https://gist.github.com/mnesarco/9f138cef1308904ba3050324feb0d9e6

It would be great to know your opinion.

Cheers,
Frank.

Sorry for my bad english,

I don't get to do download of library so I copy in note's block. However the IDE Arduino didn't understand.
I'm begginer here in the github and IDE Arduino. You can help me?

Att.
Vinicius, RS, Brazil