Arduino encoder library

Encoder library is published by pjrc

The code

#include "Encoder.h"

 Encoder encoder(2, 4);

 void setup() {
 attachInterrupt(0, doEncoder, CHANGE);
 Serial.begin (115200);

 void loop(){
 // do some stuff here - the joy of interrupts is that they take care of themselves

 void doEncoder(){
 Serial.println( encoder.getPosition() );

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