/*

Two stepper Motor and Rotary Encoder. 

 This program drives two  unipolar (6 wires) stepper motor one stepper with Encoder.

 This code is based in Tom Igoe's code in http://tigoe.net

  The part of rotary Encoder Code is based on http://www.arduino.cc/playground/Main/RotaryEncoders 

 Created 26 Nov. 2007

 by Sandra Davila, and Meng Li.*/

// ENCODER Variables

#define encoder0PinA  2

#define encoder0PinB  3

volatile int encoder0Pos = 0;

// Stepper Motor Variables

int counter=0;

#include <Stepper.h>

//Motor Steps for Motor 1

#define motor1Steps 48     // change this depending on the number of steps

// Steps fo motor 2

#define motor2Steps 24                           // per revolution of your motor

// Pins 4 to 7 for Motor 1

#define motorPin1 4

#define motorPin2 5

#define motorPin3 6

#define motorPin4 7

//Pins 8-11 for Motor 2

#define motorPin5 8

#define motorPin6 9

#define motorPin7 10

#define motorPin8 11

// initialize of the Stepper library:

Stepper myStepper(motor1Steps, motorPin1,motorPin2,motorPin3,motorPin4); 

Stepper myStepper2(motor2Steps,motorPin5,motorPin6,motorPin7,motorPin8);

void setup() {

  // set the motor speed at 60 RPMS:

  myStepper.setSpeed(120);

  myStepper2.setSpeed(10);

  // Initialize the Serial port:

  Serial.begin(9600);

//SETUP FOR ENCODER

 pinMode(encoder0PinA, INPUT); 

  digitalWrite(encoder0PinA, HIGH);       // turn on pullup resistor

  pinMode(encoder0PinB, INPUT); 

  digitalWrite(encoder0PinB, HIGH);       // turn on pullup resistor

  attachInterrupt(0, doEncoder, CHANGE);  // encoder pin on interrupt 0 - pin 2

  Serial.begin (9600);

  Serial.println("start");                // a personal quirk

}

void loop() {

  /* To increment the amount of steps and send as a byte to processing:

 // for (int i; i=0; i ++){

 // counter+i;

  //Serial.println("Forward");

  //if (counter=26){

  //counter=0;

  //}

  counter=counter+1;*/

  myStepper.step(motor1Steps);

  myStepper2.step(motor2Steps);

 // Serial.print(counter,BYTE); //to send serial info

  delay(3000);

 // if (counter=26){

 // counter=0;

}

void doEncoder(){

  if (digitalRead(encoder0PinA) == HIGH) {   // found a low-to-high on channel A

    if (digitalRead(encoder0PinB) == LOW) {  // check channel B to see which way

                                             // encoder is turning

      encoder0Pos = encoder0Pos - 1;         // CCW

    } 

    else {

      encoder0Pos = encoder0Pos + 1;         // CW

    }

  }

  else                                        // found a high-to-low on channel A

  { 

    if (digitalRead(encoder0PinB) == LOW) {   // check channel B to see which way

                                              // encoder is turning  

      encoder0Pos = encoder0Pos + 1;          // CW

    } 

    else {

      encoder0Pos = encoder0Pos - 1;          // CCW

    }

  }

  Serial.println (encoder0Pos, DEC);          // debug - remember to comment out

                                              // before final program run

}

/*  to read the other two transitions - just use another attachInterrupt()

in the setup and duplicate the doEncoder function into say, 

doEncoderA and doEncoderB. 

You also need to move the other encoder wire over to pin 3 (interrupt 1). 

*/