Despite all the functions, two buttons on pin 5 & 7 has been added for holding to

move motors.

#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>

#define SCREEN_WIDTH 128

#define SCREEN_HEIGHT 32
#define OLED_RESET -1

Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);

int pinA = 2; // Pin A of the encoder

int pinB = 3; // Pin B of the encoder
int buttonPin = 6; // Pin for the push button change motor and reset
pulse count
int resetButtonPin = 4; // Pin for the reset pulse count only
int button5Pin = 5; // Pin for button5 hold for numberofclick ++
int button7Pin = 7; // Pin for button7 hold for numberofclick --
int numberofclicks = 0; // Stores the number of clicks done by the encoder. 1
turn = 100 clicks
int previous_numberofclicks = 0; // Stores the "previous" number of clicks. Helps
us see if the encoder was moved
float OLEDTimer = 0; // Timer for the screen refresh

#include <AccelStepper.h>
AccelStepper stepper1(1, 9, 8); // Stepper motor 1: pulses/steps 9;
Direction 8
AccelStepper stepper2(1, 10, 11); // Stepper motor 2: pulses/steps 10;
Direction 11
AccelStepper* currentStepper = &stepper1; // Pointer to the currently active
stepper motor
const int stepperEnablePin = 12; // enable/disable pin for the stepper
motor driver

int previousButtonState = HIGH; // Previous state of the button

int previousResetButtonState = HIGH; // Previous state of the reset button
int previousButton5State = HIGH; // Previous state of button5
int previousButton7State = HIGH; // Previous state of button7
bool motorChanged = false; // Flag to track if the motor has been
changed

void setup()
{
pinMode(pinA, INPUT_PULLUP);
pinMode(pinB, INPUT_PULLUP);
pinMode(buttonPin, INPUT_PULLUP);
pinMode(resetButtonPin, INPUT_PULLUP);
pinMode(button5Pin, INPUT_PULLUP); // Set button5 pin as input
pinMode(button7Pin, INPUT_PULLUP); // Set button7 pin as input

attachInterrupt(digitalPinToInterrupt(pinA), pinAInterrupt, RISING); // pin A is

an interrupt

Serial.begin(115200);
Serial.println("CNC encoder test.");
 // OLED part
display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // Address 0x3C for 128x32
display.clearDisplay();
OLEDTimer = millis(); // start the timer

// Stepper setup
stepper1.setSpeed(4000); // SPEED = Steps / second
stepper1.setMaxSpeed(38500); // SPEED = Steps / second
stepper1.setAcceleration(28500); // ACCELERATION = Steps /(second)^2

stepper2.setSpeed(4000); // SPEED = Steps / second

stepper2.setMaxSpeed(38500); // SPEED = Steps / second
stepper2.setAcceleration(28500); // ACCELERATION = Steps /(second)^2

pinMode(stepperEnablePin, OUTPUT); // enable/disable pin is defined as an

output
digitalWrite(stepperEnablePin, LOW); // enable motor current
}

void loop()
{
checkButton(); // Check the button state and update the current motor if
necessary

showLCD(); // if all conditions are fulfilled, the OLED is updated

currentStepper->moveTo(numberofclicks * 4); // Updates the "go to" position of

the current stepper motor - absolute value

while (currentStepper->distanceToGo() != 0) // This blocks the rest of the

code!
{
currentStepper->runSpeedToPosition(); // Runs to the target position
defined by the moveTo() function
// does not use accelerations
}
}

void pinAInterrupt()
{
// When pin A's wave is detected...

if (digitalRead(pinB) == 0) // if B is LOW, it means that pin A's wave

occurred first -> CW rotation occurred
{
numberofclicks++;
}
else // if B is HIGH, it means that pin B's wave
occurred first. So, when pin A has a rising edge, pin B is already high -> CCW
rotation
{
numberofclicks--;
}
}

void showLCD()
{
if (millis() - OLEDTimer > 200) // update every 200 ms
{
 if (previous_numberofclicks != numberofclicks) // if the encoder was moved...
{
display.clearDisplay(); // delete the content of the display
display.setTextSize(1); // Text size for "Pulse"
display.setTextColor(SSD1306_WHITE);
display.setCursor(0, 0);
display.print("Pulse: ");

display.setTextSize(1.2); // Text size for the value

display.println(numberofclicks / 1); // print the new position. you can
use / or * delta to change the pulse count print on display.

float distance_mm = numberofclicks * 0.03; // Calculate the distance in mm

display.setTextSize(1); // Text size for "Distance"
display.print("Distance: ");
display.setTextSize(1); // Text size for the value
display.println(distance_mm, 1); // Print the distance value with 1 decimal
place

display.setTextSize(1); // Text size for "Active motor"

display.print("Active M: ");
display.setTextSize(1); // Text size for the value
if (currentStepper == &stepper1) {
display.println("1");
}
else if (currentStepper == &stepper2) {
display.println("2");
}

display.display();

OLEDTimer = millis(); // reset timer

previous_numberofclicks = numberofclicks; // update current position
}
}
}

void checkButton()
{
int buttonState = digitalRead(buttonPin); // Read the current state of the
button
int resetButtonState = digitalRead(resetButtonPin); // Read the current state of
the reset button
int button5State = digitalRead(button5Pin); // Read the current state of button5
int button7State = digitalRead(button7Pin); // Read the current state of button7

if (buttonState != previousButtonState) // If the button state has changed

{
if (buttonState == LOW) // If the button is pressed
{
// Reset pulse count and move motor to current position
numberofclicks = 0;
currentStepper->setCurrentPosition(0);

motorChanged = true; // Set the motorChanged flag to

true
}
}
 if (resetButtonState == LOW) {
// Reset pulse count
numberofclicks = 0;
currentStepper->setCurrentPosition(0);

motorChanged = false; // Reset the motorChanged flag

}

if (button5State == LOW) {
// Increase number of clicks with clickrate 8 pulses per 250ms
unsigned long currentMillis = millis();
static unsigned long previousMillis = 0;
if (currentMillis - previousMillis >= 25) {
numberofclicks += 8;
previousMillis = currentMillis;
}
}

if (button7State == LOW) {
// Decrease number of clicks with clickrate 8 pulses per 250ms
unsigned long currentMillis = millis();
static unsigned long previousMillis = 0;
if (currentMillis - previousMillis >= 25) {
numberofclicks -= 8;
previousMillis = currentMillis;
}
}

previousButtonState = buttonState; // Update the previous button state

previousResetButtonState = resetButtonState; // Update the previous reset button
state

if (motorChanged) {
digitalWrite(stepperEnablePin, HIGH); // Disable motor current
currentStepper->stop(); // Stop the current stepper motor
currentStepper->disableOutputs(); // Disable the outputs of the
current stepper motor
delay(500); // Wait for the motor to stop
completely
digitalWrite(stepperEnablePin, LOW); // Enable motor current
currentStepper->enableOutputs(); // Enable the outputs of the new
current stepper motor

// Switch to the next motor

if (currentStepper == &stepper1) {
currentStepper = &stepper2;
}
else {
currentStepper = &stepper1;
}

display.display();
OLEDTimer = millis(); // reset timer
previous_numberofclicks = -1; // reset previous number of clicks to force
display update

motorChanged = false; // Reset the motorChanged flag

}
}