Make: Robotic Arms

153Chapter 8: Rotary Encoder Control

servoFour.attach(9);

servoFive.attach(10);

pinMode(CLK, INPUT);

pinMode(DT, INPUT);

pinMode(SW, INPUT_PULLUP);

lastStateCLK = digitalRead(CLK);

Serial.begin(9600);

}

void loop() {

currentStateCLK = digitalRead(CLK);

if (currentStateCLK != lastStateCLK) {

if (digitalRead(DT) == currentStateCLK) {

posOne--;

} else {

posOne++;

}

servoOne.write(posOne);

servoTwo.write(posTwo);

servoThree.write(posThree);

servoFour.write(posFour);

servoFive.write(posFive);

Serial.print("Servo One: ");

Serial.println(posOne);

}

lastStateCLK = currentStateCLK;

int btnState = digitalRead(SW);

if (btnState == LOW ) {

Serial.