Rotary encoder for RPi 2

RotaryEncoder.c

/**********************************************************************
* Description : Rotacni enkoder pro Raspberry PI 2
* Author      : Denis Colesnicov
* E-mail      : eugustus@gmail.com
* Notice      : Original code https://www.sunfounder.com/learn/Super_Kit_V2_for_RaspberryPi/lesson-8-rotary-encoder-super-kit-for-raspberrypi.html
* Date        : 2017/11/17
**********************************************************************/

/**********************************************************************
 ************************* TODO ***************************************
 * 
 * - Pridat funkci swRelease
 * 
 *********************************************************************/
#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <stdlib.h>
#include <wiringPi.h>

#define  RoAPin    0
#define  RoBPin    1
#define  RoSPin    2


class RotaryEncoder{
 public:
 
 RotaryEncoder(int clk, int data, int sw, unsigned int sw_delay = 200){
        pinCLK = clk;
        pinData = data;
        pinSw = sw;
        swDelay = sw_delay;
        lastStatus= false;
        tick = false;
        
        resetAll();
        
    	pinMode(pinCLK, INPUT);
    	pinMode(pinData, INPUT);
    	pinMode(pinSw, INPUT);
    
    	pullUpDnControl(pinSw, PUD_UP);
    }
 
    void update(){
    	lastStatus = digitalRead(pinData);
    
        bool currentStatus;
    	while(!digitalRead(pinCLK)){
        	currentStatus = digitalRead(pinData);
    		tick = true;
    	}
    
    	if(tick){
    		tick = false;
    		if((!lastStatus)&&(currentStatus)){
    			counter ++;
    		}
    		if((lastStatus)&&(!currentStatus)){
    			counter --;
    		}
    
    	}
    	
    	if(digitalRead(pinSw) == 0)
    	{
    		clicked = true;
    		delay(swDelay);
    	}
    }
    
    void resetSw(){
        clicked = false;
    }
    
    void resetRotary(){
        counter = 0;
    }
    
    void resetAll(){
        clicked = false;
        counter = 0;
    }
    
    int getRotary(){
        return counter;
    }
    
    bool isClicked(){
        return clicked;
    }
    
private:
    bool clicked;
    int counter;
    bool tick;
    bool lastStatus;
    int pinCLK;
    int pinData;
    int pinSw;
    unsigned int swDelay;
};

int main(void)
{
	if(wiringPiSetup() < 0){
		fprintf(stderr, "Unable to setup wiringPi:%s\n",strerror(errno));
		return 1;
	}

    
    RotaryEncoder re(RoAPin, RoBPin, RoSPin);

    int lastRE = re.getRotary();
	while(1){
	    re.update();
	    int newRE = re.getRotary();
	    if(lastRE != newRE){
        	printf("rotary : %d\n",re.getRotary());
        	lastRE = newRE;
	    }
	    
    	bool click = re.isClicked();
    	if(click){
    	    printf("click : %d\n",click);
    	    re.resetSw();
    	}
	}

	return 0;
}