Stepper motor position control by optical encider

gistfile1.txt

#include <AccelStepper.h>

//encoder/motor/driver setup
int easyDriverMicroSteps = 1; 
int rotaryEncoderSteps = 75; //setps per rev on your encoder
int motorStepsPerRev = 200; //steps per rev on the motor
int MinPulseWidth = 50; //too low and the motor will stall, too high and it will slow it down

//these pins can not be changed 2/3 are special pins
int encoderPin1 = 2;
int encoderPin2 = 3;
int easyDriverStepPin = 4;
int easyDriverDirPin = 5;
volatile int lastEncoded = 0;
volatile long encoderValue = 0;
long lastencoderValue = 0;
int lastMSB = 0;
int lastLSB = 0;

//1 means we are using a motor driver with the library
AccelStepper stepper(1, easyDriverStepPin, easyDriverDirPin);

void setup(){

  Serial.begin(115200);
  stepper.setMinPulseWidth(MinPulseWidth); 
  stepper.setMaxSpeed(50000);
  stepper.setAcceleration(1000000000); 
  stepper.setSpeed(50000); 
  pinMode(encoderPin1, INPUT);
  pinMode(encoderPin2, INPUT);
  digitalWrite(encoderPin1, HIGH); //turn pullup resistor on
  digitalWrite(encoderPin2, HIGH); //turn pullup resistor on
  //call updateEncoder() when any high/low changed seen
  //on interrupt 0 (pin 2), or interrupt 1 (pin 3) 
  attachInterrupt(0, updateEncoder, CHANGE);
  attachInterrupt(1, updateEncoder, CHANGE);
}

void loop(){
  //go to where the encoder was turned to.
  int stepsPerRotaryStep = (motorStepsPerRev * easyDriverMicroSteps) / rotaryEncoderSteps;
  stepper.moveTo(encoderValue * stepsPerRotaryStep);
  stepper.run();
  if(encoderValue != lastencoderValue){
    lastencoderValue = encoderValue;
    Serial.println(encoderValue);
  }
}
void updateEncoder(){
  int MSB = digitalRead(encoderPin1); //MSB = most significant bit
  int LSB = digitalRead(encoderPin2); //LSB = least significant bit
  int encoded = (MSB « 1) |LSB; //converting the 2 pin value to single number
  int sum  = (lastEncoded « 2) | encoded; //adding it to the previous encoded value
  if(sum == 0b1101 || sum == 0b0100 || sum == 0b0010 || sum == 0b1011) encoderValue ++;
  if(sum == 0b1110 || sum == 0b0111 || sum == 0b0001 || sum == 0b1000) encoderValue —;
  lastEncoded = encoded; //store this value for next time

}