adding files

i2c_encoder/i2c_encoder.ino

@@ -0,0 +1,58 @@
+#include <Wire.h>
+#include "encoder.h"
+
+constexpr auto kSlaveAddress = 0x08;       // I2C address for Arduino
+constexpr auto kXEncoderClockPin = 2;
+constexpr auto kXEncoderDirectionPin = 8;
+constexpr auto kZEncoderClockPin = 3;
+constexpr auto kZEncoderDirectionPin = 9;
+
+static void x_isr(void);
+static void z_isr(void);
+static void sendData(void);
+
+static RotaryEncoder x_encoder{"X", kXEncoderClockPin, kXEncoderDirectionPin, INPUT};
+static RotaryEncoder z_encoder{"Z", kZEncoderClockPin, kZEncoderDirectionPin, INPUT_PULLUP};
+static char data[4] = {0, 0, 0, 0};
+
+void setup(){
+  //Serial.begin(38400);
+  //Serial.setTimeout(500);
+  //Serial.println("setup()");
+
+  Wire.begin(kSlaveAddress);
+  Wire.onRequest(sendData);
+
+  attachInterrupt(digitalPinToInterrupt(kXEncoderClockPin), x_isr, RISING);
+  attachInterrupt(digitalPinToInterrupt(kZEncoderClockPin), z_isr, RISING);
+}
+void loop() {
+  /*Serial.println(x_encoder.getPosition());
+  Serial.println(z_encoder.getPosition());
+  delay(250);*/
+}
+
+// Handle request to send I2C data
+void sendData() { 
+  int x_pos = x_encoder.getPosition();
+  int z_pos = z_encoder.getPosition();
+  
+  data[0] = 0x00ff & x_pos;
+  data[1] = (0xff00 & x_pos) >> 8;
+  
+  data[2] = 0x00ff & z_pos;
+  data[3] = (0xff00 & z_pos) >> 8;
+
+
+  Wire.write(data, 4);
+}
+
+static void x_isr(void)
+{
+  x_encoder.update();
+}
+
+static void z_isr(void)
+{
+  z_encoder.update();
+}