/* TIM3 init function */
void MX_TIM3_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;

/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__TIM3_CLK_ENABLE();

/*Configure GPIO pins : ENC0_I_Pin ENC0_Q_Pin */
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 0xFFFF;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;

encoder.EncoderMode = TIM_ENCODERMODE_TI12;
encoder.IC1Filter = 0x0f;
encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
encoder.IC1Prescaler = TIM_ICPSC_DIV4;
encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;

encoder.IC2Filter = 0x0f;
encoder.IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;
encoder.IC2Prescaler = TIM_ICPSC_DIV4;
encoder.IC2Selection = TIM_ICSELECTION_DIRECTTI;

HAL_TIM_Encoder_Init(&htim3, &encoder);
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_1);

TIM3->CR1 = 1; // Enable the counter
}

void opticEnc::exe() {

nextState = readPins();
switch(state)
{
case 0:
if(nextState == 0x1) {
val++;
state = nextState;
}
else if(nextState == 0x2) {
val--;
state = nextState;
}
break;

case 1:
if(nextState == 0x3) {
val++;
state = nextState;
}
else if(nextState == 0x0) {
val--;
state = nextState;
}
break;

case 2:
if(nextState == 0x0) {
val++;
state = nextState;
}
else if(nextState == 0x3) {
val--;
state = nextState;
}
break;

case 3:
if(nextState == 0x2) {
val++;
state = nextState;
}
else if(nextState == 0x1) {
val--;
state = nextState;
}
break;

default:
break;
}
}