esp-idf/examples/peripherals/pcnt/rotary_encoder/main/rotary_encoder_example_main.c

/* PCNT example -- Rotary Encoder

   This example code is in the Public Domain (or CC0 licensed, at your option.)

   Unless required by applicable law or agreed to in writing, this
   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
   CONDITIONS OF ANY KIND, either express or implied.
*/
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "rotary_encoder.h"

static const char *TAG = "example";

void app_main(void)
{
    // Rotary encoder underlying device is represented by a PCNT unit in this example
    uint32_t pcnt_unit = 0;

    // Create rotary encoder instance
    rotary_encoder_config_t config = ROTARY_ENCODER_DEFAULT_CONFIG((rotary_encoder_dev_t)pcnt_unit, 14, 15);
    rotary_encoder_t *encoder = NULL;
    ESP_ERROR_CHECK(rotary_encoder_new_ec11(&config, &encoder));

    // Filter out glitch (1us)
    ESP_ERROR_CHECK(encoder->set_glitch_filter(encoder, 1));

    // Start encoder
    ESP_ERROR_CHECK(encoder->start(encoder));

    // Report counter value
    while (1) {
        ESP_LOGI(TAG, "Encoder value: %d", encoder->get_counter_value(encoder));
        vTaskDelay(pdMS_TO_TICKS(1000));
    }
}