 
 void loop() {
   long actualRotaryTicks = (rotaryHalfSteps / 2);
-  Serial.println(actualRotaryTicks, DEC);
+    // read the analog in value:
+  Serial.print(rotaryHalfSteps*32+512); 
+  Serial.print(",");  
+  //Serial.print("\t output = ");      
+  //Serial.println(outputValue);
+  delay(2);
+    
+  for (int thisPin = 1; thisPin < 6; thisPin++) {
+  sensorValue = analogRead(thisPin);            
+  
+  // print the results to the serial monitor:
+  //Serial.print("sensor = " );                       
+  Serial.print(sensorValue); 
+  Serial.print(",");  
+  //Serial.print("\t output = ");      
+  //Serial.println(outputValue);
+  delay(2);   
+  }
+   Serial.println("");
+  // wait 2 milliseconds before the next loop
+  // for the analog-to-digital converter to settle
+  // after the last reading:
+  delay(2);  
 }
 
 

	if ( micros() - int1time < threshold )
		return;
	int1history = int1signal;
	int1signal = bitRead(PIND,3);
	if ( int1history==int1signal )
		return;
	int1time = micros();
	}
void reset()
{
 rotaryHaflSteps = 0;
 }

void setup() {
  pinMode(2, INPUT);
  digitalWrite(2, HIGH);
  PCintPort::attachInterrupt(2, &int0, CHANGE);
  pinMode(3, INPUT);
  digitalWrite(3, HIGH);
  PCintPort::attachInterrupt(3, &int1, CHANGE);
  
  // Pin used to get absolute position
  pinMode(4, INPUT);
  digitalWrite(4, HIGH);
  PCintPort::attachInterrupt(4, &reset, CHANGE);
  Serial.begin(115200);
  Serial.println("---------------------------------------");
}

uint8_t latest_interrupted_pin;
uint8_t interrupt_count[20]={0}; // 20 possible arduino pins

int pinA = 2;
int pinB = 3;
int pinReset = 4;

// These constants won't change.  They're used to give names
// to the pins used:
const int analogInPin = 0;  // Analog input pin that the potentiometer is attached to
const int analogOutPin = 9; // Analog output pin that the LED is attached to

int sensorValue = 0;        // value read from the pot
int outputValue = 0;        // value output to the PWM (analog out)


void int0()
	{
	if ( micros() - int0time < threshold )
		return;
	int0history = int0signal;
	int0signal = bitRead(PIND,pinA);
	if ( int0history==int0signal )
		return;
	int0time = micros();
