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Lesson 97: Lesson 97: Controlling Servo Motor using Rotary Encoder and Display Angel On LCD

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Part 9: Servo Motor

In this lesson we learn how to use a rotary encoder knob. Then we learn how to use it to control position of a servo motor (97-2) . In this lesson (97-3) we also display the position of servo motor on LCD screen using Arduino. This code will work with all Arduino board.
This code is just demonstrating rotary encoder and detecting pushin the switch built-in the encoder.

 *  Lesson 97-1: Rotary Encoder with switch 
 *  This code deteccts rotation of the encoder knob
 *  and also detects when it is pushed
 *  Watch full details video:
  This video is part of Arduino Step by Step Course which starts here:

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 * This code is "AS IS" without warranty or liability. Free to be used as long as you keep this note intact.* 
 * This code has been download from
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <>.
 *  Updated by Ahamd Shamshiri on Jan 23, 2022
 *  Encoder Library - Basic Example
 * This example code is in the public domain.
const int SW_PIN = 4;
const int PIN_A =2;
const int PIN_B =3;

#include <Encoder.h>

// Change these two numbers to the pins connected to your encoder.
//   Best Performance: both pins have interrupt capability
//   Good Performance: only the first pin has interrupt capability
//   Low Performance:  neither pin has interrupt capability
Encoder myEnc(PIN_A, PIN_B);
//   avoid using pins with LEDs attached

void setup() {
  pinMode(SW_PIN, INPUT);
  Serial.println("Basic Encoder Test:");

long oldPosition  = -999;

void loop() {
  long newPosition =;
  if (newPosition != oldPosition) {
    oldPosition = newPosition;

  if( digitalRead(SW_PIN) == LOW)
   Serial.println("Switch Pressed");

  //watch video details

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