Merge pull request #1521 from thinkyhead/fixup_encoder_code

Encoder multiplier - revised code

Marlin/Configuration_adv.h

@@ -284,6 +284,11 @@
 //=============================Additional Features===========================
 //===========================================================================
 
+#define ENCODER_RATE_MULTIPLIER         // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
+#define ENCODER_10X_STEPS_PER_SEC 75    // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
+#define ENCODER_100X_STEPS_PER_SEC 160  // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
+//#define ENCODER_RATE_MULTIPLIER_DEBUG  // If defined, output the encoder steps per second value
+
 //#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
 #define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
 

Marlin/example_configurations/Hephestos/Configuration_adv.h

@@ -284,6 +284,11 @@
 //=============================Additional Features===========================
 //===========================================================================
 
+#define ENCODER_RATE_MULTIPLIER         // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
+#define ENCODER_10X_STEPS_PER_SEC 75    // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
+#define ENCODER_100X_STEPS_PER_SEC 160  // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
+//#define ENCODER_RATE_MULTIPLIER_DEBUG  // If defined, output the encoder steps per second value
+
 //#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
 #define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
 

Marlin/example_configurations/K8200/Configuration_adv.h

@@ -284,6 +284,11 @@
 //=============================Additional Features===========================
 //===========================================================================
 
+#define ENCODER_RATE_MULTIPLIER         // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
+#define ENCODER_10X_STEPS_PER_SEC 75    // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
+#define ENCODER_100X_STEPS_PER_SEC 160  // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
+//#define ENCODER_RATE_MULTIPLIER_DEBUG  // If defined, output the encoder steps per second value
+
 //#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
 #define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
 

Marlin/example_configurations/SCARA/Configuration_adv.h

@@ -287,6 +287,11 @@
 //=============================Additional Features===========================
 //===========================================================================
 
+#define ENCODER_RATE_MULTIPLIER         // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
+#define ENCODER_10X_STEPS_PER_SEC 75    // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
+#define ENCODER_100X_STEPS_PER_SEC 160  // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
+//#define ENCODER_RATE_MULTIPLIER_DEBUG  // If defined, output the encoder steps per second value
+
 //#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
 #define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
 

Marlin/example_configurations/WITBOX/Configuration_adv.h

@@ -284,6 +284,11 @@
 //=============================Additional Features===========================
 //===========================================================================
 
+#define ENCODER_RATE_MULTIPLIER         // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
+#define ENCODER_10X_STEPS_PER_SEC 75    // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
+#define ENCODER_100X_STEPS_PER_SEC 160  // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
+//#define ENCODER_RATE_MULTIPLIER_DEBUG  // If defined, output the encoder steps per second value
+
 //#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
 #define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
 

Marlin/example_configurations/delta/Configuration_adv.h

@@ -279,6 +279,11 @@
 //=============================Additional Features===========================
 //===========================================================================
 
+#define ENCODER_RATE_MULTIPLIER         // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
+#define ENCODER_10X_STEPS_PER_SEC 75    // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
+#define ENCODER_100X_STEPS_PER_SEC 160  // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
+//#define ENCODER_RATE_MULTIPLIER_DEBUG  // If defined, output the encoder steps per second value
+
 //#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
 #define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
 

Marlin/example_configurations/makibox/Configuration_adv.h

@@ -283,6 +283,11 @@
 //=============================Additional Features===========================
 //===========================================================================
 
+#define ENCODER_RATE_MULTIPLIER         // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
+#define ENCODER_10X_STEPS_PER_SEC 75    // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
+#define ENCODER_100X_STEPS_PER_SEC 160  // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
+//#define ENCODER_RATE_MULTIPLIER_DEBUG  // If defined, output the encoder steps per second value
+
 //#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
 #define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
 

Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h

@@ -284,6 +284,11 @@
 //=============================Additional Features===========================
 //===========================================================================
 
+#define ENCODER_RATE_MULTIPLIER         // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
+#define ENCODER_10X_STEPS_PER_SEC 75    // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
+#define ENCODER_100X_STEPS_PER_SEC 160  // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
+//#define ENCODER_RATE_MULTIPLIER_DEBUG  // If defined, output the encoder steps per second value
+
 //#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
 #define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
 

Marlin/ultralcd.cpp

@@ -10,6 +10,9 @@
 
 int8_t encoderDiff; /* encoderDiff is updated from interrupt context and added to encoderPosition every LCD update */
 
+bool encoderRateMultiplierEnabled;
+int32_t lastEncoderMovementMillis;
+
 /* Configuration settings */
 int plaPreheatHotendTemp;
 int plaPreheatHPBTemp;
@@ -114,6 +117,7 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l
 
 /* Helper macros for menus */
 #define START_MENU() do { \
+	encoderRateMultiplierEnabled = false; \
     if (encoderPosition > 0x8000) encoderPosition = 0; \
     if (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM < currentMenuViewOffset) currentMenuViewOffset = encoderPosition / ENCODER_STEPS_PER_MENU_ITEM;\
     uint8_t _lineNr = currentMenuViewOffset, _menuItemNr; \
@@ -138,9 +142,39 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l
     }\
     _menuItemNr++;\
 } while(0)
+#ifdef ENCODER_RATE_MULTIPLIER
+  #define MENU_MULTIPLIER_ITEM(type, label, args...) do { \
+    if (_menuItemNr == _lineNr) { \
+      if (lcdDrawUpdate) { \
+        const char* _label_pstr = PSTR(label); \
+        if ((encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) == _menuItemNr) { \
+          lcd_implementation_drawmenu_ ## type ## _selected (_drawLineNr, _label_pstr , ## args ); \
+        } \
+        else { \
+          lcd_implementation_drawmenu_ ## type (_drawLineNr, _label_pstr , ## args ); \
+        } \
+      } \
+      if (wasClicked && (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) == _menuItemNr) { \
+        lcd_quick_feedback(); \
+        encoderRateMultiplierEnabled = true; \
+        lastEncoderMovementMillis = 0; \
+        menu_action_ ## type ( args ); \
+        return; \
+      } \
+    } \
+    _menuItemNr++; \
+  } while(0)
+#endif //ENCODER_RATE_MULTIPLIER
 #define MENU_ITEM_DUMMY() do { _menuItemNr++; } while(0)
 #define MENU_ITEM_EDIT(type, label, args...) MENU_ITEM(setting_edit_ ## type, label, PSTR(label) , ## args )
 #define MENU_ITEM_EDIT_CALLBACK(type, label, args...) MENU_ITEM(setting_edit_callback_ ## type, label, PSTR(label) , ## args )
+#ifdef ENCODER_RATE_MULTIPLIER
+  #define MENU_MULTIPLIER_ITEM_EDIT(type, label, args...) MENU_MULTIPLIER_ITEM(setting_edit_ ## type, label, PSTR(label) , ## args )
+  #define MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(type, label, args...) MENU_MULTIPLIER_ITEM(setting_edit_callback_ ## type, label, PSTR(label) , ## args )
+#else //!ENCODER_RATE_MULTIPLIER
+  #define MENU_MULTIPLIER_ITEM_EDIT(type, label, args...) MENU_ITEM(setting_edit_ ## type, label, PSTR(label) , ## args )
+  #define MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(type, label, args...) MENU_ITEM(setting_edit_callback_ ## type, label, PSTR(label) , ## args )
+#endif //!ENCODER_RATE_MULTIPLIER
 #define END_MENU() \
     if (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM >= _menuItemNr) encoderPosition = _menuItemNr * ENCODER_STEPS_PER_MENU_ITEM - 1; \
     if ((uint8_t)(encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) >= currentMenuViewOffset + LCD_HEIGHT) { currentMenuViewOffset = (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) - LCD_HEIGHT + 1; lcdDrawUpdate = 1; _lineNr = currentMenuViewOffset - 1; _drawLineNr = -1; } \
@@ -199,6 +233,7 @@ static void lcd_goto_menu(menuFunc_t menu, const uint32_t encoder=0, const bool
 /* Main status screen. It's up to the implementation specific part to show what is needed. As this is very display dependent */
 static void lcd_status_screen()
 {
+	encoderRateMultiplierEnabled = false;
   #if defined(LCD_PROGRESS_BAR) && defined(SDSUPPORT) && !defined(DOGLCD)
     uint16_t mil = millis();
     #ifndef PROGRESS_MSG_ONCE
@@ -417,23 +452,23 @@ static void lcd_tune_menu()
     MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
     MENU_ITEM_EDIT(int3, MSG_SPEED, &feedmultiply, 10, 999);
 #if TEMP_SENSOR_0 != 0
-    MENU_ITEM_EDIT(int3, MSG_NOZZLE, &target_temperature[0], 0, HEATER_0_MAXTEMP - 15);
+    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE, &target_temperature[0], 0, HEATER_0_MAXTEMP - 15);
 #endif
 #if TEMP_SENSOR_1 != 0
-    MENU_ITEM_EDIT(int3, MSG_NOZZLE " 2", &target_temperature[1], 0, HEATER_1_MAXTEMP - 15);
+    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 2", &target_temperature[1], 0, HEATER_1_MAXTEMP - 15);
 #endif
 #if TEMP_SENSOR_2 != 0
-    MENU_ITEM_EDIT(int3, MSG_NOZZLE " 3", &target_temperature[2], 0, HEATER_2_MAXTEMP - 15);
+    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 3", &target_temperature[2], 0, HEATER_2_MAXTEMP - 15);
 #endif
 #if TEMP_SENSOR_3 != 0
-    MENU_ITEM_EDIT(int3, MSG_NOZZLE " 4", &target_temperature[3], 0, HEATER_3_MAXTEMP - 15);
+    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 4", &target_temperature[3], 0, HEATER_3_MAXTEMP - 15);
 #endif
 
 
 #if TEMP_SENSOR_BED != 0
-    MENU_ITEM_EDIT(int3, MSG_BED, &target_temperature_bed, 0, BED_MAXTEMP - 15);
+    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_BED, &target_temperature_bed, 0, BED_MAXTEMP - 15);
 #endif
-    MENU_ITEM_EDIT(int3, MSG_FAN_SPEED, &fanSpeed, 0, 255);
+    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_FAN_SPEED, &fanSpeed, 0, 255);
     MENU_ITEM_EDIT(int3, MSG_FLOW, &extrudemultiply, 10, 999);
     MENU_ITEM_EDIT(int3, MSG_FLOW " 0", &extruder_multiply[0], 10, 999);
 #if TEMP_SENSOR_1 != 0
@@ -610,7 +645,7 @@ static void lcd_preheat_abs_menu()
   MENU_ITEM(back, MSG_PREPARE, lcd_prepare_menu);
   MENU_ITEM(function, MSG_PREHEAT_ABS_N "1", lcd_preheat_abs0);
 #if TEMP_SENSOR_1 != 0 //2 extruder preheat
-	MENU_ITEM(function, MSG_PREHEAT_ABS_N "2", lcd_preheat_abs1);
+    MENU_ITEM(function, MSG_PREHEAT_ABS_N "2", lcd_preheat_abs1);
 #endif //2 extruder preheat
 #if TEMP_SENSOR_2 != 0 //3 extruder preheat
   MENU_ITEM(function, MSG_PREHEAT_ABS_N "3", lcd_preheat_abs2);
@@ -828,7 +863,7 @@ static void lcd_control_menu()
         void copy_and_scalePID_d_E3() { copy_and_scalePID_d(2); }
         #if EXTRUDERS > 3
           void copy_and_scalePID_i_E4() { copy_and_scalePID_i(3); }
-          void copy_and_scalePID_d_E5() { copy_and_scalePID_d(3); }
+          void copy_and_scalePID_d_E4() { copy_and_scalePID_d(3); }
         #endif //EXTRUDERS > 3
       #endif //EXTRUDERS > 2
     #endif //EXTRUDERS > 1
@@ -841,28 +876,28 @@ static void lcd_control_temperature_menu()
   START_MENU();
   MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
   #if TEMP_SENSOR_0 != 0
-    MENU_ITEM_EDIT(int3, MSG_NOZZLE, &target_temperature[0], 0, HEATER_0_MAXTEMP - 15);
+    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE, &target_temperature[0], 0, HEATER_0_MAXTEMP - 15);
   #endif
   #if EXTRUDERS > 1
     #if TEMP_SENSOR_1 != 0
-      MENU_ITEM_EDIT(int3, MSG_NOZZLE " 2", &target_temperature[1], 0, HEATER_1_MAXTEMP - 15);
+      MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 2", &target_temperature[1], 0, HEATER_1_MAXTEMP - 15);
     #endif
     #if EXTRUDERS > 2
       #if TEMP_SENSOR_2 != 0
-        MENU_ITEM_EDIT(int3, MSG_NOZZLE " 3", &target_temperature[2], 0, HEATER_2_MAXTEMP - 15);
+        MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 3", &target_temperature[2], 0, HEATER_2_MAXTEMP - 15);
       #endif
-      #if EXTRUDERS > 2
+      #if EXTRUDERS > 3
         #if TEMP_SENSOR_3 != 0
-          MENU_ITEM_EDIT(int3, MSG_NOZZLE " 4", &target_temperature[3], 0, HEATER_3_MAXTEMP - 15);
+          MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 4", &target_temperature[3], 0, HEATER_3_MAXTEMP - 15);
         #endif
       #endif
     #endif
   #endif
   #if TEMP_SENSOR_BED != 0
-    MENU_ITEM_EDIT(int3, MSG_BED, &target_temperature_bed, 0, BED_MAXTEMP - 15);
+    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_BED, &target_temperature_bed, 0, BED_MAXTEMP - 15);
   #endif
-  MENU_ITEM_EDIT(int3, MSG_FAN_SPEED, &fanSpeed, 0, 255);
-  #if defined AUTOTEMP && (TEMP_SENSOR_0 != 0)
+  MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_FAN_SPEED, &fanSpeed, 0, 255);
+  #if defined(AUTOTEMP) && (TEMP_SENSOR_0 != 0)
     MENU_ITEM_EDIT(bool, MSG_AUTOTEMP, &autotemp_enabled);
     MENU_ITEM_EDIT(float3, MSG_MIN, &autotemp_min, 0, HEATER_0_MAXTEMP - 15);
     MENU_ITEM_EDIT(float3, MSG_MAX, &autotemp_max, 0, HEATER_0_MAXTEMP - 15);
@@ -1003,16 +1038,16 @@ static void lcd_control_volumetric_menu()
 	MENU_ITEM_EDIT_CALLBACK(bool, MSG_VOLUMETRIC_ENABLED, &volumetric_enabled, calculate_volumetric_multipliers);
 
 	if (volumetric_enabled) {
-		MENU_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_SIZE_EXTRUDER_0, &filament_size[0], DEFAULT_NOMINAL_FILAMENT_DIA - .5, DEFAULT_NOMINAL_FILAMENT_DIA + .5, calculate_volumetric_multipliers);
-#if EXTRUDERS > 1
-		MENU_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_SIZE_EXTRUDER_1, &filament_size[1], DEFAULT_NOMINAL_FILAMENT_DIA - .5, DEFAULT_NOMINAL_FILAMENT_DIA + .5, calculate_volumetric_multipliers);
-#if EXTRUDERS > 2
-		MENU_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_SIZE_EXTRUDER_2, &filament_size[2], DEFAULT_NOMINAL_FILAMENT_DIA - .5, DEFAULT_NOMINAL_FILAMENT_DIA + .5, calculate_volumetric_multipliers);
-#if EXTRUDERS > 3
-		MENU_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_SIZE_EXTRUDER_3, &filament_size[3], DEFAULT_NOMINAL_FILAMENT_DIA - .5, DEFAULT_NOMINAL_FILAMENT_DIA + .5, calculate_volumetric_multipliers);
-#endif //EXTRUDERS > 3
-#endif //EXTRUDERS > 2
-#endif //EXTRUDERS > 1
+    MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_SIZE_EXTRUDER_0, &filament_size[0], 1.5, 3.25, calculate_volumetric_multipliers);
+    #if EXTRUDERS > 1
+      MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_SIZE_EXTRUDER_1, &filament_size[1], 1.5, 3.25, calculate_volumetric_multipliers);
+      #if EXTRUDERS > 2
+        MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_SIZE_EXTRUDER_2, &filament_size[2], 1.5, 3.25, calculate_volumetric_multipliers);
+        #if EXTRUDERS > 3
+          MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_SIZE_EXTRUDER_3, &filament_size[3], 1.5, 3.25, calculate_volumetric_multipliers);
+        #endif //EXTRUDERS > 3
+      #endif //EXTRUDERS > 2
+    #endif //EXTRUDERS > 1
 	}
 
 	END_MENU();
@@ -1384,8 +1419,41 @@ void lcd_update()
 		#endif
         if (abs(encoderDiff) >= ENCODER_PULSES_PER_STEP)
         {
+      int32_t encoderMultiplier = 1;
+
+  #ifdef ENCODER_RATE_MULTIPLIER
+
+    if (encoderRateMultiplierEnabled) {
+      int32_t encoderMovementSteps = abs(encoderDiff) / ENCODER_PULSES_PER_STEP;
+
+      if (lastEncoderMovementMillis != 0) {
+        // Note that the rate is always calculated between to passes through the 
+        // loop and that the abs of the encoderDiff value is tracked.
+        float encoderStepRate =
+          (float)(encoderMovementSteps) / ((float)(millis() - lastEncoderMovementMillis)) * 1000.0;
+
+        if (encoderStepRate >= ENCODER_100X_STEPS_PER_SEC)     encoderMultiplier = 100;
+        else if (encoderStepRate >= ENCODER_10X_STEPS_PER_SEC) encoderMultiplier = 10;
+
+        #ifdef ENCODER_RATE_MULTIPLIER_DEBUG
+          SERIAL_ECHO_START;
+          SERIAL_ECHO("Enc Step Rate: ");
+          SERIAL_ECHO(encoderStepRate);
+          SERIAL_ECHO("  Multiplier: ");
+          SERIAL_ECHO(encoderMultiplier);
+          SERIAL_ECHO("  ENCODER_10X_STEPS_PER_SEC: ");
+          SERIAL_ECHO(ENCODER_10X_STEPS_PER_SEC);
+          SERIAL_ECHO("  ENCODER_100X_STEPS_PER_SEC: ");
+          SERIAL_ECHOLN(ENCODER_100X_STEPS_PER_SEC);
+        #endif //ENCODER_RATE_MULTIPLIER_DEBUG
+      }
+
+      lastEncoderMovementMillis = millis();
+    }
+  #endif //ENCODER_RATE_MULTIPLIER
+
             lcdDrawUpdate = 1;
-            encoderPosition += encoderDiff / ENCODER_PULSES_PER_STEP;
+            encoderPosition += (encoderDiff * encoderMultiplier) / ENCODER_PULSES_PER_STEP;
             encoderDiff = 0;
             timeoutToStatus = millis() + LCD_TIMEOUT_TO_STATUS;
         }