signed char enc_states[] = {0,-1,1,0,1,0,0,-1,-1,0,0,1,0,1,-1,0};
byte old_AB = 0;
byte enc_value = 127;
byte old_enc_value = 0;

void encoder0Loop(void) { // int8 enc_value
old_AB <<= 2; //remember previous state by shifting the lower bits up 2
old_AB |= ( portb & 0x03 ); // AND the lower 2 bits of port b, then OR them with var old_AB to set new value
enc_value += enc_states[( old_AB & 0x0f )]; // the lower 4 bits of old_AB & 16 are then the index for enc_states
if ( enc_value == old_enc_value ) {
return;
}
if( enc_value == 255 ) { // Original line
enc_value = 0;
}
printf("enc_value = %3d, old_AB = %3d, old_enc_value = %3d\n\r",enc_value,old_AB,old_enc_value); // debugging...
printf(lcd_putc,"\fEncoder 0 = %d\n",enc_value);
old_enc_value = enc_value;
// set whatever variable you need to increment to enc_value here...
}
//////////////////////////////////////////////////////////////////#int_TIMER0
void timer0_isr()
{
output_toggle(PIN_A2); // let me know it's alive...
}
//////////////////////////////////////////////////////////////////

void main(void) {

port_b_pullups(true);
setup_adc_ports(NO_ANALOGS);
set_tris_b(255);
input_b();
ENABLE_INTERRUPTS(global);
ENABLE_INTERRUPTS(INT_TIMER0);
SETUP_TIMER_0(RTCC_INTERNAL | RTCC_DIV_32);

printf("\n\r\rRotary Encoder Test 2\n\n\r");
printf(lcd_putc,"\fRotary Encoder\nTest 2");
delay_ms(1000);

while (true)
{
encoder0Loop();
} // end of while loop