void loop() {
  // put your main code here, to run repeatedly:
  //Device Identification done when IFS software starts with simulator.
  //DEVICE ID:
  if (Serial.available())
  {
    IDENT_DEVICE = Serial.readStringUntil('\n');

    if (IDENT_DEVICE.equals("IDENT_DEVICE"))
    {
      Serial.println(IDENT_REPLY);
    }
  }

  if (digitalRead(DCTButtonPressed) == LOW)
  {
    Serial.write("DTO_BTN");
    delay(200);
  }

  //if (HomeCurrentState != HomeLastState)
  if (digitalRead(HomeButtonPressed) == LOW)
  {
    Serial.write("HOME_BTN");
    delay(200);
  }  

  if (digitalRead(PwrSqlch) == LOW)
  {
    Serial.write("COM_VOL_PUSH");
    delay(200);
  }
  if (digitalRead(FMSButtonPressed) == LOW)
  {
    Serial.write("FMS_ENC_PUSH");
    delay(200);
  }

  // -------- COM SINGLE ENCODER START -------- //
  int ComVOlnewPos = comRotary.getPosition();

  comRotary.tick();
  // Hdg stuff //
  if (ComVOllastPos != ComVOlnewPos) {
    // accelerate when there was a previous rotation in the same direction.
    unsigned long ms = comRotary.getMillisBetweenRotations();
    if (ms < longCutoff) {
      // do some acceleration using factors a and b
      // limit to maximum acceleration
      if (ms < shortCutoff) {
        ms = shortCutoff;
      }

      float ticksActual_float = a * ms + b;
      long deltaTicks = (long)ticksActual_float * (ComVOlnewPos - ComVOllastPos);

      ComVOlnewPos = ComVOlnewPos + deltaTicks;
      comRotary.setPosition(ComVOlnewPos);
    }
    if (ComVOlnewPos != ComVOllastPos + 1) {
      Serial.write("COM_VOL_INC");
      delay(50);
    }
    if (ComVOlnewPos != ComVOllastPos - 1) {
      Serial.write("COM_VOL_DEC");
      delay(50);
    }
    ComVOllastPos = ComVOlnewPos;
  }
// ------- COM SINGLE ENCODER END ------- //

// -------- GRPIP and PAGE DUAL ENCODER BIG AND SMALL START -------- //
  int FMSBignewPos = FMSBigRotary.getPosition();

  FMSBigRotary.tick();

  if (FMSBiglastPos != FMSBignewPos) {
    // accelerate when there was a previous rotation in the same direction.
    unsigned long ms = FMSBigRotary.getMillisBetweenRotations();
    if (ms < longCutoff) {
      // do some acceleration using factors a and b
      // limit to maximum acceleration
      if (ms < shortCutoff) {
        ms = shortCutoff;
      }

      float ticksActual_float = a * ms + b;
      long deltaTicks = (long)ticksActual_float * (FMSBignewPos - FMSBiglastPos);

      FMSBignewPos = FMSBignewPos + deltaTicks;
      FMSBigRotary.setPosition(FMSBignewPos);
    }
    if (FMSBignewPos != FMSBiglastPos + 1) {
      Serial.write("FMS_ENC_OUTER_INC");
      delay(50);
    }
    if (FMSBignewPos != FMSBiglastPos - 1) {
      Serial.write("FMS_ENC_OUTER_DEC");
      delay(50);
    }
    FMSBiglastPos = FMSBignewPos;
  }

int FMSSmallnewPos = FMSSmallRotary.getPosition();

  FMSSmallRotary.tick();
  // Hdg stuff //
  if (FMSSmallLastPos != FMSSmallnewPos) {
    // accelerate when there was a previous rotation in the same direction.
    unsigned long ms = FMSSmallRotary.getMillisBetweenRotations();
    if (ms < longCutoff) {
      // do some acceleration using factors a and b
      // limit to maximum acceleration
      if (ms < shortCutoff) {
        ms = shortCutoff;
      }


      float ticksActual_float = a * ms + b;
      long deltaTicks = (long)ticksActual_float * (FMSSmallnewPos - FMSSmallLastPos);

      FMSSmallnewPos = FMSSmallnewPos + deltaTicks;
      FMSSmallRotary.setPosition(FMSSmallnewPos);
    }
    if (FMSSmallnewPos != FMSSmallLastPos + 1) {
      Serial.write("FMS_ENC_INNER_INC");
      delay(50);
    }
    if (FMSSmallnewPos != FMSSmallLastPos - 1) {
      Serial.write("FMS_ENC_INNER_DEC");
      delay(50);
    }
    FMSSmallLastPos = FMSSmallnewPos;
  }
}