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11 pfowler 1 
#include <stdint.h>
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#include <avr/pgmspace.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/wdt.h>
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#define F_CPU 12000000
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#include <util/delay.h>
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#define DEPRESS_TIME	1
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#define sbi(sfr, bit)   ((sfr) |= _BV(bit))		// Set bit
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#define cbi(sfr, bit)   ((sfr) &= ~(_BV(bit)))		// Clear bit
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#define xbi(sfr, bit)   ((sfr) ^= _BV(bit))		// Flip bit
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#define rbi(sfr, bit)   (((sfr) >> (bit)) & 0x01)
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volatile uint8_t pcIntCurr = 0;
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volatile uint8_t pcIntLast = 0;
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volatile uint8_t pcIntMask = 0;
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void doInt();
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int main() {
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	cbi(DDRB, PCINT2);
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	cbi(DDRB, PCINT3);
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	PORTB |= (( 1 << PCINT2 ) | ( 1 << PCINT3 )); //turn on pullups
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	PCMSK |= (( 1 << PCINT2 ) | ( 1 << PCINT3 )); //enable encoder pins interrupt sources
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	sei();
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	GIMSK |= ( 1 << PCIE ); //enable pin change interupts
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	DDRD |= ( 1 << PD4 );
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	DDRD |= ( 1 << PD5 );
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	DDRD |= ( 1 << PD6 );
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	sbi(PORTD, PD6);
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	_delay_ms(1000);
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        cbi(PORTD, PD6);
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	for (;;) {
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		if (pcIntMask)
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			doInt();
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	}
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}
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void doInt() {
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  xbi(PORTD, PD6);
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  if (rbi(pcIntCurr, PCINT2) == 0 && rbi(pcIntCurr, PCINT3) == 0 && rbi(pcIntMask, PCINT2) ) {
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	cbi(PORTD, PD5);	// Clear oppposite direction
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	sbi(PORTD, PD4);	// Depress current direction for DEPRESS time
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	_delay_ms(DEPRESS_TIME);
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	cbi(PORTD, PD4);
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  } else if (rbi(pcIntCurr, PCINT3) == 0 && rbi(pcIntCurr, PCINT2) == 0 && rbi(pcIntMask, PCINT3) ) {
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	cbi(PORTD, PD4);
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	sbi(PORTD, PD5);
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	_delay_ms(DEPRESS_TIME);
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	cbi(PORTD, PD5);
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  }
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  pcIntMask = 0;
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}
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ISR(PCINT_vect)
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{
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  pcIntCurr = PINB;
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  pcIntMask = pcIntCurr ^ pcIntLast;
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  pcIntLast = pcIntCurr;
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}