关于使用欧姆龙的绝对值旋转编码器 E6CP-AG5C 输出不稳定

#define PIN_0 (2) //2^0
#define PIN_1 (3) //2^1
#define PIN_2 (4) //2^2
#define PIN_3 (5) //2^3
#define PIN_4 (6) //2^4
#define PIN_5 (7) //2^5
#define PIN_6 (8) //2^6
#define PIN_7 (9) //2^7
#define PIN_8 (10) //2^8
#define PIN_9 (11) //2^9
#define TO_INVERT_SIG (1) //In my case, I need to invert the signal to get the correct result.
const int offset = 0; //angle offset
const int numPins = 10;
int8_t pinArray[numPins] = {
  PIN_0,
  PIN_1,
  PIN_2,
  PIN_3,
  PIN_4,
  PIN_5,
  PIN_6,
  PIN_7,
  PIN_8,
  PIN_9
};

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);

  for(int i = 0;i < numPins;i++) {
    pinMode(pinArray[i], INPUT_PULLUP);
  }
}

void loop() {
  // put your main code here, to run repeatedly:
  Serial.println(ConvertGrayCode(), DEC);
  delay(50);
}

int ConvertGrayCode() {
  int finalResult = 0;
  int val = 0;
  int curXORVal = 0;
  int i = numPins - 1; //start from MSB

  //assign first value
  #if TO_INVERT_SIG == 1
  val = 1 - digitalRead(pinArray[i]);
  #else
  val = digitalRead(pinArray[i]);
  #endif
  
  finalResult = ((val & 1) << i);
  for(i = numPins - 2;i >= 0;i--) {
    #if TO_INVERT_SIG == 1
    val = 1 - digitalRead(pinArray[i]);
    #else
    val = digitalRead(pinArray[i]);
    #endif
    curXORVal = ((finalResult >> (i + 1)) & 1) ^ (val & 1);
    finalResult |= ((curXORVal & 1) << i);
  }
  
  return finalResult - offset;
}
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