diff --git a/TeensyPwm.cpp b/TeensyPwm.cpp
index 9315c68..ef7516d 100644
--- a/TeensyPwm.cpp
+++ b/TeensyPwm.cpp
@@ -6,10 +6,11 @@
 #include "control.h"
 #include "hardware.h"
 #include "ctrlParams.h"
+#include "rotary.h"
 
 
 
-volatile float U_des = 14.0;
+volatile float u_des = 14.0;
 
 
 
@@ -40,7 +41,7 @@ void cycle() {
 		float u_adc = ((float)adcIn) * U_ref / ((float)ADC_MAX);
 		u_curr = u_adc * (R_top + R_bottom) / R_bottom;
 
-		float newPwm_f = ctrl.cycle(U_des, u_curr);
+		float newPwm_f = ctrl.cycle(u_des, u_curr);
 		newPwm = (uint16_t) newPwm_f;
 
 		analogWrite(PWM_PIN, newPwm);
@@ -78,7 +79,12 @@ void loop() {
 			maxCycleDelay = 0;
 		}
 
+
+
+    int rotaryCount = getAndResetRotaryCount();
+
 		noInterrupts();
+    u_des += rotaryCount;
 		float my_u_curr = u_curr;
 		uint16_t my_newPwm = newPwm;
 		uint32_t my_cycleDelay = cycleDelay;
@@ -86,7 +92,7 @@ void loop() {
 
 		lcd.clear();
 		lcd.setCursor(0, 0);
-		lcd.print(U_des);
+		lcd.print(u_des);
 		lcd.setCursor(8, 0);
 		lcd.print(my_u_curr);
 		lcd.setCursor(0, 1);
diff --git a/hardware.h b/hardware.h
index 9c759d0..6fb2894 100644
--- a/hardware.h
+++ b/hardware.h
@@ -35,6 +35,9 @@ const uint8_t LCD_D7 = 7;
 const uint8_t LCD_ROWS = 2;
 const uint8_t LCD_COLS = 16;
 
+const uint8_t ROTARY_A = ;
+const uint8_t ROTARY_B = ;
+const uint8_t SWITCH = ;
 
 
 
diff --git a/rotary.cpp b/rotary.cpp
new file mode 100644
index 0000000..57e8f21
--- /dev/null
+++ b/rotary.cpp
@@ -0,0 +1,90 @@
+#include <stdint.h>
+#include "hardware.h"
+#include "rotary.h"
+
+
+
+volatile int rotaryCount = 0;
+volatile bool switchState = false;
+volatile unsigned long lastEvent = 0;
+
+
+void rotary_a_interrupt() {
+  uint32_t currentEvent = millis();
+
+  if ((lastEvent == 0) || (lastEvent + DEBOUNCING_DEAD_TIME < currentEvent)) {
+    lastEvent = currentEvent;
+
+    int a = digitalRead(ROTARY_A);
+    int b = digitalRead(ROTARY_B);
+
+    if (((a != -1) && (b != -1))) {
+      if (a == b) {
+        rotaryCount++;
+      } else {
+        rotaryCount--;
+      }
+    }
+  }
+}
+
+void rotary_b_interrupt() {
+  uint32_t currentEvent = millis();
+
+  if ((lastEvent == 0) || (lastEvent + DEBOUNCING_DEAD_TIME < currentEvent)) {
+    lastEvent = currentEvent;
+
+    int a = digitalRead(ROTARY_A);
+    int b = digitalRead(ROTARY_B);
+
+    if (((a != -1) && (b != -1))) {
+      if (a == b) {
+        rotaryCount--;
+      } else {
+        rotaryCount++;
+      }
+    }
+  }
+}
+
+void switch_interrupt() {
+  unsigned long currentEvent = millis();
+
+  if ((lastEvent == 0) || (lastEvent + DEBOUNCING_DEAD_TIME < currentEvent)) {
+    lastEvent = currentEvent;
+
+    switchState = true;
+  }
+}
+
+void rotaryInit() {
+  pinMode(SWITCH, INPUT_PULLUP);
+  pinMode(ROTARY_A, INPUT_PULLUP);
+  pinMode(ROTARY_B, INPUT_PULLUP);
+  attachInterrupt(SWITCH, switch_interrupt, FALLING);
+  attachInterrupt(ROTARY_A, rotary_a_interrupt, CHANGE);
+  attachInterrupt(ROTARY_B, rotary_b_interrupt, CHANGE);
+}
+
+
+int getAndResetRotaryCount() {
+  int res = 0;
+
+  noInterrupts();
+  res = rotaryCount;
+  rotaryCount = 0;
+  interrupts();
+
+  return res;
+}
+
+bool getAndResetSwitchState() {
+  bool res = false;
+
+  noInterrupts();
+  res = switchState;
+  switchState = false;
+  interrupts();
+
+  return res;
+}
diff --git a/rotary.h b/rotary.h
new file mode 100644
index 0000000..2722991
--- /dev/null
+++ b/rotary.h
@@ -0,0 +1,16 @@
+#ifndef ROTARY_H_
+#define ROTARY_H_
+
+
+const uint32_t DEBOUNCING_DEAD_TIME = 100;
+
+
+void rotaryInit();
+
+int getAndResetRotaryCount();
+bool getAndResetSwitchState();
+
+
+
+
+#endif
\ No newline at end of file