A rotary encoder may include a first sensor unit comprising a first magnet, and a first magnetosensitive unit facing the first magnet; a second sensor unit comprising a second magnet, and a second magnetosensitive unit facing the second magnet; a circuit to generate pulses; a counter to count the pulses; a first arithmetic unit to calculate a first angle value based on an output of the first magnetosensitive unit; and a second arithmetic unit to calculate a second angle value based on an output of the second magnetosensitive unit. One of the first magnet and the first magnetosensitive unit is provided in the fixed body and the other is provided in the rotating body. One of the second magnet and the second magnetosensitive unit is provided in the fixed body and the other is provided in the rotating body.