 
 
 
-volatile int count = 0; //number of encoder counts (using a quadrature encoder)
+volatile int countA = 0; //number of encoder counts on encoder A
+volatile int countB = 0;
 
 //encoder pins: pins 2,3 are hardware interrupts
 const int encoderA = 2; 

  delay(1);
}

void inc() {
  count++;
}

float saturate(float value) {


void setup() {
  // put your setup code here, to run once:
  pinMode(encoderA, INPUT_PULLUP);
  pinMode(encoderB, INPUT_PULLUP);
  motor.attach(motorPin);
  steering.attach(servoPin);
  
  attachInterrupt(digitalPinToInterrupt(encoderA), incA, CHANGE);
  attachInterrupt(digitalPinToInterrupt(encoderB), incB, CHANGE);
  curr_time = millis();
  Serial.begin(250000);
  Serial.println("Running");
