 volatile float angle_previous = 0;
 volatile float angle_post = 0;
 
+//initializing float values and int values.
 
-// Timer 2
+
+// Timer
 
 volatile int tcnt = 131;
 volatile int t = 0;

  // put your setup code here, to run once:
  pinMode(encoderPinA, INPUT);
  pinMode(encoderPinB, INPUT);
  attachInterrupt(0, doEncoderA, CHANGE);
  attachInterrupt(1, doEncoderB, CHANGE);
  lcd.begin(16,2);
  lcd.print("Angle:");
  lcd.setCursor(0,1);

  TCCR2B &= ~(1<<CS21);
  TCNT2 = tcnt;
  TIMSK2 |= (1<<TOIE2);
  Serial.begin (9600); //
  delay(500);
}


void printlcdAngle(){
  lcd.setCursor(7,0);
