 #include <SoftwareSerial.h>
 
 // Encoder Pins and Variables
-#define LEFT_ENCODER_A_PIN 2
-#define LEFT_ENCODER_B_PIN 4
-#define RIGHT_ENCODER_A_PIN 3
-#define RIGHT_ENCODER_B_PIN 5
+#define LEFT_ENCODER_A_PIN 3
+#define LEFT_ENCODER_B_PIN 5
+#define RIGHT_ENCODER_A_PIN 2
+#define RIGHT_ENCODER_B_PIN 4
 #define TICKS_PER_REVOLUTION 3200
 #define PI 3.141592654
 

long R_LastEncoderValue = 0;
double R_EncoderDelta = 0; 
double R_LastEncoderDelta = 0; 
double beta = .90;  // Low Pass Parameter for encoder velocity

// Speed Controller Initialization
double L_PIDout = 0;

Encoder L_DCMotorEncoder(LEFT_ENCODER_A_PIN, LEFT_ENCODER_B_PIN);
Encoder R_DCMotorEncoder(RIGHT_ENCODER_A_PIN, RIGHT_ENCODER_B_PIN);

float L_EncoderVelocity = 0; // Radians per second
long L_LastEncoderValue = 0;
double L_EncoderDelta = 0; 
