   pinMode(encoder0PinB, INPUT); 
   pinMode(encoder0PinZ, INPUT);
   // encoder pin on interrupt 0 (pin 2)
-  attachInterrupt(0, doEncoderA, CHANGE);
-  // encoder pin on interrupt 1 (pin 3)
-  attachInterrupt(1, doEncoderB, CHANGE);  
+  attachInterrupt(0, doEncoderA, RISING);
 }
 
 void setupMotorDriver() {


void setupWatchdog() {
  OscMessage msg("/crashreport");
  msg.add(MOTOR_ID);
  ApplicationMonitor.Dump(msg);
  ApplicationMonitor.EnableWatchdog(Watchdog::CApplicationMonitor::Timeout_4s);
  etherOSC.send(msg, destination);


EthernetUDP UDP;
OscUDP etherOSC;  

int MSEC_PER_STATUS = 50; // millseconds between sending status messages

