   pinMode(SHOW_SPLASH_PIN, INPUT);
   pinMode(USE_GPS_PIN, INPUT);
   Serial.println(F("Pins and directions successfully set..."));
+  
+  Serial.println(F("Attaching interrupts..."));
+  // Attaching interrupts
+  attachInterrupt(ENCODER_PIN_A, encoderRiseA, RISING);
+  attachInterrupt(ENCODER_PIN_B, encoderRiseB, RISING);
+  Serial.println(F("Interrupts successfully attached..."));
 
   Serial.println(F("Initializing TFT with resolution 800x480..."));
   initTFT();

#define SD_CS 4
#define SHOW_SPLASH_PIN 5
#define USE_GPS_PIN 8

// Different baud rates and serial stuff
#define BAUD_RATE 115200   // Desired baud rate for serial debug communication

unsigned long timerServo = 0;
unsigned long timerGPS = 0;
unsigned long timerTFT = 0;

// HElper variables for rotary encoder
int encoderSignalA = LOW;
int encoderSignalB = HIGH;

// Different degrees
double degreesEncoder = DEGREE_STEP;
double degreesSp = 0.0;

// Controller(PID) parameters
double Kp = 0.1;
