   Serial.print("{\"type\":\"state\"");
   Serial.print(",\"heading\":");
   Serial.print(heading);
-  Serial.print(",\"leftEncPos\":");
-  Serial.print(leftEncPos);
-  Serial.print(",\"rightEncPos\":");
-  Serial.print(rightEncPos);
+  Serial.print(",\"leftTicks\":");
+  Serial.print(leftTicks);
+  Serial.print(",\"rightTicks\":");
+  Serial.print(rightTicks);
   Serial.print(",\"leftDist\":");
   Serial.print(leftDist);
   Serial.print(",\"centerDist\":");


void readEncoders() {
  // Read encoders
  leftEncPos = leftEnc.read();
  rightEncPos = rightEnc.read();
}

//

// For positive numbers when going forward, left should be backwards, right should be in order
Encoder leftEnc(D9, D8);
Encoder rightEnc(D10, D12);
long leftTicks;
long rightTicks;

void setup() {
  // Initialize I/O pins
