 
 
 
-volatile int count = 0; //number of encoder counts (using a quadrature encoder)
+volatile int countA = 0; //number of encoder counts on encoder A
+volatile int countB = 0;
 
 //encoder pins: pins 2,3 are hardware interrupts
 const int encoderA = 2; 

  // put your main code here, to run repeatedly:
  temp = millis()-curr_time;
  if (temp > 2) {
    Serial.println(count/temp * 1000); //prints velocity out to the serial port
    count = 0;
    curr_time = millis();
  }


  delay(1);
}

void incA() {
  countA++;
}

void incB() {
  countB++;
}

float saturate(float value) {
