 // For positive numbers when going forward, left should be backwards, right should be in order
 Encoder leftEnc(D9, D8);
 Encoder rightEnc(D10, D12);
-long leftEncPos;
-long rightEncPos;
+long leftTicks;
+long rightTicks;
 
 void setup() {
   // Initialize I/O pins


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

//

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