 
 void setup() {
   // put your setup code here, to run once:
-  pinMode(encoderA, INPUT);
-  pinMode(encoderB, INPUT);
+  pinMode(encoderA, INPUT_PULLUP);
+  pinMode(encoderB, INPUT_PULLUP);
   motor.attach(motorPin);
   steering.attach(servoPin);
   
-  attachInterrupt(digitalPinToInterrupt(encoderA), inc, CHANGE);
-  attachInterrupt(digitalPinToInterrupt(encoderB), inc, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(encoderA), incA, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(encoderB), incB, CHANGE);
   curr_time = millis();
   Serial.begin(250000);
   Serial.println("Running");




volatile int count = 0; //number of encoder counts (using a quadrature encoder)

//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(countA);
    Serial.println(countB);
    //Serial.println(count/temp * 1000); //prints velocity out to the serial port
    //count = 0;
    curr_time = millis();
  }

