   // Set last known encoder ticks
   L_LastEncoderValue = L_encoderValue;
   R_LastEncoderValue = R_encoderValue;
+
+  last_encoder_time = now;
 
   L_LastEncoderDelta = L_EncoderDelta;
   R_LastEncoderDelta = R_EncoderDelta;

  long L_encoderValue = L_DCMotorEncoder.read();
  long R_encoderValue = R_DCMotorEncoder.read();
  
  // Get position in revolutions (includes multiple revolutions)
// Serial.println(encoderValue);
  L_EncoderDelta = (double)(L_encoderValue - L_LastEncoderValue) * (1-beta) + L_LastEncoderDelta * beta;

Encoder L_DCMotorEncoder(LEFT_ENCODER_A_PIN, LEFT_ENCODER_B_PIN);
Encoder R_DCMotorEncoder(RIGHT_ENCODER_A_PIN, RIGHT_ENCODER_B_PIN);

long last_encoder_time = micros();  // not the best way to get this done... should check existence in Update Wheel Function
float L_EncoderVelocity = 0; // Radians per second
long L_LastEncoderValue = 0;
double L_EncoderDelta = 0; 
