     pinMode(E1, OUTPUT);   
     pinMode(E2, OUTPUT);   
     pinMode(ST, INPUT);   
-    
-    AdaEncoder::addEncoder('a', 2, 3);
+    pinMode(ENC1, INPUT);   
+    pinMode(ENC2, INPUT);   
 }
 
 void loop()
 {
-  encoder *thisEncoder;
   Serial.println("Hallo Welt!.");
   delay(3000);
   Serial.println("Calibrating...");

  {
    ;
  }
  encoder.write(0);
  }
  SetMotorSpeed(0);
}
  
 
void SetMotorSpeed(signed int motorSpeed)

#include <Encoder.h>

//Arduino PWM Speed Contro
#define E1 5  
#define M1 4 
#define E2 6                      
#define M2 7

// Calibration sensor 
#define ST 8

// Encoders
#define ENC1 2
#define ENC2 3

#define EPSILON 10

char buf [20];

signed int motorSpeed = 0;
long pos = 0;
long oldPos = 0;


Encoder myEncoder(ENC1, ENC2);

void setup()
{
