 int previousMillis1 = 0;
 int previousMillis2 = 0;
 
-const int stepsPerRevelation = 20;
-const int distanceInMMPerRevelation = 220;
+// Debouncer
+unsigned long EncoderLockDuration = 15000; // in microseconds
+
+unsigned long PreviousScan1 = 0;
+unsigned long PreviousScan2 = 0;
 
 
 // Motor 1 - Left


void EncoderRotationCount2()
{
    if(motorDirectionIsForward2)
    {
        interrupt2Count++;


void EncoderRotationCount1()
{
    unsigned long currentMicros = micros();
    if (currentMicros - PreviousScan1 <= EncoderLockDuration) 
    {
        return;
    }

    PreviousScan1 = currentMicros;

    if(motorDirectionIsForward1)
    {
        interrupt1Count++;
