 Encoder L_DCMotorEncoder(LEFT_ENCODER_A_PIN, LEFT_ENCODER_B_PIN);
 Encoder R_DCMotorEncoder(RIGHT_ENCODER_A_PIN, RIGHT_ENCODER_B_PIN);
 
-Timer g_TimerEncoder;
 float L_EncoderVelocity = 0; // Radians per second
 long L_LastEncoderValue = 0;
 double L_EncoderDelta = 0; 

#include <SoftwareSerial.h>

// Encoder Pins and Variables
#define LEFT_ENCODER_A_PIN 2
#define LEFT_ENCODER_B_PIN 4
#define RIGHT_ENCODER_A_PIN 3
#define RIGHT_ENCODER_B_PIN 5
#define TICKS_PER_REVOLUTION 3200
#define PI 3.141592654


long R_LastEncoderValue = 0;
double R_EncoderDelta = 0; 
double R_LastEncoderDelta = 0; 
double beta = .50;  // Low Pass Parameter for encoder velocity

// Speed Controller Initialization
double L_PIDout = 0;
