#include <QuadratureEncoder.h>
// must also have enableInterrupt.h library


Encoders Encoder0(2,3);	// Create an Encoder object name leftEncoder, using digitalpin 2 & 3
Encoders Encoder1(14,15); 
//Encoders Encoder2(16,17);  //Non-interrupt encoders do not work with this library
//Encoders Encoder3(9,10); 

void setup() {
  Serial.begin(115200);

pinMode(2, INPUT);
pinMode(3, INPUT); 
pinMode(14, INPUT); 
pinMode(15, INPUT); 
//pinMode(16, INPUT); 
//pinMode(17, INPUT); 
//pinMode(9, INPUT); 
//pinMode(10, INPUT); 
}




unsigned long lastMilli = 0;

void loop() {
  // put your main code here, to run repeatedly:
  // print encoder count every 50 millisecond
  if(millis()-lastMilli > 50){ 
    
    long currentEncoder0Count = Encoder0.getEncoderCount();
    long currentEncoder1Count = Encoder1.getEncoderCount();
//    long currentEncoder2Count = Encoder2.getEncoderCount();
//    long currentEncoder3Count = Encoder3.getEncoderCount();

    
    Serial.print(currentEncoder0Count);
    Serial.print(" , ");
    Serial.print(currentEncoder1Count);
//    Serial.print(" , ");
//    Serial.print(currentEncoder2Count);
//   Serial.print(" , ");
//    Serial.println(currentEncoder3Count);
    
    lastMilli = millis();
  }
   
}