/* 
Code for testing Skitter Encoder
by Jonathan Lane, AndyMark Inc
created for Purdue University
*/

#include <Encoder.h>

//Change these two numbers to the pins connected to your encoder on mtr 1
#define Mtr1EncA 
#define Mtr1EncB 

//Change these two numbers to the pins connected to your encoder on mtr 2
#define Mtr2EncA 
#define Mtr2EncB 

Encoder Mtr1Enc(2, 4);
Encoder Mtr2Enc(3, 5);

void setup() 
{
  Serial.begin(9600);
  Serial.println("Basic Encoder Test:");
}

long Mtr1oldPosition  = -999;
long Mtr2oldPosition  = -999;

void loop() 
{
  long Mtr1newPosition = Mtr1Enc.read();  // Motor 1 Encoder Read
  //Serial.println(Mtr1newPosition);  // for testing
  if (Mtr1newPosition != Mtr1oldPosition) // Motor 1 Encoder Print - nonrepeating
  {
    Mtr1oldPosition = Mtr1newPosition;
    Serial.print("Mtr1:");
    Serial.println(Mtr1newPosition);
  }
  

  long Mtr2newPosition = Mtr2Enc.read();  // Motor 2 Encoder Read
  //Serial.println(Mtr2newPosition);  // for testing
  if (Mtr2newPosition != Mtr2oldPosition) // Motor 2 Encoder Print - nonrepeating
  {
    Mtr2oldPosition = Mtr2newPosition;
    Serial.print("Mtr2:");
    Serial.println(Mtr2newPosition);
  }
}