int EN1 = 7; int EN2 = 8; int EN1val = 0; int EN2val = 0; int state1 = 0; int state2 = 0; int EN1high = 0; int EN2high = 0; int EN1low = 0; int EN2low = 0; void setup() { pinMode(EN1, INPUT); pinMode(EN2, INPUT); Serial.begin(9600); } void loop() { EN1val = digitalRead(EN1); EN2val = digitalRead(EN2); if (EN1val == HIGH && state1 == 0) { EN1high++; state1 = 1; } if (EN1val == LOW && state1 == 1) { EN1low++; state1 = 0; } if (EN2val == HIGH && state2 == 0) { EN2high++; state2 = 1; } if (EN2val == LOW && state2 == 1) { EN2low++; state2 = 0; } Serial.print("ENCODER 1 VALUE: "); Serial.print(EN1high); Serial.print("\t"); Serial.print("ENCODER 2 VALUE: "); Serial.println(EN2high); }