#include <Wire.h>
#include <I2CEncoder.h>

// Create an I2CEncoder for measuring the speed
I2CEncoder rightEncoder;
I2CEncoder leftEncoder;

void setup() {
  Wire.begin(); // join i2c bus (address optional for master)
  Serial.begin(9600);
  rightEncoder.init(MOTOR_393_SPEED_ROTATIONS, MOTOR_393_TIME_DELTA);
  leftEncoder.init(MOTOR_393_SPEED_ROTATIONS, MOTOR_393_TIME_DELTA);
  rightEncoder.unTerminate();
  leftEncoder.terminate();

}

void loop() {
  Serial.print(rightEncoder.getSpeed()); Serial.print(','); Serial.println(leftEncoder.getSpeed());
}