SimpleEncoder_1

//this is my example for Amperka L298P shield
//this code placed on Pastebin
//source example from here: http://andrewjkramer.net/motor-encoders-arduino/
#define dirPin 4
#define speedPin 5
#define RH_ENCODER_A 3
#define RH_ENCODER_B 8
uint8_t pwm = 55;
uint8_t step = 1;
bool mean = 0;
bool newmean = 0;
uint32_t counter = 0;

void simpleGo(uint8_t dir1, uint8_t speed) {
  digitalWrite(dirPin, dir1);
  analogWrite(speedPin, speed);
}

void setup() {
  pinMode(dirPin, OUTPUT);
  pinMode(speedPin, OUTPUT);
  pinMode(RH_ENCODER_A, INPUT);
  pinMode(RH_ENCODER_B, INPUT);
  Serial.begin(9600);
  //simpleGo(1, 40);
  //delay(2000);
  //simpleGo(1,0);
}



void loop() {
  //Serial.print("port A = ");
  //Serial.println(digitalRead(RH_ENCODER_A));
  //Serial.print("port B = ");
  //Serial.println(digitalRead(RH_ENCODER_B));
  while (counter <= 60000) {
    newmean = digitalRead(RH_ENCODER_B);
    if (mean != newmean) {
      counter++;
      Serial.print("count = ");
      Serial.println(counter);
      mean = newmean;
    }
    simpleGo(1, 50);
  }
  simpleGo(1, 0);

}