bool isStall(float count) {
  bool leftStall = false;
  bool rightStall = false;

  int leftStartCount = left_encoder.Counts();
  int rightStartCount = right_encoder.Counts();
  //Wait 500 ms to reread encoder counts
  float start = TimeNow();
  while (TimeNow() - start < 0.3) {
      if (right_encoder.Counts() > count) {
          return false;
      }
  }
  int leftEndCount = left_encoder.Counts();
  int rightEndCount = right_encoder.Counts();
  if (rightEndCount - rightStartCount < 5) {
     rightStall = true;
     LCD.WriteRC("!!!-----R STALL------!!!",9,1);
  }
  if (leftEndCount - leftStartCount < 5) {
    leftStall = true;
    LCD.WriteRC("!!!-----L STALL------!!!",10,1);
  }

  return leftStall && rightStall;
}