int enc_read(void) {
  int result = 0;
  byte newState;
  int enc_speed = 0;

  unsigned long start_at = millis();

  while (millis() - start_at < 50) { // check if the previous state was stable
    newState = enc_state(); // Get current state

    if (newState != enc_prev_state)
      delayMicroseconds(1);

    if (enc_state() != newState || newState == enc_prev_state)
      continue;
    //these transitions point to the encoder being rotated anti-clockwise
    if ((enc_prev_state == 0 && newState == 2) ||
      (enc_prev_state == 2 && newState == 3) ||
      (enc_prev_state == 3 && newState == 1) ||
      (enc_prev_state == 1 && newState == 0)){
        result--;
      }
    //these transitions point o the enccoder being rotated clockwise
    if ((enc_prev_state == 0 && newState == 1) ||
      (enc_prev_state == 1 && newState == 3) ||
      (enc_prev_state == 3 && newState == 2) ||
      (enc_prev_state == 2 && newState == 0)){
        result++;
      }
    enc_prev_state = newState; // Record state for next pulse interpretation
    enc_speed++;
    delayMicroseconds(1);
  }
  return(result);