int motorPin1 = 8; // pin 2 of motor driver to any digital pin of arduino
int motorPin2 = 4; // pin 6 of motor driver to any digital pin of arduino
int enablePin = 9; // pin 4 of motor driver to any pwm pin of of arduino
int flag=0;        //makes sure that the serial only prints once the state
 int encoderPinA = 3; //yellow wire of encoder to interrupt pin of arduino
 int encoderPinB = 2; //white wire of encoder to interrupt pin of arduino
  long int c = 0; //Stores the counts of encoder
 int check;
 int val;
void setup()
{
    // sets the pins as outputs:
    pinMode(motorPin1, OUTPUT);
    pinMode(motorPin2, OUTPUT);
    pinMode(enablePin, OUTPUT);
    Serial.begin(9600);
 }
void loop()
{
      if(c<3000)
        {
        digitalWrite(motorPin1, LOW); // set pin 2
        digitalWrite(motorPin2, HIGH); // set pin 6
        analogWrite(enablePin,250);
        Serial.println("Motor: FAST");
        }
         if(c>3000 && c<6000)
        {
        digitalWrite(motorPin1, HIGH); // set pin 2
        digitalWrite(motorPin2, LOW); // set pin 6
        analogWrite(enablePin,150);
        Serial.println("Motor: SLOW");
        }
        if(c>6000)
        {
        digitalWrite(motorPin1, LOW); // set pin 2
        digitalWrite(motorPin2, LOW); // set pin 6
        analogWrite(enablePin,0);
        Serial.println("Motor: STOP");
        }
        c++;
}