If the frequent polling on the encoders is problematic, try to shift to ISRs If you do this, here is a list of things that need to be done - [ ] reassign pins(in Direction.h) - [ ] attach ISR to interrupt pins - [ ] de-attach ISR for turning - [ ] figure out how ISR and `loop` work together, and try to send data to server outside ISR
If the frequent polling on the encoders is problematic, try to shift to ISRs
If you do this, here is a list of things that need to be done
loopwork together, and try to send data to server outside ISR