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void initEncoders()
{
pinMode(LEFT_ENCODER_PIN_B, INPUT);
pinMode(RIGHT_ENCODER_PIN_B, INPUT);
attachInterrupt(LEFT_ENCODER_PIN_B, leftEncoderHandlerA, RISING);
attachInterrupt(RIGHT_ENCODER_PIN_B, rightEncoderHandlerA, RISING);
}
void leftEncoderHandlerA()
{
g_robotState.leftEncoder++;
}
void rightEncoderHandlerA()
{
g_robotState.rightEncoder++;
}
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