diff --git a/Homework/Homework5/Encoder/Encoder.ino b/Homework/Homework5/Encoder/Encoder.ino
index 12d06c9..8065388 100644
--- a/Homework/Homework5/Encoder/Encoder.ino
+++ b/Homework/Homework5/Encoder/Encoder.ino
@@ -1,17 +1,19 @@
 #include <TimerOne.h>
 
-const byte IN1 = 6;
-const byte IN2 = 7;
-const byte ENABLE = 5;
+const byte IN1 = 10;
+const byte IN2 = 11;
+const byte ENABLE = 6;
 const byte ENCO_B = 3;
 const byte ENCO_A = 2;
 
-int count = 0;
-int forward_count = 0;
-int backward_count = 0;
 const unsigned long RESET_COUNT_PERIOD_IN_US = 50000;
 const int EDGES_PER_CYCLE = 13;
 const int REDUCTION_RATIO = 20;
+int count = 0;
+int forward_count = 0;
+int backward_count = 0;
+unsigned long aFallingTime = 0;
+unsigned long bFallingTime = 0;
 
 void setup() {
     pinMode(IN1, OUTPUT);
@@ -19,29 +21,37 @@ void setup() {
     pinMode(ENABLE, OUTPUT);
     pinMode(A0, INPUT);
     pinMode(A1, INPUT);
-    digitalWrite(IN1, HIGH);
-    digitalWrite(IN2, LOW);
+    digitalWrite(IN1, LOW);
+    digitalWrite(IN2, HIGH);
     pinMode(ENCO_B, INPUT);
     pinMode(ENCO_A, INPUT);
     Serial.begin(115200);
     Timer1.initialize();
     Timer1.setPeriod(RESET_COUNT_PERIOD_IN_US);
     Timer1.attachInterrupt(resetCountAndPrint);
-    attachInterrupt(digitalPinToInterrupt(ENCO_A), onEncoAChange, CHANGE);
-    attachInterrupt(digitalPinToInterrupt(ENCO_B), onEncoBChange, CHANGE);
-    // attachInterrupt(digitalPinToInterrupt(ENCO_A), onEncoAFalling, FALLING);
+    // attachInterrupt(digitalPinToInterrupt(ENCO_A), onEncoAChange, CHANGE);
+    // attachInterrupt(digitalPinToInterrupt(ENCO_B), onEncoBChange, CHANGE);
+    attachInterrupt(digitalPinToInterrupt(ENCO_A), onEncoAFalling, FALLING);
     // attachInterrupt(digitalPinToInterrupt(ENCO_B), onEncoBFalling, FALLING);
     analogWrite(ENABLE, 50);
 }
 
 void loop() {
-    // int statusA = analogRead(0);
-    // int statusB = analogRead(1);
+    // int statusA = digitalRead(ENCO_A);
+    // int statusB = digitalRead(ENCO_B);
     // // Serial.print("A: ");
+    // Serial.print('$');
     // Serial.print(statusA);
     // // Serial.print("B: ");
-    // Serial.print(", ");
-    // Serial.println(statusB);
+    // Serial.print(' ');
+    // Serial.print(statusB);
+    // Serial.println(";");
+
+    // bFallingTime = micros();
+    
+    // aFallingTime = micros();
+
+    // Serial.println(bFallingTime - aFallingTime);
 }
 
 void resetCountAndPrint() {
@@ -51,10 +61,15 @@ void resetCountAndPrint() {
     // Serial.print(' ');
     // Serial.print(backward_count);
     // Serial.print(' ');
+    count = forward_count - backward_count;
+    Serial.print(forward_count);
+    Serial.print(' ');
+    Serial.print(backward_count);
+    Serial.print(' ');
     Serial.println(count);
     count = 0;
-    // forward_count = 0;
-    // backward_count = 0;
+    forward_count = 0;
+    backward_count = 0;
 }
 
 void onEncoAFalling() {
@@ -64,63 +79,71 @@ void onEncoAFalling() {
     else {
         forward_count++;
     }
+
+    // aFallingTime = micros();
 }
 
 void onEncoBFalling() {
-    if (digitalRead(ENCO_A) == LOW) {
-        forward_count++;
-    }
-    else {
-        backward_count++;
-    }
+    // if (digitalRead(ENCO_A) == LOW) {
+    //     forward_count++;
+    // }
+    // else {
+    //     backward_count++;
+    // }
+
+    bFallingTime = micros();
 }
 
 void onEncoAChange() {
-    int b_stat = digitalRead(ENCO_B);
-    int a_stat = digitalRead(ENCO_A);
-    if (a_stat == LOW) {
-        // if (b_stat == LOW) {
-        //     Serial.println("A 1");
-        //     count--;
-        // }
-        if (b_stat == HIGH) {
-            Serial.println("A 2");
-            count ++;
+    if (LOW == digitalRead(ENCO_A)) {
+        if (LOW == digitalRead(ENCO_B)) {
+            // Serial.println("A 1");
+            // count--;
+            backward_count++;
+        }
+        if (HIGH == digitalRead(ENCO_B)) {
+            // Serial.println("A 2");
+            // count ++;
+            forward_count++;
         }
     }
     else {
-        // if (b_stat == HIGH) {
-        //     Serial.println("A 3");
-        //     count--;
-        // }
-        if (b_stat == LOW) {
-            Serial.println("A 4");
-            count++;
+        if (HIGH == digitalRead(ENCO_B)) {
+            // Serial.println("A 3");
+            // count--;
+            backward_count++;
+        }
+        if (LOW == digitalRead(ENCO_B)) {
+            // Serial.println("A 4");
+            // count++;
+            forward_count++;
         }
     }
 }
 
 void onEncoBChange() {
-    int a_stat = digitalRead(ENCO_A);
-    int b_stat = digitalRead(ENCO_B);
-    if (b_stat == LOW) {
-        if (a_stat == HIGH) {
-            Serial.println("B 1");
-            count--;
+    if (LOW == digitalRead(ENCO_B)) {
+        if (HIGH == digitalRead(ENCO_A)) {
+            // Seria/l.println("B 1");
+            // count--;
+            backward_count++;
+        }
+        if (LOW == digitalRead(ENCO_A)) {
+            // Serial.println("B 2");
+            // count++;
+            forward_count++;
         }
-        // if (a_stat == LOW) {
-        //     Serial.println("B 2");
-        //     count++;
-        // }
     }
     else {
-        if (a_stat == LOW) {
-            Serial.println("B 3");
-            count--;
+        if (LOW == digitalRead(ENCO_A)) {
+            // Serial.println("B 3");
+            // count--;
+            backward_count++;
+        }
+        if (HIGH == digitalRead(ENCO_A)) {
+            // Serial.println("B 4");
+            // count++;
+            forward_count++;
         }
-        // if (a_stat == HIGH) {
-        //     Serial.println("B 4");
-        //     count++;
-        // }
     }
 }
\ No newline at end of file