diff --git a/Homework/Homework5/Encoder/Encoder.ino b/Homework/Homework5/Encoder/Encoder.ino
new file mode 100644
index 0000000..389439c
--- /dev/null
+++ b/Homework/Homework5/Encoder/Encoder.ino
@@ -0,0 +1,53 @@
+#include <TimerOne.h>
+
+const byte IN1 = 6;
+const byte IN2 = 7;
+const byte ENABLE = 5;
+const byte ENCO_B = 4;
+const byte ENCO_A = 2;
+
+int count = 0;
+const unsigned long RESET_COUNT_PERIOD_IN_US = 50000;
+const int EDGES_PER_CYCLE = 13;
+const int REDUCTION_RATIO = 20;
+
+void setup() {
+    pinMode(IN1, OUTPUT);
+    pinMode(IN2, OUTPUT);
+    pinMode(ENABLE, OUTPUT);
+    pinMode(A0, INPUT);
+    pinMode(A1, INPUT);
+    digitalWrite(IN1, HIGH);
+    digitalWrite(IN2, LOW);
+    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), onEncoAFalling, FALLING);
+    analogWrite(ENABLE, 100);
+}
+
+void loop() {
+    // Serial.print(digitalRead(2));
+    // Serial.print(" ");
+    // Serial.println(digitalRead(4));
+    // delay(100);
+}
+
+void resetCountAndPrint() {
+    Serial.print("Rpm: ");
+    Serial.println((double)count * 60 * 1000 * 1000 / EDGES_PER_CYCLE / REDUCTION_RATIO / RESET_COUNT_PERIOD_IN_US);
+    count = 0;
+}
+
+void onEncoAFalling() {
+    // Serial.println("In!");
+    if (digitalRead(ENCO_B) == LOW) {
+        count++;
+    }
+    else {
+        count--;
+    }
+}
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