old_contents: #!/usr/bin/python
  
  # Python Standard Library Imports
  import math
  import ProBotConstantsFile
  
  # Initialization of classes from local files
  Pconst = ProBotConstantsFile.Constants()
  
  
  class EncodersClass():
      def __init__(self, LastwheelPosition1=0, LastwheelPosition2=0):
          self.LastwheelPosition1 = LastwheelPosition1
  	self.LastwheelPosition2 = LastwheelPosition2
  
      def EncodersValues(self):
  
          wheelTicks1 = Pconst.encoder1.get_position()					# Get position from the first encoder
          wheelTicks2 = Pconst.encoder2.get_position()					# Get position from the second encoder
  		
          wheelPosition1_m = (float(wheelTicks1)) / Pconst.ticks * math.pi * Pconst.wheelDiameter	# First wheel distance travelled 
          wheelPosition2_m = (float(wheelTicks2)) / Pconst.ticks * math.pi * Pconst.wheelDiameter	# Second wheel distance travelled
  
          wheelPosition1 = float(wheelPosition1_m - self.LastwheelPosition1)				# Wheel position diference
  	wheelPosition2 = float(wheelPosition2_m - self.LastwheelPosition2)   		
  
   
  	self.LastwheelPosition1 = wheelPosition1_m   
  	self.LastwheelPosition2 = wheelPosition2_m
  
          return wheelPosition1, wheelPosition2
  
new_contents: #!/usr/bin/python
  
  # Python Standard Library Imports
  import math
  import ProBotConstantsFile
  
  # Initialization of classes from local files
  Pconst = ProBotConstantsFile.Constants()
  
  
  class EncodersClass():
      def __init__(self, LastwheelPosition1=0, LastwheelPosition2=0):
          self.LastwheelPosition1 = LastwheelPosition1
  	self.LastwheelPosition2 = LastwheelPosition2
  
      def EncodersValues(self):
  
          wheelTicks1 = Pconst.encoder1.get_position()					# Get position from the first encoder
          wheelTicks2 = Pconst.encoder2.get_position()					# Get position from the second encoder
  		
          wheelPosition1_m = (float(wheelTicks1)) / Pconst.ticks * math.pi * Pconst.wheelDiameter	# First wheel distance travelled 
          wheelPosition2_m = (float(wheelTicks2)) / Pconst.ticks * math.pi * Pconst.wheelDiameter	# Second wheel distance travelled
  
          wheelPosition1 = float(wheelPosition1_m - self.LastwheelPosition1)			# Wheel position diference
  	wheelPosition2 = float(wheelPosition2_m - self.LastwheelPosition2)   		
  
   
  	self.LastwheelPosition1 = wheelPosition1_m   
  	self.LastwheelPosition2 = wheelPosition2_m
  
          return wheelPosition1, wheelPosition2
  
subject: Update EncodersFile.py