old_contents: #!/usr/bin/python
  
  # Python Standard Library Imports
  import eqep
  import math
  import ProBotConstants
  
  Pconst = ProBotConstants.Constants()
  
  # Instantiate an instance of the driver for encoder of the motor 1
  encoder1 = eqep.eQEP("/sys/devices/ocp.3/48302000.epwmss/48302180.eqep", eqep.eQEP.MODE_ABSOLUTE)
  # Instantiate an instance of the driver for encoder of the motor 2
  encoder2 = eqep.eQEP("/sys/devices/ocp.3/48304000.epwmss/48304180.eqep", eqep.eQEP.MODE_ABSOLUTE)
  
  
  class EncodersReadings():
      def __init__(self, LastwheelPosition1=0, LastwheelPosition2=0):
          self.LastwheelPosition1 = LastwheelPosition1
  	self.LastwheelPosition2 = LastwheelPosition2
  
      def EncodersValues(self, ResetPositionEncoders):
  	if ResetPositionEncoders==1:
  		encoder1.set_position(0)
  		encoder2.set_position(0)
  
          wheelPosition1 = encoder1.get_position()					# Get position from the first encoder
          wheelPosition2 = encoder2.get_position()					# Get position from the second encoder
  
          wheelPosition1_m = (float(wheelPosition1)) / Pconst.ticks * math.pi * Pconst.wheelDiameter	# Calculate the travelled distance for first encoder
          wheelPosition2_m = (float(wheelPosition2)) / Pconst.ticks * math.pi * Pconst.wheelDiameter	# Calculated the travelled distance for second encoder
  
          wheelVelocity1 = float(wheelPosition1_m - self.LastwheelPosition1)				# Wheel velocity (we are sampling at 100ms the encoders)
  	wheelVelocity2 = float(wheelPosition2_m - self.LastwheelPosition2)   		
  
   
  	self.LastwheelPosition1 = wheelPosition1_m   
  	self.LastwheelPosition2 = wheelPosition2_m
  
          return wheelVelocity1, wheelVelocity2
  
new_contents: #!/usr/bin/python
  
  # Python Standard Library Imports
  import eqep
  import math
  import ProBotConstants
  
  Pconst = ProBotConstants.Constants()
  
  # Instantiate an instance of the driver for encoder of the motor 1
  encoder1 = eqep.eQEP("/sys/devices/ocp.3/48302000.epwmss/48302180.eqep", eqep.eQEP.MODE_ABSOLUTE)
  # Instantiate an instance of the driver for encoder of the motor 2
  encoder2 = eqep.eQEP("/sys/devices/ocp.3/48304000.epwmss/48304180.eqep", eqep.eQEP.MODE_ABSOLUTE)
  
  
  class EncodersReadings():
      def __init__(self, LastwheelPosition1=0, LastwheelPosition2=0):
          self.LastwheelPosition1 = LastwheelPosition1
  	self.LastwheelPosition2 = LastwheelPosition2
  
      def EncodersValues(self, ResetPositionEncoders):
  	if ResetPositionEncoders==1:
  		encoder1.set_position(0)
  		encoder2.set_position(0)
  
          wheelPosition1 = encoder1.get_position()					# Get position from the first encoder
          wheelPosition2 = encoder2.get_position()					# Get position from the second encoder
  
          wheelPosition1_m = (float(wheelPosition1)) / Pconst.ticks * math.pi * Pconst.wheelDiameter	# Calculate the travelled distance for first encoder
          wheelPosition2_m = (float(wheelPosition2)) / Pconst.ticks * math.pi * Pconst.wheelDiameter	# Calculated the travelled distance for second encoder
  
          wheelVelocity1 = float(wheelPosition1_m - self.LastwheelPosition1)				# Wheel velocity
  	wheelVelocity2 = float(wheelPosition2_m - self.LastwheelPosition2)   		
  
   
  	self.LastwheelPosition1 = wheelPosition1_m   
  	self.LastwheelPosition2 = wheelPosition2_m
  
          return wheelVelocity1, wheelVelocity2
  
subject: Update Encoders.py