Problem: PID speed with wheel encoders and PinChangeInt

Your StartL and StartR variables are ints.

micros() has a value between 0 and 70 (minutes till reset) x 60 (seconds per minute) x 1M (microseconds per second) = 4.2 billion.

The elapsed time probably fits in an int, but your starting and subsequent update times will most likely not.

unsigned long is the type used in the micros() example.