ARDUINO UNO AND ENCODERS POLOLU S.O.S

Projects Discussion and Showcase Robotics
1

hello
first excuse my bad English

I'm doing a project using two micro motors with encoder Pololu 100:1 cuadratuta:

encoders need to read well as one of the encoders is reading me 2 times and 2 are rotating at the same speed, they need to read each rotation by separate robot configuration is differential here I leave the code and reading the monitor serial.

#include <Servo.h>
#include <PololuWheelEncoders.h>

PololuWheelEncoders encoders;
volatile int encder=0;
volatile int encizq=0;
volatile int countder=0;
volatile int countizq=0;
volatile int resder =0;
volatile int resizq =0;
int Rx = 0;
int rder = 0;
int rizq = 0;
int vueltasIzquierda = 0;
int vueltasDerecha = 0;
int mdb =10; //Azul
int mdf = 11;//Amarillo
int mib = 6;//Amarillo
int mif = 5;//Azul
int count = 0;
int sensor = 0;
int demora = 250;
Servo serv;
void setup(){
 Serial.begin(9600);
  PololuWheelEncoders::init(2,12,3,13);
  attachInterrupt(0,encoderder,CHANGE);
  attachInterrupt(1,encoderizq,CHANGE);
 
  



}

void loop(){
  
  Rx = Serial.read();
  switch(Rx){
    case 'F': 
           analogWrite(mdb,0); analogWrite(mib,0);
            analogWrite(mdf,50);
            analogWrite(mif,50);
            Rx =0;
            break;
    case 'B': analogWrite(mdf,0); analogWrite(mif,0);
            
            analogWrite(mdb,255);
            analogWrite(mib,255);
            Rx =0;
            break;
   case 'S': analogWrite(mdf,0);  analogWrite(mif,0);
           analogWrite(mdb,0); analogWrite(mib,0);
           Rx =0;
           break;
   case 'R': analogWrite(mdf,0); analogWrite(mif,255);
            
            analogWrite(mdb,0);
            analogWrite(mib,0);
            Rx =0;
            break;
  case 'L': analogWrite(mdf,255); analogWrite(mif,0);
            
            analogWrite(mdb,0);
            analogWrite(mib,0);
            Rx =0;
            break;}
  
}

void encoderder(){
  
encder = (-1)*encoders.getCountsM1();
if(encder >= 48){
  countder++;
  resder = encoders.getCountsAndResetM1();
  Serial.print("EncDer="); Serial.println(countder);
  
}}

void encoderizq(){
  encizq = encoders.getCountsM2();
  if(encizq >= 48){
  countizq++;
  resizq = encoders.getCountsAndResetM2();
  Serial.print("Encizq="); Serial.println(countizq);
}}

Serial Monitor

EncDer=EncDer=2
1
Encizq=1
EncDer=3
EncDer=4
Encizq=2
EncDer=5EncDer=6

EncDer=7
Encizq=3
Encizq=4
EncDer=E
Encizq=5
EncDer=EncDer=11
10
Encizq=6
EncDer=EncDer=13
12

Please Help!!!