Loop is starting to look like:
void loop()
{
currentTime = millis();
if(currentTime >= (loopTime +5))//5 millisecond check time of the encoders
{
encoder_A1 = digitalRead(pin_A1);
encoder_B1 = digitalRead(pin_B1);
encoder_A2 = digitalRead(pin_A2);
encoder_B2 = digitalRead(pin_B2);
encoder_A3 = digitalRead(pin_A3);
encoder_B3 = digitalRead(pin_B3);
}
else {
}