Encoder not reading right with different PWM signals

I have a Motor with hall sensor encoders that I am using for a project. I want to be able to precisely control the position of the motor via the encoders. I was able to get the encoder to work fine with an arudino motor shield but this did not provide enough power for my application.

I have an external power supply that I hooked up to a BTS7960 which increases my max power output to the motor. I have the encoder pins for the motor wired directly to the arduino on digital pins and I have an encoder library which takes the readings in my code.

the issue: If I give the motor a pmw value of 255 the encoders work great, if I slow the speed down however say around 123, the encoders hardly count at all and at times will even go negative even if spinning in the same direction.

My question: What could potentially be the issue here? I wouldn’t be surprised to find out that I have made an error in my assumptions of how something should work as I am pretty new. Any assistance or resources that would be helpful to me would be greatly appreciated, let me know if additional information is needed in regards to my setup.

equipment:
Arduino Rev 3
Motor: https://www.digikey.com/htmldatasheets/production/2063851/0/0/1/fit0185.html
Motor driver: https://www.amazon.com/BTS7960-Driver-Module-Arduino-Current/dp/B07TFB22H5/ref=sr_1_3?dchild=1&keywords=bts7960&qid=1616179782&sr=8-3

Schematic:

[code]
#include <Encoder.h> //encoder library

int rpwm = 5; //clockwise rotation
int lpwm = 3; //counterclockwise rotation
int r_en = 0; //clockwise break? manual says forward drive enable input Active High/Lod Disable
int l_en = 1; //counter clockwise break?




Encoder myEnc(7, 8);
void setup() {
  Serial.begin(115200);


  //Setup Channel A
  pinMode(rpwm, OUTPUT); //Initiates rpwm forward
  pinMode(lpwm, OUTPUT); //initiates lpwm backwards
  pinMode(r_en, OUTPUT); //cw break
  pinMode(l_en, OUTPUT); //ccw break


}
void loop()
{

  float counts = 0, revolutions = 0, modifier = 0;
  int pace = 0, cycles = 0;





  counts = myEnc.read();
  Serial.println(counts);//print check to ensure starting at a value of 0
  delay(4000);
  modifier = -2096; //gets the encoder counts closer to physical rotations still not perfect

  revolutions = counts / modifier; //equation for true revolutions



  pace = 255; //pwm speed variable set it to full speed intially
  delay (1000);


  digitalWrite(r_en, HIGH);// From what I understand this establishes Clockwise motion


  while (revolutions < .5) // turn the motor on till have a rotation is reached
  {
    counts = myEnc.read(); //updates counts with each cycle

    revolutions = counts / modifier;




    analogWrite(rpwm, pace); //determines the speed of the motor

    Serial.println(revolutions); //displays revolutions
    if (revolutions >= 0.25)// slows the motor down after reaching the halfway point
    {
      pace = 175; // the encoder does not like this pace and begins stalling or even back tracking and giving negative & 0 values.
    }
  }
  analogWrite(rpwm, 0);   //Stops the motor

  // *** At this point you can continue to read if you would like but it is only a repeat of this first while loop with different number of rotations and directions
  //*** For the above code I get expected values up until the if statement becomes true at which point it incrementally goes from 25 to 15 to 7 then 0 and sometimes even - small negative values

  delay(1000);
  pace = 255;
  while (revolutions < 1)
  {
    counts = myEnc.read();
    revolutions = counts / modifier;

    analogWrite(rpwm, pace);

    Serial.println(revolutions);
    if (revolutions >= .75)
    {
      pace = 175;
    }
  }
  analogWrite(rpwm, 0);
  digitalWrite(r_en, LOW);
  delay(1000);
  digitalWrite(l_en, HIGH);
  pace = 255;

  while (revolutions > .5)
  {
    counts = myEnc.read();
    revolutions = counts / modifier;


    analogWrite(lpwm, pace);
    //analogWrite(3, pace);
    Serial.println(revolutions);
    if (revolutions <= 0.75)
    {
      pace = 175;
    }
  }
  analogWrite(lpwm, 0);
  digitalWrite(l_en, LOW);

  delay(1000);
  pace = 255;
  digitalWrite(l_en, HIGH);
  while (revolutions > 0)
  {
    counts = myEnc.read();
    revolutions = counts / modifier;

    analogWrite(lpwm, pace);

    Serial.println(revolutions);
    if (revolutions <= .25)
    {
      pace = 200;
    }

  }

  analogWrite(lpwm, 0);  //Disengage the Brake for Channel A
  digitalWrite(l_en, LOW);
  delay(1000);

}

[/code]

Try to thoroughly shield the encoder wires against the motor power wires. I guess you get crosstalk from the motor driving signal.

Thank you I will try some other configurations to see if this is potentially the issue!

Can you post a schematic, not a frizzy thing and your code. Show all connections, power, ground, interconnections and of course power supplies. I have used that part many times and have had no problems. Add links to all hardware items.

Schematics are needed.

Off the bat, stronger pull-up resistors (lower value) on the encoder signals may help.

Here is a tinker Cad Schematic and the actual setup

Sorry Had an issue uploading here is my actual set up

Add 1k pullups from each encoder signal to Arduino Vcc. Internal pullups are very weak and not designed
for remote signals from an encoder. 1k is good stiff pullup that's likely to work in most situations where there
is some interference.