ESP32 crash when use 2 external interrupt and timer

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When i used 2 external interrupt for encoder and one timer for calculate my program crash and get this error

Guru Meditation Error: Core  1 panic'ed (LoadProhibited). Exception was unhandled.

Core  1 register dump:
PC      : 0x400848ac  PS      : 0x00050031  A0      : 0x800d1976  A1      : 0x3ffbf34c  
A2      : 0x00000010  A3      : 0x00018010  A4      : 0x000637ff  A5      : 0x3ffbf32c  
A6      : 0x00000008  A7      : 0x3ffbdc2c  A8      : 0x00000000  A9      : 0x00000000  
A10     : 0x000000c8  A11     : 0x3ffc244c  A12     : 0x80081419  A13     : 0x3ffbf30c

My first thought was that the interrupt execution time was over so i increase interrupt timer but still the same. And i found that in file encoders.cpp inside function update_encoder() when i commented out

  s_robot_fwd_increment = 0.5 * (right_change + left_change);
  s_robot_rot_increment = (right_change - left_change) * DEG_PER_MM_DIFFERENCE;
  speed_robot_now=s_robot_fwd_increment*LOOP_FREQUENCY;
  s_robot_position += s_robot_fwd_increment;
  s_robot_angle += s_robot_rot_increment;

It worked and get no error. What happend here? and how can i fix that?
Here is my github code link
https://github.com/thinhredbull1/mms/tree/main

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