motor with encode A B

RK 520 encoder motor

one round turn equals to 44 encoded steps

#include <Encoder.h>
 
Encoder knobLeft(19, 16);
 
void setup() {
  Serial.begin(115200);
  Serial.println("start");
}
 
void loop() {
  auto a = knobLeft.read();
  Serial.printf("%d, %d\n", a, a);
 
}

speed reduction

PWM vs motor speed at 5V: