int EncMA = 4;                          // Encoder Channel A
int EncMB = 3;                          // Encoder Channel B
int motor_direction = 8;                // Motor direction
int motor_PWM = 10;                     // Motor PWM


int PWM_speed = 0;                      // PWM speed
int PWM_ontime = 5;                     //PWM steps
volatile unsigned long EncCount = 0;    // Variable to store Encoder pulses

void setup() {
  pinMode(EncMA, INPUT);                        //Set Encoder Channel A as input
  pinMode(EncMB, INPUT);                        //Set Encoder Channel B as input
  pinMode(17, INPUT);                           // Pass Through for Interrupt
  pinMode(18, INPUT);                           // Pass Through for Interrupt
  attachInterrupt(1, EncoderEvent, CHANGE);     // initialize interrupt
  pinMode(motor_direction, OUTPUT);             // Set DirectionMOT as output
  pinMode(motor_PWM, OUTPUT);                   // Set PWM_MOT as output
  Serial.begin(9600);
}
 
void loop() { 
   digitalWrite(motor_direction, HIGH);
 while(PWM_speed < 75){                         //Set max. duty cycle / 255 for full speed
  analogWrite(motor_PWM, PWM_speed);
  PWM_speed = PWM_speed + PWM_ontime;
  Serial.print("EncCounts: ");                  // Serial Monitor output
  Serial.println(EncCount);
  Serial.println();
  delay(100);
  }
 while(PWM_speed > 0){
  analogWrite(motor_PWM, PWM_speed);
  PWM_speed = PWM_speed - PWM_ontime;
  Serial.print("EncCounts: ");                  // Serial Monitor output
  Serial.println(EncCount);
  Serial.println();
  delay(100);
 }
 digitalWrite(motor_direction, LOW);
  while(PWM_speed < 75){                        //Set max. duty cycle / 255 for full speed
  analogWrite(motor_PWM, PWM_speed);
  PWM_speed = PWM_speed + PWM_ontime;
  Serial.print("EncCounts: ");                  // Serial Monitor output
  Serial.println(EncCount);
  Serial.println();
  delay(100);
  }
 while(PWM_speed > 0){
  analogWrite(motor_PWM, PWM_speed);
  PWM_speed = PWM_speed - PWM_ontime;
  Serial.print("EncCounts: ");                  // Serial Monitor output
  Serial.println(EncCount);
  Serial.println();
  delay(100);
 }
}

 
void EncoderEvent() {
  if (digitalRead(EncMA) == HIGH) {
    if (digitalRead(EncMB) == LOW) {
      EncCount++;
    } else {
      EncCount--;
    }
  } else {
    if (digitalRead(EncMB) == LOW) {
      EncCount--;
    } else {
      EncCount++;
    }
  }
}