Motor Encoder CPR Calculation/Code Incorrect

Hello Everyone,

For a project I'm doing, I have 2 of these motors. They come with encoders. I have been told the calculation to find how many encoder ticks per full spin of the shaft is the gearbox ratio * the CPR of the encoder which is 70:1 and 64 in my case. Resulting in a 4480 CPR. On my motors this doesn't seem to be the case. It might be a problem with my code but I can't seem to place where.

Code:

void setup()
{
  foreman.init();
  Serial.begin(115200);
  attachInterrupt(digitalPinToInterrupt(2), M1Encoderadd, RISING);
  attachInterrupt(digitalPinToInterrupt(3), M2Encoderadd, RISING);
  foreman.forward();
}

in forman.init():

  pinMode(M1DIR, OUTPUT);
  pinMode(M2DIR, OUTPUT);
  pinMode(M1PWM, OUTPUT);
  pinMode(M2PWM, OUTPUT);

(don't worry the pins are all the right ones)
interrupt handlers:

void M1Encoderadd(){
    encoder.countM1A++;
}
void M2Encoderadd(){
    encoder.countM2A++;
}

and foreman.forward():

void Foreman::forward(){
    int speed = 100;
    int target = endr.countM1A + 4800;
    while(endr.countM1A < target){
        Serial.println(endr.countM1A);
        digitalWrite(M1DIR, HIGH);
        analogWrite(M1PWM, speed);

    }
    digitalWrite(M1DIR,HIGH);
    analogWrite(M1PWM, 0);
    digitalWrite(M2DIR,HIGH);
    analogWrite(M2PWM, 0);
}

The motor driver I'm using is the one recommended by JRemington in this post.

Please feel free to ask for any other info you need.

Thanks,
Ian

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