done with all changes for new encoder

platformio.ini

@@ -16,9 +16,7 @@ framework = arduino
 monitor_speed = 115200
 upload_speed = 921600
 monitor_port = COM3
-monitor_filters = esp32_exception_decoder
 lib_deps = 
-	madhephaestus/ESP32Encoder@^0.10.1
 	jvpernis/PS3 Controller Host@^1.1.0
 	sparkfun/SparkFun u-blox GNSS Arduino Library@^2.2.7
 	knolleary/PubSubClient@^2.8
@@ -27,15 +25,18 @@ lib_deps =
 	marian-craciunescu/ESP32Ping@^1.7
 	bblanchon/ArduinoJson@^6.20.0
 	mprograms/QMC5883LCompass@^1.1.1
+	mike-gofton/ESP32PulseCounter@^0.2.0
 	https://git.kleiax.de/PlatformIO-Libs/Menu.git#v1.0
 upload_port = COM3
 
 [env:release]
 build_type = release
+lib_deps = mike-gofton/ESP32PulseCounter@^0.2.0
 
 [env:debug]
 monitor_filters = esp32_exception_decoder
 build_type = debug
+check_tool = clangtidy
 
 [platformio]
 description = A Rover who should be drive a route by gps.