MD03A_Motor_basic + encoder

#define InA1 10 // INA motor pin
#define InB1 11 // INB motor pin
#define PWM1 6 // PWM motor pin
#define encodPin 3 // encoder pin
//#define encodPinB1 8 // encoder B pin

//#define LOOPTIME 100 // PID loop time
#define FORWARD 1 // direction of rotation
#define BACKWARD 2 // direction of rotation

//unsigned long lastMilli = 0; // loop timing
//unsigned long lastMilliPrint = 0; // loop timing
long count = 0; // rotation counter
long countInit;
long encoderPulses = 0;
boolean run = false; // motor moves

void setup() {
    pinMode(InA1, OUTPUT);
    pinMode(InB1, OUTPUT);
    pinMode(PWM1, OUTPUT);
    pinMode(encodPin, INPUT_PULLUP);
//    pinMode(encodPinB1, INPUT);
//    digitalWrite(encodPinA1, HIGH); // turn on pullup resistor
//    digitalWrite(encodPinB1, HIGH);
    attachInterrupt(digitalPinToInterrupt(encodPin), encoderCounter, FALLING);
}

void loop() {
    moveMotor(FORWARD, 50, 100*5); // direction, PWM, ticks number
    delay(3000);
    moveMotor(BACKWARD, 50, 100*5); // 464=360°
    delay(3000);
}

void moveMotor(int direction, int PWM_val, long tick) {
countInit = count; // abs(count)
encoderPulses = tick;
if(direction==FORWARD) motorForward(PWM_val);
else if(direction==BACKWARD) motorBackward(PWM_val);
}

void encoderCounter() { // pulse and direction, direct port reading to save cycles
if(digitalRead(encodPin)==HIGH) count ++;
//if (digitalRead(encodPinA1)==LOW) count --;
if(run)
if((abs(abs(count)-abs(countInit))) >= encoderPulses) motorBrake();
}

void motorForward(int PWM_val) {
    analogWrite(PWM1, PWM_val);
    digitalWrite(InA1, LOW);
    digitalWrite(InB1, HIGH);
    run = true;
}

void motorBackward(int PWM_val) {
    analogWrite(PWM1, PWM_val);
    digitalWrite(InA1, HIGH);
    digitalWrite(InB1, LOW);
    run = true;
}

void motorBrake() {
    analogWrite(PWM1, 0);
    digitalWrite(InA1, HIGH);
    digitalWrite(InB1, HIGH);
    run = false;
}