motor with encoder.ino

#define salida1 5
#define salida2 4
#define pwm 7
#define distanciaPorPulso 0.72  //mm
float distanciaEnMM = 0;
const int channelPinA = 2;

int PPR = 20;
volatile int ISRCounter = 0;
unsigned int pulsos = 0;
unsigned long Time = 0;
unsigned int RPM = 0;

void doEncode() {
  ISRCounter++;
}

void setup() {
  pinMode(salida1, OUTPUT);
  pinMode(salida2, OUTPUT);
  pinMode(pwm, OUTPUT);
  analogWrite(pwm, 255);
  pinMode(LED_BUILTIN, OUTPUT);
  Serial.begin(9600);

  pinMode(channelPinA, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(channelPinA), doEncode, CHANGE);
  Time = millis();
}

void loop() {
  if (Serial.available() > 0) {
    int dato = Serial.readString().toInt();
    int pulsosNecesarios = ((dato) / (2 * 3.14 * 1.25)) * 20;
    float pulsosNecesarios2 = ((dato) / (2 * 3.14 * 1.25)) * 20;
    Serial.println(dato);
    Serial.println(pulsosNecesarios);
    Serial.println(pulsosNecesarios2);
    while (pulsosNecesarios2 >= pulsos) {
      pulsos = ISRCounter ;
      digitalWrite(salida2, HIGH);
      Serial.println(pulsos);
    }
    digitalWrite(salida2, LOW);
    pulsos = 0;
    ISRCounter=0;
  }
}