Let's Make Robots!

ROVER 5 WITH TWO ENCODERS HELP

Hello..am 2 weeks old to arduino projects..i had been using timing all this while to control my rover...now, i wanted to shift to using encoders..am facing quite some problems..am using arduino uno and a two amp motor shield..this is code i am trying to use..am using a 8V Li-po battery

http://www.myduino.com/index.php?route=product/product&product_id=170&search=rover+5 (link to rover)

http://www.myduino.com/index.php?route=product/product&product_id=131&search=motor+shield (link to motoshield)