int stall_detect(){
    int stall=-1; /*counter for Rotations*/
    
    /*initlize the encoder*/
    enable_encoder(0);
    reset_encoder(0);
    
    while(1){
        if(read_encoder(0) == stall){
            reset_encoder(0); /*since we just stalled reset everything*/
            stall = -1;
            return 1;
        }
        else {
            stall = read_encoder(0);
        }
    }
}