Using encoders with the new FTC Hitechnic Motor Controllers and LabVIEW can be tricky. This document describes some of the tricks and traps associated with the LabVIEW interface, and shows some examples of how to use them sucessfully.
This is the Techno-Gremlins code from 2004. Some features:
* Multi-autons, selected by OI.
* Multi-positioning pnuematics system.
* feedback loops.
* Arm safties
- Length limit switch and pot limit
- Hand current (Will reset if reversed)
* Gyro
* Quadrature
* Desensitized joystic...
This document introduces you to the concepts of quadratuer encoders, their use, how to select them, and most importantly how to use them on your robot. Actual code chunks are included to help you with the more complex interrupt-driven aspects of using encoders.
Listen, my team lost in the finals to that alliance, and I've never suffered a more entertaining arse-kicking. Case closed. - Petey [more] 
