[mikets]

Interesting...
From reading the source code of the GearTooth class, it seems the GearTooth sensor can even tell the direction. It supports different pulse widths on different directions. I wonder how does that work? But I am sure it is only specific to the GearTooth sensor. If you use one channel of the optical encoder, since the pulse width doesn't change in both direction (except for changing speed), it cannot decode the direction from the pulse width.