[Andrew Lobos]

We have used the protoboard in the past to read potentiometers for position of arms and swerve pods.

We have had no issues with the encoders being read by the motor controllers in the past. What issues did you encounter?

If you are thinking of using the protoboard to read encoders, I would be careful. Since there is no way to catch interrupts on the protoboard, you would have to constantly poll the protoboard; this creates the potential for missing pulses. The TETRIX motor controllers use interrupts on the encoder ports to prevent missing pulses.