Thanks for the heads up Kevin.
What's interesting, is that we'd been experimenting with 128/rev encoders and you're Quadrature code (sweet find!) for a few nights....seeing if they swamped the processor with interrupts...(they did). And we did not see this effect, at first. Then , last Saturday, we divided down the signals to lower the rate/rev. After that, we could use one encoder but not two. With the chasis up on blocks, we could spin one encoder by hand, but as soon as we turned the second encoder, the signals to the speed controllers on 13-16 would stop. ....very strange indeed.
We switched pwms and put on 64bit/rev encoders,took out the divider circuit, and things "give the appearance of working"
Thanks again
Eric Schreffler