[stephenthe1]

yes, but I think he wants help setting up the interrupt code to support 4 interrupts, versus the two it already has. I have the same problem. I'm gonna try to add to Mr. Watson's template to handle 2 more quadrature encoders (phase a and b encoders), and I'll test it on last year's bot. I may, however, need a little help on referencing digitals 3-6 as interrupts, since they are banded together.