[gburlison]

We are having problems with our Autonomous code. It seems that we bought 100 count quadrature encoders because we did not want to over load the processor with interrupts, but we dont get enough counts per program loop unless we are going nearly full speed. After reading some of the info about interrupts it seems that we can use different digital I/O pins and trigger on the rising and falling edge of our pulse to effectively double the amount of counts we get per program loop.

Can we also connect the 'B' side of the encoder to an interrupt and effectively quadruple the amount of precision by counting the rising and falling edges of both the 'A' & 'B' channel of the encoder?

Would this be any different than multiplying the single channel count by '4'?