I have not tried or worked with the Banebot encoder. The specifications for it are on Banebots website. Since it's a quadrature encoder it should follow rules/patterns as discussed ina few threads on here. We have used quadrature encoders from other manufactures oursleves would good success.
I would recommend reading this thread:
http://www.chiefdelphi.com/forums/sh...ad.php?t=48756
I would recommend reading this white paper:
http://www.chiefdelphi.com/media/papers/1490
I would aslo recommend reading over Kevin Watsons code and FAQ's for encoders at:
www.kevin.org/frc
http://www.kevin.org/frc/encoder/
There are also other threads here on the subject as well.