[Andrew Morris]

There are only 6 external digital interrupts on the RC. One way to add more is to have a second controller(I have used a VEX controller) with encoders or other devices using interrupts plugged in sending signals back to the RC through an analog output(PWM). However, this design requires the use of an interrupt port on the RC and some fancy code work. I used 1 PWM on the VEX controller linked to 1 interrupt on the RC to send a number 0-255 to the RC with reasonable accuracy then had the RC recognize the number as a command(100 means drive forward for example). This also allowed me to do calculations on the VEX controller and ease the load on the RC.