[cgront]

In encoder.h, we modified it to have the digital imputs 12 and 13 for encoders 1 and 2.

From encoder.h:

#ifndef _encoder_h
#define _encoder_h

#define ENABLE_ENCODER_1 //right
#define ENABLE_ENCODER_2 //left

#define ENCODER_1_PHASE_B_PIN	rc_dig_in12 //right
#define ENCODER_2_PHASE_B_PIN	rc_dig_in13 //left

#define ENCODER_1_TICK_DELTA	1
#define ENCODER_2_TICK_DELTA	1

From userroutinesfast.c:

#pragma code
//#pragma interruptlow InterruptHandlerLow save=PROD,section(".tmpdata")
#pragma interruptlow InterruptHandlerLow save=PROD //encoder
void InterruptHandlerLow (void)     
{
	unsigned char int_byte;
unsigned char Port_B;//encoder
	unsigned char Port_B_Delta;//encoder
if (PIR1bits.RC1IF && PIE1bits.RC1IE) // rx1 interrupt?
	{
		#ifdef ENABLE_SERIAL_PORT_ONE_RX
		Rx_1_Int_Handler(); // call the rx1 interrupt handler (in serial_ports.c)
		#endif
	}                              
	else if (PIR3bits.RC2IF && PIE3bits.RC2IE) // rx2 interrupt?
	{
		#ifdef ENABLE_SERIAL_PORT_TWO_RX
		Rx_2_Int_Handler(); // call the rx2 interrupt handler (in serial_ports.c)
		#endif
	} 
	else if (PIR1bits.TX1IF && PIE1bits.TX1IE) // tx1 interrupt?
	{
		#ifdef ENABLE_SERIAL_PORT_ONE_TX
		Tx_1_Int_Handler(); // call the tx1 interrupt handler (in serial_ports.c)
		#endif
	}                              
	else if (PIR3bits.TX2IF && PIE3bits.TX2IE) // tx2 interrupt?
	{
		#ifdef ENABLE_SERIAL_PORT_TWO_TX
		Tx_2_Int_Handler(); // call the tx2 interrupt handler (in serial_ports.c)
		#endif
	}
	else if(PIR1bits.TMR2IF && PIE1bits.TMR2IE) // timer 2 interrupt?
	{
		PIR1bits.TMR2IF = 0; // clear the timer 2 interrupt flag [92]
		Timer_2_Int_Handler(); // call the timer 2 interrupt handler (in adc.c)
	}                     
	else if(PIR1bits.ADIF && PIE1bits.ADIE) // ADC interrupt
	{
		PIR1bits.ADIF = 0; // clear the ADC interrupt flag
		ADC_Int_Handler(); // call the ADC interrupt handler (in adc.c)
	}       
	else if(INTCON3bits.INT2IF && INTCON3bits.INT2IE)       /* The INT2 pin is RB2/DIG I/O 1. */
	{
		INTCON3bits.INT2IF = 0;
	//	printf("Left Interrupt hit\r");
	//	Left_Encoder_Int_Handler();
	}
	else if(INTCON3bits.INT3IF && INTCON3bits.INT3IE)  /* The INT3 pin is RB3/DIG I/O 2. */
	{
		INTCON3bits.INT3IF = 0;
	//	printf("Right Interrupt hit\r");
	//	Right_Encoder_Int_Handler();
	}
	else if (INTCONbits.RBIF && INTCONbits.RBIE) // encoder 3-6 interrupt?
	{
		Port_B = PORTB; // remove the "mismatch condition" by reading port b            
		INTCONbits.RBIF = 0; // clear the interrupt flag
		Port_B_Delta = Port_B ^ Old_Port_B; // determine which bits have changed
		Old_Port_B = Port_B; // save a copy of port b for next time around
	 
		if(Port_B_Delta & 0x10) // did external interrupt 3 change state?
		{
			#ifdef ENABLE_ENCODER_3
			Encoder_3_Int_Handler(Port_B & 0x10 ? 1 : 0); // call the encoder 3 interrupt handler (in encoder.c)
			#endif
		}
		if(Port_B_Delta & 0x20) // did external interrupt 4 change state?
		{
			#ifdef ENABLE_ENCODER_4
			Encoder_4_Int_Handler(Port_B & 0x20 ? 1 : 0); // call the encoder 4 interrupt handler (in encoder.c)
			#endif
		}
		if(Port_B_Delta & 0x40) // did external interrupt 5 change state?
		{
			#ifdef ENABLE_ENCODER_5
	//		Encoder_5_Int_Handler(Port_B & 0x40 ? 1 : 0); // call the encoder 5 interrupt handler (in encoder.c)
			#endif
		}
		if(Port_B_Delta & 0x80) // did external interrupt 6 change state?
		{
			#ifdef ENABLE_ENCODER_6
//			Encoder_6_Int_Handler(Port_B & 0x80 ? 1 : 0); // call the encoder 6 interrupt handler (in encoder.c)
			#endif
		}
	}

}

We called Initialize_Encoders in User_Initialization.

We would like some suggestions about checking the wires incase the code is properly set up.