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Re: How many interrupts is too many interrupts?
I've had a robot with 6 encoders working fine (we later changed the design and used fewer in the final design). The main thing is to count the number of interrupts per second. Typically the limit is about 4000-5000 interrupts per second. This, of course, depends on how much you do in each interrupt service routine. Don't forget to also count interrupts for each character printed, and for any timers.
A robot with 6 inch wheels, running at 12 ft/s and 256-count encoders in a 1:1 ratio with the wheel will generate about 2000 interrupts per second per encoder. Three of those is probably too much. The easiest solution would probably be to use a lower-count encoder, or to use an encoder divider like the one from Bane Bots
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