Interrupts

[WizenedEE]

Has anyone tried to use the interrupt functionality of the WPILib directly? Let me see if I have this straight:

• There are six interrupts available on GPIOs 1-6 ^{[source - page 59]} However, if that's true, why can we attach a encoder anywhere?
• To get a function called whenever the pin changes state, the function RegisterInterruptHandler must be called
• No interrupts can happen while another is in progress.

Also, I was wondering about calling a Relay.Set() function in an interrupt - would that take too long? How would it be possible if the relay was a private member of the class?

Thanks!