From the "C/C++ Programming Guide for the FIRST Robotics Competition"
Quote:
There are four QuadratureEncoder modules in the FPGA and 8 Counter modules that can operate as
quadrature encoders. One of the differences between the encoder and counter hardware is that encoders
can give an oversampled 4X count using all 4 edges of the input signal. Counters can either return a 1X or
2X result based on one of the input signals. If 1X or 2X is chosen in the Encoder constructor a Counter
module is used with lower oversampling and if 4X (default) is chosen, then one of the four encoders is
used.
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