Does anyone know what the left or right encoder’s phase-A output is, and how do we wire up the 4 CA-3285-1FT Pin (supplied with encoders) into the Digital Input Panel? Thanks 
A mechanical encoder typically has three pins: a phase A, a phase B, and a common. When wiring up an encoder to the RC, you would connect the phase A and phase B to two separate digital inputs, and then connect the common to +5. Optical encoders has a similar pinout, but with a connection for ground, too. Kevin Watson (http://kevin.org/frc) has an example of how to read an encoder in programming, but I’m guessing from the terminology that you used that you’ve already seen this code. I couldn’t really understand what you were asking, but I hope that answers your question.
Thanks! We’re using optical encoders, and they came supplied with a four-wire cable. At one end, the cable is attached to a miniature 4-pin. The four cables coming off of the pin are yellow, brown
(possibly maroon), blue, and orange. We are trying to figure out where these wires need to connect to. Any ideas?
A picture of our encoder is available at: http://www.usdigital.com/products/s4/
A picture of the cable is available at:
http://www.usdigital.com/products/connect/4pin-micro.shtml
(It is the second picture, the CA-3285-(length)FT)
See the picture on that first page? It says:
1: +5
2: A
3: -
4: B
Farther down the page, there is another picture and a table that reinforces this data. So, hook up two PWM cables to two different digital I/O pins (one should probably be one of the hardware interrupt pins, if you’re using Kevin Watson’s code). The reds go to pin 1, the blacks go to pin 3. One white goes to pin 2. One white goes to pin 4. On the other page, it shows you which side of the connector is pin 1, so you can identify which wire is which.
Thank you very much! We really appreciate it. The thread can be closed, if needed.