Modifications

The XORed signal and the channel B signal can be used to reconstruct the channel A signal by simply XORing them again: '''(A XOR B) XOR B = A'''. For both encoders, channel B leads channel A when the motor is rotating in the forward direction; that is, B rises before A rises and B falls before A falls. (The waveforms in the diagram above would be produced by forward rotation.) Note that this description designates the A and B signals as labeled on the control board itself, which puts A in front on both sides.

The XORed signal and the channel B signal can be used to reconstruct the channel A signal by simply XORing them again: '''(A XOR B) XOR B = A'''. For both encoders, channel B leads channel A when the motor is rotating in the forward direction; that is, B rises before A rises and B falls before A falls. (The waveforms in the diagram above would be produced by forward rotation.) Note that this description designates the A and B signals as labeled on the control board itself, which puts A in front on both sides.

The Romi32U4 library provides appropriate interrupt service routines and functions for reading the encoders and keeping track of their counts (see Section 6).

The Romi32U4 library provides appropriate interrupt service routines and functions for reading the encoders and keeping track of their counts (voir section "[[Pololu-Romi-32U4-Bibliotheque|Bibliothèque Arduino Romi 32U4]]").

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