User Manual

18. Wheel Encoders
The PololuWheelEncoders class and the associated C functions provide an easy interface for using
the Pololu Wheel Encoders [https://www.pololu.com/product/1217], which allow a robot to know exactly
how far its motors have turned at any point in time.
This section of the library makes uses of pin-change interrupts to quickly detect and record each
transition on the encoder. Specifically, it uses the AVR’s PCINT0, PCINT1, and PCINT2 (and PCINT3
on the Orangutan SVP and X2) interrupts, and it will conflict with any other code that uses pin-change
interrupts (e.g. OrangutanPulseIn).
For a higher level overview of this library and example programs that show how this library can be
used, please see Section 3.l of the Pololu AVR C/C++ Library User’s Guide [https://www.pololu.com/
docs/0J20].
Pololu AVR Library Command Reference © 2001–2019 Pololu Corporation
18. Wheel Encoders Page 73 of 77