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Yo! AlexanderG... Good image, dude - was tuckin in to some wikipedia here: http://en.wikipedia.org/wiki/Rotary_encoder, gettin myself down to "Incremental rotary encoder" to see yr image right there. kpow quadrature! total sense... Nice one ;) oh, & found this on your side...

Yo... walking through the code, too much of a load, wot's it all mean: hey - wot does this code do in ardumower: // ---- odometry (interrupt) -------------------------------------------------------- // odometryState: 1st left and right odometry signal // odometryState2: 2nd left and right...