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 © 2001–2015 Pololu Corporation
18. Wheel Encoders Page 61 of 65