EncoderQ

A realtime embedded C program for interfacing with incremental rotary encoders

This code has been written for and tested on an ARM STM32F4 processor with a timer peripheral that supports quadrature encoder input.

The processor hardware from the DroneFluxx project was initially used for prototyping.
The only rotary encoder that has been tested so far is the E6D-C from Omron. This is a 6,000 pulse/revolution incremental encoder. This encoder is capable of quadrature operation which essentially means it can output up to (4*6,000) = 24,000 pulses/revolution.