Max speed

[yo90bosses]

I'm working on a self balancing robot and it will have encoders on motors (two of them) and my choice is between a 13 and 500 cpr encoder and the motors will spin at a max of 20000rpm.
So I'm expecting up to 250000 pulses per motor to the ESP32. Can the library handle the 500cpr encoder or is that too fast?

[madhephaestus]

Runt pulses will be filtered out that last less than 250 ticks of APB_CLK cycles. APB_CLK usually runs at 80mhz a 4x divisor off the system frequency. you need to do some math on your end based on your configuration, but the library's critical value is 250 ticks of the APB_CLK is the minimum pulse time, and assume at least double that speed to be stable. So the minimum pulse is calculates
(250*2)/APB_CLK = minimumUs per pulse

See https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/pcnt.html#filtering-pulses for more information on filtering.