corvinRobot_YOYO/arduinoCode/mobileBaseArduinoCode/encoder_driver.h

/**************************************************************
   Encoder driver function definitions - by James Nugen
   *************************************************************/

//below can be changed, but should be PORTD pins;
//A wheel encode pin
#define ENC_A_PIN_A  2   //pin 2 -- interrupt 0
#define ENC_A_PIN_B  3   //pin 3 -- interrupt 1

//B wheel encode pin
#define ENC_B_PIN_A  21  //pin 21 -- interrupt 2
#define ENC_B_PIN_B  20  //pin 20 -- interrupt 3

//C wheel encode pin
#define ENC_C_PIN_A  19   //pin 19 -- interrupt 4
#define ENC_C_PIN_B  18   //pin 18 -- interrupt 5

long readEncoder(int i);
void resetEncoder(int i);
void resetEncoders();

void initEncoders();