Is the problem with software encoding related to the speed of the pulses
coming in? If so, would a low res encoder (homemade) of eg 20 ppr be a
solution?

Does it have to be a quadrature encoder (see in the HAL doc that both A
and B are used) or is there a solution with 2 signals: one index Z and
eg only 'A'? I would assume that when 'B' is not used and
encoder.N.x4-mode is false, it would also work?

>> Do you need a sync pulse AND an encoder (eg 50 ppr) together?
> You need a three channel encoder, with A B and index.  You also 
> need some way to read these signals into the computer.  I don't 
> recommend trying to do this with the software encoder Hal 
> component.  I don't know if there is a description of this on 
> the wiki, yet.
> 
> Jon
> 

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