On the http://www.best-microcontroller-proj...y-encoder.html site there was an article that uses a different type of encoder polling.

It is in C but if I can read it then everyone can!

I have not yet understood completely how it decodes the encoder data but seems very interesting and as the author says it decodes also the speed?

No hardware set up to test it but if anyone has the time I'd like to know the results.

Ioannis