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Reading a quadrature encoder

A motor has a quadrature encoder with channels A and B, 90 degrees apart. What is the best way to track its position on an STM32?

A.Interrupt on every edge of channel A only and count up each timeB.Read both pins from the main loop every 10 ms and compare themC.Feed channel A into an ADC input and track the voltage levelD.Use a timer in encoder mode so it counts up and down in hardware

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Reading a quadrature encoder

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