The A+ and B+ ( and A- and B-) output measurements are taken on the state change of other output. The high A
reading is taken when B changes while A is High. The high B reading is taken when A changes while B
is High. The low A reading is taken when B changes while A is Low. The low B reading is taken when A
changes while B is Low.
The Z+ (and Z-) output (if present) measurement is only updated once per revolution. The encoder may need to
be rotated slower for the Z pulse measurement since the Z pulse width is smaller than A or B. The Z
(and Z’) measurements are taken approximately 20us after the change in state.
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