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+/*
+  Copyright 2021 Peter Harrison - Helicron
+ 
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+ 
+       https://www.apache.org/licenses/LICENSE-2.0
+ 
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+ 
+  This example creates two independent encoders and samples them using a 
+  timer interrupt. If either changes, the current count for both is sent to
+  the serial port.
+ */
+
+#include <Arduino.h>
+#include <BasicEncoder.h>
+#include <TimerOne.h>
+
+BasicEncoder encoderA(2, 3);
+BasicEncoder encoderB(10, 11);
+
+
+/****************************************************************/
+void timer_service() {
+  encoderA.service();
+  encoderB.service();
+}
+
+void setup() {
+  Serial.begin(115200);
+  Timer1.initialize(1000);
+  Timer1.attachInterrupt(timer_service);
+}
+
+void loop() {
+  int encoder_a_change = encoderA.get_change();
+  int encoder_b_change = encoderB.get_change();
+  if (encoder_a_change || encoder_b_change) {
+    Serial.print(encoderA.get_count());
+    Serial.print(' ');
+    Serial.print(encoderB.get_count());
+    Serial.println();
+  }
+}