On Nov 8, 2008, at 5:01 PM, Jinx wrote: > A conventional encoder is very much faster and has > better resolution than a stepper, but you do pay for that performance Really? The most popular mechanical encoders at digikey seem to do 20 pulses per revolution, and drop under $2. () (now, the 100+ PPR OPTICAL encoders are pretty ridiculously priced...) BillW -- http://www.piclist.com PIC/SX FAQ & list archive View/change your membership options at http://mailman.mit.edu/mailman/listinfo/piclist