You should have a look at the 'playground' wiki. It can be found on the main arduino site. Especially the section 'interfacing with hardware' should answer a great deal of your questions: H-bridge / rotary encoder / counting pulses ...
You should have a look at the 'playground' wiki. It can be found on the main arduino site. Especially the section 'interfacing with hardware' should answer a great deal of your questions: H-bridge / rotary encoder / counting pulses ...