Ive obviously got the wrong idea about something here.. This is how im thinking about EncodersIn order to keep track of pulses you need to count them obviously so for every hi pulse you would increment a variable. You would need to monitor two channels for each encoder, so overall to read a quad encoder you need two pins and two variables. This is just a simplification of things, ignoring overflow.
Awesome thank you very much, do you happen to have any code using PID that keeps the wheels the same speed?