Holmes4: Here is the exact encoder I am using: http://www.sgbotic.com/index.php?dispatch=products.view&product_id=1093
PaulS: Thanks a bunch, I'll do my best to implement your suggestions this instant. I understand a good portion of it, but we're progressing a bit out of my ability to completely grasp it. If you could show me what you mean in code, that would be greatly appreciated. But if you can't be bothered, I totally understand. I'll start plugging away right now.