Hi thanks as far as I know it has two H Bridge chips and some other processing chip on the motor shield it would be quite disappointing if this board can't do this basic task surly someone has done or it prior too me maybe if I some how could integrate the encoder library into the Adifruit library somehow it could work I really have know idea but I certainly don't like giving up I have a external motor driver I can use but I was hoping I could just use this motor shield as I have additional plans for this board