Reading Encoder - Arduino Robot

Hi,

I am trying to use 2 encoders to measure the motors’ speed on an Arduino Robot board (https://www.arduino.cc/en/Main/Robot).

In order to do that, I need to use interrupts to count the pulses.

The Arduino Robot board uses an Atmel Mega 32u4 Microcontroller.

According to the Microcontroller’s documentation, the only pins that accept interrupts are INT0, INT1, INT2, INT3, INT6, and PCINT0…7.

How can I access those pins from the robot board? The board doesn’t seem to have those pins available (It only provides access to TKD0…5).

The following is the mapping between the robot board pins and the ATMEGA 32U4 pins:

// ARDUINO LEONARDO / ARDUINO ROBOT CONTROL / ATMEGA 32U4 / FUNCTION / REGISTER 
//
// D0 RX PD2 RX RXD1/INT2
// D1 TX PD3 TX TXD1/INT3
// D2 SDA PD1 SDA SDA/INT1
// D3# SCL PD0 PWM8/SCL OC0B/SCL/INT0
// D4 MUX_IN A6 PD4 ADC8
// D5# BUZZ PC6 ??? OC3A/#OC4A
// D6# MUXA/TKD4 A7 PD7 FastPWM #OC4D/ADC10
// D7 RST_LCD PE6 INT6/AIN0
//
// D8 CARD_CS A8 PB4 ADC11/PCINT4
// D9# LCD_CS A9 PB5 PWM16 OC1A/#OC4B/ADC12/PCINT5
// D10# DC_LCD A10 PB6 PWM16 OC1B/0c4B/ADC13/PCINT6
// D11# MUXB PB7 PWM8/16 0C0A/OC1C/#RTS/PCINT7
// D12 MUXC/TKD5 A11 PD6 T1/#OC4D/ADC9
// D13# MUXD PC7 PWM10 CLK0/OC4A
//
// A0 KEY D18 PF7 ADC7
// A1 TKD0 D19 PF6 ADC6
// A2 TKD1 D20 PF5 ADC5
// A3 TKD2 D21 PF4 ADC4
// A4 TKD3 D22 PF1 ADC1
// A5 POT D23 PF0 ADC0
//
// MISO MISO D14 PB3 MISO,PCINT3
// SCK SCK D15 PB1 SCK,PCINT1
// MOSI MOSI D16 PB2 MOSI,PCINT2
// SS RX_LED D17 PB0 RXLED,SS/PCINT0
//
// TXLED TX_LED PD5
// HWB PE2 HWB

Can anyone help? Has anyone attempted this?

Thanks!

Zouje.