# Motor Control
# M0 Pro Considerations
# PWM
Pins 2 - 13 can be used for PWM with the analogWrite() function with the exceptions that pairs 4 & 10 and 5 & 12 cannot be used together.
# Interrupts
Interrupts are available on all pins except pin 4.
# Motor Encoders
From the product page:
Encoders use custom made 8-pole magnets and 2 hall-effect sensors to provide 2 square waves, 90 degree out of phase with a total of 16 state changes per motor revolution.
There is then a 75:1 gear ratio meaning that one revolution results in 1200 state changes.
This was checked using a logic analyser and PulseView. At the time a 34:1 gearbox was on the motor which should result in 544 edges per rotation. The wheel was rotated 10 times and the rising/falling edges counted. The count total was 5466 which is 546.6 per revolution, very close to the calculated amount (wheel cannot accurately be stopped at start position).
