'*************************************************************
'ENCODERTASK
'Checks encoder inputs, inc/dec tic count depending upon motor dir
'This is run as a multi-tasking operation to trap encoder tics
'*************************************************************
sub EncoderTask()
	'Init encoder pins and hold variables - i.e. inputs as tristate
	OldLEncoder = GetPin(LEncoderPin)
	OldRencoder = GetPin(REncoderPin)

	Do	'Endless loop of checking encoders
		LEncoder = GetPin(LEncoderPin)		'get current left encoder pin status
		If (LEncoder <> OldLEncoder) then	'if not like old value we have a transition
			OldLEncoder = LEncoder
			If LMotorDir = 1 then			'if forward then count up, else down
				LeftTicCount = LeftTicCount + 1
			else
				LeftTicCount = LeftTicCount - 1
			end if
		end if

		REncoder = GetPin(REncoderPin)		'get current right encoder pin status
		If (REncoder <> OldREncoder) then	'if not like old value we have a transition
			OldREncoder = REncoder
			If RMotorDir = 1 then			'if forward then count up, else down
				RightTicCount = RightTicCount + 1
			else
				RightTicCount = RightTicCount - 1
			end if
		end if
		Delay( 0.0 )						'give up some time for other activity
	Loop
end sub