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							<span class="px-3 py-1 bg-red-600/20 text-red-300 text-sm rounded-full">Encoders</span>
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						<h1 class="text-4xl font-bold mb-4 bg-gradient-to-r from-red-400 to-pink-500 bg-clip-text text-transparent">
							Encoders API
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						<p class="text-xl text-gray-400">
							Quadrature encoder reading with 4x/2x sampling modes, position and velocity tracking
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						<h2 class="text-2xl font-bold mb-4 text-white">Overview</h2>
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								The Encoders API provides comprehensive support for quadrature encoders with configurable sampling modes, 
								position tracking, and velocity measurement. Supports both 4x and 2x sampling for different precision requirements.
							</p>
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									<h3 class="text-lg font-semibold mb-2 text-red-400">Key Features</h3>
									<ul class="text-gray-300 space-y-1 text-sm">
										<li>• Quadrature encoder support (A/B channels)</li>
										<li>• 4x and 2x sampling modes</li>
										<li>• Position and velocity tracking</li>
										<li>• Configurable encoder options</li>
										<li>• Real-time position updates</li>
									</ul>
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									<h3 class="text-lg font-semibold mb-2 text-pink-400">Sampling Modes</h3>
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										<li>• <strong>4x Sampling</strong> - Maximum precision</li>
										<li>• <strong>2x Sampling</strong> - Standard precision</li>
										<li>• <strong>Index Support</strong> - Optional Z channel</li>
									</ul>
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						<h2 class="text-2xl font-bold mb-6 text-white">Basic Usage</h2>
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								<h4 class="font-semibold text-yellow-400 mb-2">Example</h4>
								<pre class="text-gray-300"><code>use pokeys_lib::*;

fn main() -> Result&lt;()&gt; {`{`}
    let mut device = connect_to_device(0)?;

    // Configure encoder on pins 10-11 with 4x sampling
    let options = EncoderOptions::with_4x_sampling();
    device.configure_encoder(0, 10, 11, options)?;

    // Monitor encoder position
    loop {`{`}
        let position = device.get_encoder_value(0)?;
        println!(\"Encoder position: {`{`}{`}`}\", position);
        std::thread::sleep(std::time::Duration::from_millis(100));
    {`}`}
{`}`}</code></pre>
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					<!-- EncoderOptions (normal per-encoder) -->
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						<h2 class="text-2xl font-bold mb-6 text-white">EncoderOptions — normal encoders</h2>
						<div class="bg-gray-800 rounded-lg p-6 mb-4">
							<p class="text-gray-300 mb-4">
								Options for the 25 normal (per-pin) encoders configured via protocol command <code class="bg-gray-700 px-1 rounded">0x11</code>.
								The protocol for normal encoders does <strong>not</strong> expose a direction-invert bit — if you need
								to reverse counting direction, swap the channel A/B pins when you call
								<code class="bg-gray-700 px-1 rounded">configure_encoder</code>.
							</p>
							<div class="bg-gray-900 rounded p-4">
								<pre class="text-gray-300"><code>pub struct EncoderOptions {`{`}
    pub enabled: bool,
    pub sampling_4x: bool,              // both A and B edges
    pub sampling_2x: bool,              // only A edges
    pub direct_key_mapping_a: bool,
    pub macro_mapping_a: bool,
    pub direct_key_mapping_b: bool,
    pub macro_mapping_b: bool,
{`}`}

impl EncoderOptions {`{`}
    pub fn with_4x_sampling() -&gt; Self
    pub fn with_2x_sampling() -&gt; Self
    pub fn to_byte(&self) -&gt; u8
    pub fn from_byte(byte: u8) -&gt; Self
{`}`}</code></pre>
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					<!-- FastEncoderOptions -->
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						<h2 class="text-2xl font-bold mb-6 text-white">
							FastEncoderOptions — fast encoders (1-3)
							<span class="text-xs text-blue-300 bg-blue-900/40 px-2 py-0.5 rounded ml-2 align-middle">since 0.21.9</span>
						</h2>
						<div class="bg-gray-800 rounded-lg p-6 mb-4">
							<p class="text-gray-300 mb-4">
								Typed options for the three fast encoders (protocol command <code class="bg-gray-700 px-1 rounded">0xCE</code>).
								Bit layout matches the PoLabs <code class="bg-gray-700 px-1 rounded">PoKeysLib</code> C
								reference (<code class="bg-gray-700 px-1 rounded">ePK_FastEncoderOptions</code>).
							</p>
							<div class="bg-gray-900 rounded p-4 mb-4">
								<pre class="text-gray-300"><code>pub enum FastEncoderConfiguration {`{`}
    Disabled,   // 0x00
    Config1,    // 0x01 — enc1 on pins 1-2, enc2 on 3-4, enc3 on 15-16 (PoKeys55)
    Config2,    // 0x10 — enc1 on pins 1-2, enc2 on 5-6, enc3 on 15-16 (newer)
{`}`}

pub struct FastEncoderOptions {`{`}
    pub disable_4x_sampling: bool,  // bit 4 (0x10)
    pub invert_direction_1:  bool,  // bit 5 (0x20)
    pub invert_direction_2:  bool,  // bit 6 (0x40)
    pub invert_direction_3:  bool,  // bit 7 (0x80)
{`}`}</code></pre>
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								<h4 class="font-semibold text-yellow-400 mb-2">Example</h4>
								<pre class="text-gray-300"><code>use pokeys_lib::*;

// Enable fast encoders in Config 2, with encoder 1 direction inverted.
device.configure_fast_encoders(
    FastEncoderConfiguration::Config2,
    FastEncoderOptions {`{`}
        invert_direction_1: true,
        ..Default::default()
    {`}`},
)?;</code></pre>
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					</section>

					<!-- UltraFastEncoderOptions -->
					<section class="mb-12">
						<h2 class="text-2xl font-bold mb-6 text-white">
							UltraFastEncoderOptions — ultra-fast encoder
							<span class="text-xs text-blue-300 bg-blue-900/40 px-2 py-0.5 rounded ml-2 align-middle">since 0.21.9</span>
						</h2>
						<div class="bg-gray-800 rounded-lg p-6 mb-4">
							<p class="text-gray-300 mb-4">
								Typed options for the ultra-fast encoder (protocol command <code class="bg-gray-700 px-1 rounded">0x1C</code>,
								pins 8/12/13 on PoKeys56E and later). Bit layout per PoKeysLib
								<code class="bg-gray-700 px-1 rounded">ePK_UltraFastEncoderOptions</code>.
							</p>
							<div class="bg-gray-900 rounded p-4 mb-4">
								<pre class="text-gray-300"><code>pub struct UltraFastEncoderOptions {`{`}
    pub invert_direction:            bool,  // bit 0 (0x01)
    pub signal_mode_direction_clock: bool,  // bit 1 (0x02)
    pub enable_4x_sampling:          bool,  // bit 2 (0x04)
{`}`}</code></pre>
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							<div class="bg-gray-900 rounded p-4">
								<h4 class="font-semibold text-yellow-400 mb-2">Example</h4>
								<pre class="text-gray-300"><code>device.configure_ultra_fast_encoder(
    /* enable */ true,
    UltraFastEncoderOptions {`{`}
        invert_direction:   true,
        enable_4x_sampling: true,
        ..Default::default()
    {`}`},
    /* reset_on_index */ false,
    /* filter_delay */   0,
)?;</code></pre>
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					</section>

					<!-- Best Practices -->
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						<h2 class="text-2xl font-bold mb-4 text-white">Best Practices</h2>
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							<div class="space-y-4">
								<div>
									<h3 class="text-lg font-semibold mb-2 text-green-400">Sampling Mode Selection</h3>
									<ul class="text-gray-300 space-y-1 text-sm">
										<li>• Use 4x sampling for maximum precision</li>
										<li>• Use 2x sampling for standard applications</li>
										<li>• Consider signal quality when choosing mode</li>
									</ul>
								</div>
								<div>
									<h3 class="text-lg font-semibold mb-2 text-blue-400">Signal Quality</h3>
									<ul class="text-gray-300 space-y-1 text-sm">
										<li>• Ensure proper encoder wiring</li>
										<li>• Use appropriate pull-up resistors</li>
										<li>• Shield encoder cables from noise</li>
									</ul>
								</div>
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