This is the one that I am getting it is A DSPIC30F4011
http://ww1.microchip.com/downloads/e...Doc/70135E.pdf
It says it has a quad A and B interface module.
I found an example on the web but it is uses an opamp instead of an Hbridge.
And it says it uses quadrature for the input.
http://members.shaw.ca/swstuff/dspic-servo.html
Once I get the chip's I can start playing and it shouldn't take me long to learn it's lingo.
I have programmed different stuff in C before so it makes it a little easier.
I am thinking I will need to code something to use the discrete logic to collect the step pulses and direction signal and couple this to the rest of the loop.