Calculate odometry information from the encoders

You can do this by sending query's and print statements. See page 172 of user manual for runtime queries.

You query the encoder value using getvalue(_C, cc) 'where cc = encoder channel

You would then print back the value as needed.

If you are looking at speed, you would do the following.

dim speed as integer
top:
speed = getvalue(_S, 1) ' reads encoder speed 1
Print("Speed = ", speed, "\r")
wait(1)
Goto top