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Update encoders docs and samples.

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encoders/ENCODERS.md
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@ -9,10 +9,10 @@ All produce quadrature signals looking like this:
![Image](./quadrature.jpg)
consequently the same code may be used regardless of encoder type.
They have two primary applications: control knobs for user input and shaft
position and speed measurements on machines. For user input a mechanical
device, being inexpensive, usually suffices. See
[this Adafruit product](https://www.adafruit.com/product/377).
They have two primary applications:
1. Shaft position and speed measurements on machines.
2. Control knobs for user input. For user input a mechanical device, being
inexpensive, usually suffices. See [this Adafruit product](https://www.adafruit.com/product/377).
In applications such as NC machines longevity and reliability are paramount:
this normally rules out mechanical devices. Rotational speed is also likely to