Fixed the Encoders

I was previously stuck on the encoders for a long time, so I created a script in MicroPython to debug the issue.

I found that it worked perfectly fine when I isolated everything on a breadboard, and then realized that in my PCB I had flipped the orientation of the 6-pin connectors. I ended up having to de- and re-solder the connectors with a hot air gun, but the C code still didn’t work. After a quick Google search, I found that you could only use one callback method for an IRQ on each core. I was using two: one for each encoder. I fixed this by making a larger callback function that invoked the individual callbacks depending on the GPIO pin.

Long story short: it works!