I'm working with a BeagleBone Black and using Adafruit's IO Python library. Wrote a simple quadrature decoding function and it works perfectly fine when the motor runs at about 1800 RPM. But when the motor runs at higher speeds, the code starts missing some of the interrupts and the encoder counts start to accumulate errors. Do you guys have any suggestions as to how I can make the code more efficient or if there are functions which can cycle the interrupts at a higher frequency. Thanks, Kel Here's the code: # Define encoder count function def encodercount(term): global counts global Encoder_A global Encoder_A_old global Encoder_B global Encoder_B_old global error Encoder_A = GPIO.input('P8_7') # stores the value of the encoders at time of interrupt Encoder_B = GPIO.input('P8_8') if Encoder_A == Encoder_A_old and Encoder_B == Encoder_B_old: # this will be an error error += 1 print 'Error count is %s' %error elif (Encoder_A == 1 and Encoder_B_old == 0) or (Encoder_A == 0 and Encoder_B_old == 1): # this will be clockwise rotation counts += 1 print 'Encoder count is %s' %counts print 'AB is %s %s' % (Encoder_A, Encoder_B) elif (Encoder_A == 1 and Encoder_B_old == 1) or (Encoder_A == 0 and Encoder_B_old == 0): # this will be counter-clockwise rotation counts -= 1 print 'Encoder count is %s' %counts print 'AB is %s %s' % (Encoder_A, Encoder_B) else: #this will be an error as well error += 1 print 'Error count is %s' %error Encoder_A_old = Encoder_A # store the current encoder values as old values to be used as comparison in the next loop Encoder_B_old = Encoder_B # Initialize the interrupts - these trigger on the both the rising and falling GPIO.add_event_detect('P8_7', GPIO.BOTH, callback = encodercount) # Encoder A GPIO.add_event_detect('P8_8', GPIO.BOTH, callback = encodercount) # Encoder B # This is the part of the code which runs normally in the background while True: time.sleep(1)