@Klimbim The co-processor would be dedicated to reading and reporting position feedback from the encoders, which it can do much faster (at a higher sampling rate, some discussion on sampling rate can be found here) than the Arduino itself. This means fewer missed encoder readings, which translates to increased accuracy. The goal is to get reliable, accurate encoder feedback at higher speeds to use for movements, instead of only using encoders for stall detection. Regarding differential signals, you are welcome to research how differential quadrature encoders work, but the basic idea is reducing signal noise.
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