try to fix submodule

firmware/lib/Arduino-FOC/examples/utils/sensor_test/encoder/encoder_example/encoder_example.ino

@@ -0,0 +1,44 @@
+/**
+ *  Encoder example code 
+ * 
+ * This is a code intended to test the encoder connections and to demonstrate the encoder setup.
+ * 
+ */
+
+#include <SimpleFOC.h>
+
+
+Encoder encoder = Encoder(2, 3, 8192);
+// interrupt routine intialisation
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // enable/disable quadrature mode
+  encoder.quadrature = Quadrature::ON;
+
+  // check if you need internal pullups
+  encoder.pullup = Pullup::USE_EXTERN;
+  
+  // initialise encoder hardware
+  encoder.init();
+  // hardware interrupt enable
+  encoder.enableInterrupts(doA, doB);
+
+  Serial.println("Encoder ready");
+  _delay(1000);
+}
+
+void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  // not doing much for the encoder though
+  encoder.update();
+  // display the angle and the angular velocity to the terminal
+  Serial.print(encoder.getAngle());
+  Serial.print("\t");
+  Serial.println(encoder.getVelocity());
+}

firmware/lib/Arduino-FOC/examples/utils/sensor_test/encoder/encoder_software_interrupts_example/encoder_software_interrupts_example.ino

@@ -0,0 +1,57 @@
+/**
+ *  Encoder example code using only software interrupts
+ * 
+ * This is a code intended to test the encoder connections and to 
+ * demonstrate the encoder setup fully using software interrupts.
+ * - We use PciManager library: https://github.com/prampec/arduino-pcimanager
+ * 
+ * This code will work on Arduino devices but not on STM32 devices
+ * 
+ */
+
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+
+// encoder instance
+Encoder encoder = Encoder(A0, A1, 2048);
+// interrupt routine intialisation
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// encoder interrupt init
+PciListenerImp listenerA(encoder.pinA, doA);
+PciListenerImp listenerB(encoder.pinB, doB);
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // enable/disable quadrature mode
+  encoder.quadrature = Quadrature::ON;
+
+  // check if you need internal pullups
+  encoder.pullup = Pullup::USE_EXTERN;
+  
+  // initialise encoder hardware
+  encoder.init();
+  
+  // interrupt initialization
+  PciManager.registerListener(&listenerA);
+  PciManager.registerListener(&listenerB);
+
+  Serial.println("Encoder ready");
+  _delay(1000);
+}
+
+void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  // not doing much for the encoder though
+  encoder.update();
+  // display the angle and the angular velocity to the terminal
+  Serial.print(encoder.getAngle());
+  Serial.print("\t");
+  Serial.println(encoder.getVelocity());
+}