The Octail is controlled by a series of 11 motors, one for each of the 11 pumps, and one for each of the ice, cherry, and Geneva mechanisms. Each motor is wired into one of the outputs of a H bridge motor driver and controlled by an input PWM pin from the myRIO. Each motor also contains an encoder, whose phase A and phase B are also fed into the myRIO, for a total of 22 encoder pins in. Given that the myRIO default personality only comes with the option for 4 encoders and 8 PWMs, it was necessary to create our own PWM out and encoder in blocks within the myRIOs onboard FPGA. The LABView block diagrams for the logic involved are shown above.