The steering wheel used a rotary encoder, rather than a more typical potentiometer, to sense steering motion, so that the user would not be subjected to hard stops in the mechanical linkage, but rather could spin the steering wheel freely if desired. The basic circuit for a rotary encoder is to provide ground at the C terminal and then a slight low-pass filtering over the A and B signals for basic debouncing. However, we found that our particular encoder needed additional debouncing, so we increased the values of the resistors and capacitors, and then passed the signals through a Schmitt trigger to regain the crisp edges needed for the software interpretations of the quadrature.