encoder with Arduino UNO

[tipipliou]

hi
I want to control two DC motors for making my robot go forward
what is the best way to do it with an Arduino (I'm new with Arduino & AVR) ?
The simplest way (I think) would be to use an interrupt ,and then do the job .
but with 2 motors?? I'd probably miss some pulses 
it would be better to use Timers,but some functions of the Arduino's API use them ,so.. bad solution (that's what they told me in Arduino's Forum..) Is it true ?
So, I'm lost  ,there must be a way to  deal with two encoders INDEPENDENTLY

thanks in advance

[madsci1016]

My Arduino based motor controller watches two encoders. Details and code @ http://www.billporter.info/s-a-g-a-r-s-smart-motor-controller/  and an update with more pictures @ http://www.billporter.info/sagar-update-new-motor-controller-and-motors/

One channel of both encoders is connect to an external interrupt pin. I hi-jack a timer to accurately measure time. Works fairly well. The timer I hi-jacked (timer 2 if I remember right) only disabled PWM on two pins I don't use anyway.

It works well, you can see it in action on my autonomous rover:

SAGAR Autonomous Robot Waypoint Mission Interface and Vehicle Video

A good description of Arduino uses of timers is here:  http://www.uchobby.com/index.php/2007/11/24/arduino-interrupts/

From the site, here's what you affect when you hi-jack a timer.

    * Timer0 (System timing, PWM 5 and 6)
      Used to keep track of the time the program has been running. The millis() function to return the number of milliseconds since the program started using a global incremented in the timer 0 ISR. Timer 0 is also used for PWM outputs on digital pins 5 and 6.
    * Timer1 (PWM 9 and 10)
      Used to drive PWM outputs for digital pins 9 and 10.
    * Timer2 (PWM 3 and 11)
      Used to drive PWM outputs for digital pins 3 and 11.