In the french group we have not same encoder in ou 6R 6M (probably germany production)
frequency or pulse cannot be used.
The encoder is stable frequency only the wave change according position .
( AL223369 >> AL233346 )
In initial point we can read some voltage with multimeter .
So we adapt a code by reading the wave of one pin that can be Low or the High mode.
We apply to read the value with A14 on the teensy
/!\ (be careful to divide al voltage so as not to inject 5v to the teensy)
with experiance of virtual turn sensor based on serries of successive error we can defined the good timing to cancel autosteer.
Result in video
the code is here