Systems, devices, and methods for controlling a motor are disclosed. A method may include determining a rotational direction of a motor from a pair of quadrature signals sent to a microprocessor. The method further includes adjusting an internal count stored in the microprocessor at each edge of each of the pair of quadrature signals. The method further includes adjusting an external count stored in the microprocessor and transmitting an interrupt to a main controller after the first phase signal and the second phase signal have transitioned through each combinational logic state in one of a forward rotational direction and a reverse rotational direction. The method further includes transmitting a signal comprising the rotational direction of the motor and the external count from the microprocessor to a main controller.