How to use a quadrature encoder

hi 

i have a Advanced Rover 5 Robot Platform with four shaft encoder (quadrature encoder)and im asking about if there is a libirary

arduino that makes me counts the number of revoultions and check if it is forword or reverse , if not is there eny reffrencies that

gives me information of how to code it what type of out and hot to change this output for my desired specific case 

***note that ***

the picture of the shaft is below and also the rover data sheet 

 

thanks in advance 

[original story: Let's Make Robots]

Let's Make Robots 28 Nov 11:17
arduino  avr