Which of the following are true regarding rotary encoders? A. Incremental quadrature encoders require four digital lines on a microcontroller B. For an incremental encoder, checking each rising and falling edge of the A and B channels results in 2 times the encoder resolution C. The index pulse helps to determine the direction of rotation of an incremental encoder D. Absolute encoders are used extensively for tracking the rotation of wheels E. Encoders are more immune to noise than potentiometers