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Hi everyone, I have a Mobile Robot and want to track wheel turns with Papilio DUO, but I have some approach questions/problems . I need to use the 5v tolerant pins. (because of the encoder). If I use the ZPUno the project would be like the Papilio_Duo_quick_Start, but with different code and only the 5v pins? But if I decide to use only VHDL: - after I write the code and create a schematic symbol do I have to connect it to the ZPUno or I can remove the ZPUno and proceed like a traditional FPGA project and schematic ? If the answer is that I have to connect the two, what communication should I implement? Filip