Yes it is way to slow, hardware counters are cheap and work well, do you have 
them in you PI board?

On Tue, 10 Jan 2017 22:02:28 -0600
Jon Elson <el...@pico-systems.com> wrote:

> On 01/10/2017 08:39 PM, Gene Heskett wrote:
> > But if I hook up the halscope, the apparent quadrature error is worthless
> > due to the 1KHz servo-loop timing limiting the bandwidth.
> Well, that's why we use hardware encoder counters, as 
> sampling the quadrature at 1 KHz just isn't fast enough.
> 
> Jon
> 
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