diff --git a/examples/rp2/pio_quadrature_encoder.py b/examples/rp2/pio_quadrature_encoder.py
new file mode 100644
index 0000000000000..cc6cf2ec51b6e
--- /dev/null
+++ b/examples/rp2/pio_quadrature_encoder.py
@@ -0,0 +1,101 @@
+"""
+This implementation offloads the quadrature sensor continuous pooling to the StateMachine pio_quadrature,
+pio_quadrature will detect state changes and push the values then raises an interrupt that is handled by
+encoder_state_changed_irq_handler
+
+encoder_state_changed_irq_handler was inspired from
+https://electronics.stackexchange.com/questions/360637/quadrature-encoder-most-efficient-software-implementation
+
+"""
+
+from machine import Pin
+import rp2
+from rp2 import PIO, StateMachine
+import utime
+import array
+
+
+state_look_up_table = array.array("b", [
+ #Direction = 1
+ 0, # 00 to 00
+ -1, # 00 to 01
+ +1, # 00 to 10
+ +2, # 00 to 11
+
+ +1, # 01 to 00
+ 0, # 01 to 01
+ +2, # 01 to 10
+ -1, # 01 to 11
+
+ -1, # 10 to 00
+ +2, # 10 to 01
+ 0, # 10 to 10
+ +1, # 10 to 11
+
+ +2, # 11 to 00
+ +1, # 11 to 01
+ -1, # 11 to 10
+ 0, # 11 to 11
+
+ #Direction = 0
+ 0, # 00 to 00
+ -1, # 00 to 01
+ +1, # 00 to 10
+ -2, # 00 to 11
+
+ +1, # 01 to 00
+ 0, # 01 to 01
+ -2, # 01 to 10
+ -1, # 01 to 11
+
+ -1, # 10 to 00
+ -2, # 10 to 01
+ 0, # 10 to 10
+ +1, # 10 to 11
+
+ -2, # 11 to 00
+ +1, # 11 to 01
+ -1, # 11 to 10
+ 0, # 11 to 11
+ ])
+
+
+counter = 0
+direction = 0
+lut_index = 0
+
+def encoder_state_changed_irq_handler(sm):
+ global counter, direction, lut_index
+ while sm.rx_fifo():
+ lut_index |= sm.get() & 3
+ counter += state_look_up_table[lut_index]
+ if state_look_up_table[lut_index] != 0:
+ direction = 1 if (state_look_up_table[lut_index] > 0) else 0
+ lut_index = ((lut_index << 2) & 0b1100) | (direction << 4)
+
+
+@rp2.asm_pio()
+def pio_quadrature(in_init=rp2.PIO.IN_LOW):
+ wrap_target()
+ label("again")
+ in_(pins, 2)
+ mov(x, isr)
+ jmp(x_not_y, "push_data")
+ mov(isr, null)
+ jmp("again")
+ label("push_data")
+ push()
+ irq(block, rel(0))
+ mov(y, x)
+ wrap()
+
+
+
+sm = StateMachine(0, pio_quadrature, freq=160000, in_base=Pin(2))
+sm.irq(encoder_state_changed_irq_handler)
+sm.exec("set(y, 99)") # add a last value for y that would be always different then the input
+sm.active(1)
+
+while True:
+ utime.sleep(2)
+ print(counter)
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