I've wired everything up, and am using the interrupts example that can be found here: https://github.com/maxgerhardt/rotary-encoder-over-mcp23017/tree/master/examples/Interrupt
Everything seems to work as expected, except that my assumption was that since this was an interrupt-based solution, that I wouldn't be missing any steps of any of the encoders. There are a total of 5 that will move at the same time, and it is clear that while it almost works, there are many steps that are missed.
I'm guessing that is because while one interrupt is being handled, all other interrupts are disabled?
Is there any way where I can ensure that every single motion (step CW or CCW) is registered on all 5 encoders?