timers/interrupts
 

do you know how can I set a timer ticking and when an interrupt occurs, read its value?
I tried searching for it, but the only thing I found was setting an interrupt to occur every so much time.

Re: timers/interrupts
 

Look at the code written by Kevin Watson, http://kevin.org/frc . The gyro code and accelerometer code use timers to maintain a constant sample rate.