[badtkee]

Thanks!
ok so my
wheel radius is 4 in = .1016m making the wheel circumference .2032*pi meters
my gear ratio is 12.75:1
encoder is 250 ticks (US Digital encoder from AndyMark)

so to get ticks per meter it would be 250 ticks/(.2032*pi)meter but I don't know where the gear ratio falls into this? My instinct is to either multiply or divide by the gear ratio.

Now in the code that you provided are only the variables in the timer loop? does the rest of your code happen after the 20ms? If you don't mind showing me a bit more code I would really appreciate it