[WizardOfAz]

That's a good suggestion, don't set up the timers, just try reading them to see if one is already running in a usable mode. My thought was to mask off most of the lower order bits to get ticks at a managable speed, then use a change in the remaining bits to increment a static counter that wouldn't overflow (or at least not too often). Ultimately, knowing how much time has passed since some particular event (like start of autonomous mode) is the goal, and that should accomplish it.

Thanks, Bill