[KenWittlief]

Im not sure a quarter second is fine enough resolution for doing dead recogning code - when you are turning a quarter second is a long time

its very easy to have a variable that you increment everytime you loop through your auton code, and use that as a rough timer - if it increments in the main loop it will have a 26mS period - If you increment it in the user_fast code it will be even smaller (I forget the period off the top of my head)

and you dont have to mess with interrupts that way.