[Max Lobovsky]

terminal count? Is this in reference to using an external counter? I know i don't need an interrupt for one, i was talking about using the RC to do the encoder counting. If a terminal count is the last one before counter overflow, than i dont think that's a problem either because i was planning on using a 24 bit counter and i highly doubt the robot will drive that far before reset....

I'm almost sure that the RC doesnt have any sort of built in counter that would allow up/down counting.
It is 40 mhz but from what i have heard, 10k counts is pushing it. I also will be having a user code loop that will be pretty significant, im not solely doing counting.