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Originally Posted by Aalfabob
My first question is, are there any counters built into the main unit?
If there is, how would i access it?
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Kevin Watson's site has example code for a timer for both the EDU and Competition RC. See
www.kevin.org/frc
There is a hazard associated with reading a counter value that is maintained by the interrupt handler, but this is easily dealt with. See the section on interrupt programming in "An Introduction to C Programming for FIRST Robotics Applications," you will want the latest version from
www.srvhsrobotics.org, in the Technical page.
Have fun!