[stephenthe1]

I have a robot with a mechanical encoder attatched to an arm with a motor to lift the arm.

the encoder is at 50 resolution
the arm motor is attatched to pwm_02
the encoder is attatched to rc_dig_in06
I calculated that the encoder will "click" or turn on and off 10.7 times for the distance I need.(the encoder is 50 resolution).

basically I need the source so the motor attatched to pwm_02 will stop once the encoder "ticks" 10.7 (or eleven) times. Please keep it simple. I don't have time to go through a tutorial right now. thank you so much for the help.

oh yeah, it would be nice If I could have the arm lift at the touch of a trigger on a joystick attatched to p1_sw_trig. and have the arm go back down at the touch of the trigger again. does the operator interface controller provide a way to simply shut everything down immediately in the event of a disaster?
please help.
thanks,
Stephen