[seanwitte]

Originally Posted by stephenthe1

can you look at this and tell me if you see any errors.

	//the encoder is at 50 resolution
	//the arm motor is attatched to pwm_02
	//the encoder is attatched to rc_dig_in06
	unsigned int encoder;
	if (p2_sw_trig == 1)
	pwm_02 = 220;
	if (rc_dig_in06 == 1)
	encoder = encoder + 1;
	if (encoder == 11)
	pwm_02 = 128;

You only want to increment the encoder variable when rc_dig_in06 goes from 0-1 or from 1-0 (pick one). So you need to keep track of the previous value and the current value, then increment only when when it changes.