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Re: how about this code.
Could work.
You still need to initialize "static unsigned int encoder= 0;" as Mike mentioned.
I still think you're going to count each encoder tick more than once and your arm will end up short of the expected position.
( I have to pickup my daughter and will check back later)
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"Rationality is our distinguishing characteristic - it's what sets us apart from the beasts." - Aristotle
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