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Originally Posted by Mark McLeod
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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if I initialize it as zero, won't the program simply reset encoder to zero every time it rereads the code?