[Tom Bottiglieri]

Since the encoder may have ticked before you hit this block of code, you may want to do something like this.

//define a variable outside the loop called 'temp1'

if(temp1==0)
{
     temp1=Get_Left_Encoder_Count();
}

static long lec = Get_Left_Encoder_Count() - temp1;

if (lec >= 12)
	{
	pwm02 = 127;		//set it to neutral
	}
	else
	{
	pwm02 = p3_y;
	}