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Originally Posted by phillutz
Where specifically do I need to change the interrupt code to have the interrupts function for say... digitals 12,13,14,15.
I understand needing to change the user_routines.c file for INPUT/OUPUT but interrupts confuse me. 
Also, I see in encoder.h that Kevin is #define ing the XXX_Encoder_Phase_B_Pin's but not the Phase_A_Pins? Am I missing something? |
Digital inputs 1 and 2 are permanently connected inside the robot controller's CPU to the interrupts used by the encoder code. You can't do anything about that. There is a third external interrupt which is triggered on any change of digital inputs 3 through 6, but using it is a bit more complicated than the first two. So far as I know, none of the other digital inputs can cause interrupts.