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Originally Posted by Tom Bottiglieri
If you can tell me, how are you out of interrupts? There's good ol' interrupts 1 and 2 (as configured in Kevin's encoder code...
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Actually, I've got updated encoder code that can use any of the interrupts. The first two are just like last year's (optimized for velocity control) plus the upper four are optimized for position control, but can also be used for velocity control. I'll have it up after I finish some documentation.
-Kevin