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Originally Posted by Abwehr
Measuring the pulse width seems difficult given the overhead of interrupt calls and other factors.
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Yes, this is proving to be difficult. I kinda have it working, but I fear it will all spectacularly fall apart in different interrupt configurations. When I mean spectatular, I mean robot controllers rebooting themselves, going into programming mode and staying there, red-light-of-death, etc. I have at least one more possible solution to investigate, but for now, just use the first two channels of the encoder code.
-Kevin