[schenkin]

Sorry I didn't reply earlier, I thought I would get an email notification when new messages where posted. And I did, but only for the first one.

Anyhow, so long to the Edubot idea. I thought about using optical encoders like we are using to keep the robot going straight, but i'm not sure I understand how to get speed from that. Obviously you can get distance from the encoders, and then divide it by time, but how do I know how long it has been? I can't just keep track of loops can I? Wouldn't the interupts change the timing? Is there an internal clock I can tap into?

A gear tooth sensor would work too, but I had the same concerns.

That standalone tachometer is pretty awsome, and would save us alot of trouble, but I'd rather not spend that kind of money if I can avoid it.

--Sam