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Originally Posted by Kyveck
I added the MATH_DATA section, and I already had tmpdata. I won't have the robot for a little bit to test, but could you explain what that line does? I generally prefer to use code that I understand. It has something to do with storing registers during the interrupt handler, I assume. Thanks,
Kyle W
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Yup, stores any data before it enters the interrupt, and then restores it after coming back out.