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Re: GTS Counting
A timer can go down to 100ns if you want I believe... but at that point the interrupts will be taking over way too many processor cycles. Plus you would have to deal with lots of overflows if incrementing a variable if you keep on the timer at all times. Our team also decided to skip the direction sensing. For us, it wasn't worth it. Although the robot has already been shipped, if you want to tinker around in the fix-it window or at your first competition, I would recommend taking a look at the timer documentation in the PIC18 reference manual to see your prescaler options.
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