[Denz]

The error was immediate, as soon as the program loaded, I got the red light. As soon as I restarted I got the red light.
I'll try what you suggested though. Thanks.
As far as posting Kevin's code...
I read Kevin's reasoning behind not wanting it being posted, I didn't mean any harm, but I did alot of deleting to the encoder.c, so it would be kind of hard to show the changes without showing the whole thing. (it's alot easier to look at the code as a whole, for my at least)
I posted it because I needed help, not to distribute, it's easier to look over the code and find my errors instead of guessing.
That's just my reasoning for what I did, if it was wrong, then I'm sorry.