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Originally Posted by GlennGraham
Would you mind explaining how the encoder interrupt handler works with the timer2 interrupt handler?
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the timer is used to determine the amount of time between encoder interrupts so you can determine the speed at which your bot is progressing.
the timer interrupt occurs when the timer overflows, so that you will know if and how many times that has occurred between encoder interrupts.
can't look at the code right now, but will if i have a minute later.