[charrisTTI]

A few pointers:

Kevin's code uses the C Library printf with his buffered, interrupt driven serial port routines. The default code has it's own printf and serial port initialization. You need to use one or the other but not both.

Kevin's encoder code is for a quadrature encoder. The gear tooth sensor is not a quadrature encoder, so there is no Phase B signal. This means that you cannot determine the direction of rotation from the gear tooth sensor.