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Re: compiler problems
Your encoders undoubtedly depend on interrupts, and that is the area of code where you had the problem (the #pragma).
Look at the default code again and see where the #pragma belongs and what it should like like. And make sure your encoder interrupt-service-routines are being called when the appropriate interrupt occurs.
The #pragma, by the way, tells the compiler to save and restore CPU registers when invoking the routine (when an interrupt happens).
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