[billbo911]

Originally Posted by EHaskins

I've been trying to write the drive code for my current prototype drive, but I'm having issues.

This is the setup:
Hardware:
BaneBots gearbox connected to pwm01
Banebots encoder kit and encoder divider board installed on the gearbox.
Divider direction connected to rc_dig_in07
Divider speed connected to rc_dig_in03

Software:
Kevin's new code
In "interrupts.h"
#define ENABLE_INT_3_6 un-commented
In "teleop.c"
"Initialize_Int_3_6();" added to Initialization() where comments indicate.

void Teleop(void)
{
	static int i, j;
	i ++;
	j ++;

	if (i > 20)
	{
		printf("Encoder 1 Direction = %d\r\n", (int)ENCODER_ONE_DIRECTION);
		printf("Encoder 1 = %d\r\n\r\n", (int)Encoder_One_Count());
		i = 0;
	}

             //Run motor to demomstrate proper functioning
	if (j < 100)
	{
		Motor(1, 50);//in drive.c
	}
	else if (j < 150)
	{
		Motor(1, 0);
	}
	else if (j < 250)
	{
		Motor(1, -50);
	}
	else if (j < 300)
	{
		Motor(1, 0);
	}
	else
	{
		j = 0;
	}
	//Update_OI_LEDs();	// located in ifi_code.c
}

In "interrupts.c"
Call to "Encoder_One_Tick()"(in Drive.c) added in Int_3_Handler

EDIT: I attached the drive.c/.h files
The Direction displays correctly, but the count is always 0.

I'm sure I forgot something really simple, but I can't figure it out.

I'll send the complete project to anyone who wants to look at it.

I think you are right. The error looks simple to me as well. I think the reason you aren't seeing the count change is because the code in your ISR to do the increment/decrement is commented out. It looks like it should work correctly if the whack whacks and whack star and star whacks were removed.

void Encoder_One_Tick(void)
{
	//if (ENCODER_ONE_DIRECTION)
	//{
		_countOne ++;
	/*}
	else
	{
		_countOne --;
	}*/
}