Quote:
Originally Posted by nathanww
I don't have the robot to look at, so I accidentally reversed them on the diagram.
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Without accurate details, I can't help further. Sorry.
An actual photograph of your wiring would help a lot at this point. So would a good closeup of how you have the encoder disk attached. Your code looks fine to me (except for a nagging worry about using the %d format specifier with a long integer).