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encoder.c
I’m trying to understand encoder.c. When the left encoder's phase-A signal changes from 0 to 1, it triggers an interrupt, which invokes Left_Encoder_Int_Handler() in encoder.c. Left_Encoder_Int_Handler() determines the direction of rotation, and hence either increments or decrements Left_Encoder_Count, based on the value of rc_dig_in06 (the encoder's phase-B signal) at the time of the interrupt. When (and where) is rc_dig_in06 updated so that it has the current value when it is looked up in Left_Encoder_Int_Handler()? What variables are updated in Process_Data_From_Master_uP() in main.c every 26ms?
Thanks.
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