More About Encoders

Dave's taking today off, so I'm not sure about how much is really going to get done. Yesterday before we left I finally got the interrupt working and counting the number of tape marks. The reason it was messing up was because I wasn't clearing the interrupt flag and it just kept looping. I'll have to see how consistent it is, but I have a feeling that we're going to have to space the markers out a bit and make them bigger so there is less of a chance of the encoder missing it. The code is also starting to get messy again. There are at least 200 lines of compass code in the main source file sharing variables with functions it shouldn't. I'm not looking forward to cleaning it up. I finally got some pictures the other day. I'll probably upload them tonight.