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one more question , can you give me a hint on how to use encoder values to turn my robot? lets say for an example i want to make 90 degree turn. how do i combine encoder reading to my normal pwm code?
Why do you count rising and falling edges? If the edge rises, it has to fall again, so aren't you counting that tick twice? Or, to put another way, why does that provide more information (in terms of resolution)?