Hey Alexandros,
Certainly lots of methods to try. I am sure that Alain's method would work just fine. I just like the idea of interrupts, and using fewer components. And besides, I am learning a lot about interrupts and timers in the process, so that is good!
And for your 30 seconds: Since it is using a time base of 20ms on timer2, you could easily add a counter in that interrupt handler. And when it reached 1500, that is 30 seconds.
I will try adding the ADC oversample into it, and let you know how it goes. But my motor controller is taking kindly to it, and accepting it's pulses.
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