main loop is STANDUP in this code, and program remains in that main loop until all motors get into position, ENCOUNTER subroutine is called every time loop starts, and I'm counting pulses from encoders with it. My encoders giving a pulse every 5ms at full speed and controller can complete that loop in microseconds, so controller can catch up any pulse and count it or thats what I thought =)
But I still have question marks in my mind, I didn't change the code in the end, just added DT-INTS and I belive I added them into code properly, but result is not right. I wonder if there are some tips or things about usage of DT-INTS