Hi Bruce,
Thank you for info regarding RE3/MCLR as input.

It sure is a cool device. Using Darrel's interupt routines I managed to get motor controller for my robot working, with PID filter and all. Very fun project.

However.....I never managed to get QEI module going in velocity mode. I made a few attempts to begin with but could never quite figure it out so I went for my own velocity calcs (newPos-oldPos). Any pointers?

Thanks!
/Henrik Olsson.