Hi,
in zeile 184 kommt diese deklaration:

Code:
SIGNAL (SIG_OVERFLOW2)
{
	TCNT2 += 0x25;
	count36kHz ++;
	if (!count36kHz) timebase ++;
}
in zeile 216 diese:

Code:
SIGNAL (SIG_ADC)
{
	static unsigned char tmp[2],flag[2],toggle=FALSE;
	if (autoencode){
	tmp[toggle]= ADCH;
	if (toggle)	ADMUX = (1 <<ADLAR) | (1 <<REFS0) | WHEEL_RIGHT; 
	else ADMUX = (1 <<ADLAR) | (1 <<REFS0) | WHEEL_LEFT; 

	if ( (tmp[toggle] < 140) && (flag[toggle] == TRUE)) {
		encoder[toggle] ++;
		flag[toggle] = FALSE;
	}
	if ( (tmp[toggle] > 160) && (flag[toggle] == FALSE)) {
		encoder[toggle] ++;
		flag[toggle] = TRUE; 
	}
	toggle ^= 1; 
}}