At the end of last week, we participated in the competition and achieved 2nd place.
Thanks to Ben for the fix, Stefan for the test results, Martin for the ideas.
I chose the Timer Interrupt solution to measure period time.
I would like to ask how long the ISR can take in time, because I found that the variables of the distance measurement task sometimes (randomly) contained unrealistic values, even though the sensors sent a realistic value to the processor.
If I disabled the interrupt everything was fine.
By the way, is it normal that Timer Interrupt only works with Timer-0?
Regards,
Sasi