Arduino PID Library

That's kinda what I was thinking but this clarifies it much more. I think you may right about the possibility of missing pulses while in a calculation but that's one of the many pitfalls of dead-reckoning navigation. However, I don't think it's going to be a big problem because I think my overall error from other factors will outweigh the lost counts here and there. It sounds like your 'full' library may work but I bet the 'lite/int' version would work a lot better!! :wink:

Thanks, this has been a big help to me!