Is a state of being and a way of life. Better to be interesting than sane, right?
I may have done myself in this time though, I don’t think I can get an honest feedback-employing controller running on my XY Table by Friday… but I can probably get something that sufficiently resembles one to get away with it. Again.

As far as the specific case of burying myself for fun, I designed and understand an algorithm, I’m just finding myself unable to implement it in a timely manner; I haven’t worked with an ATMega chip’s timers in too long. I know what I need is to run my pair of 8bit timer/counters so that the full 255 count is 2kHz (1uS high, 1uS low, 50% duty cycle square wave) set the output compare registers so it actually runs at about 1500Hz (toggle and reset on match), and use the (scaled) difference in the output pulse train and the pulses from the encoders to adjust the output compare registers up/down to accommodate missed steps. I’m just being dumb with BOTH the encoders and the timers, so it doesn’t work.

EDIT: Toggle at TWICE the desired output frequency, not half. Dumb.

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