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A very important step when moving from basic microcontroller programming to advanced microcontroller programming is the introduction of interrupts into your code. With the use of interrupts, you give your code the ability to react to events as they happen (interrupting your other code), instead of waiting for your code to get to a place where it can handle an event (which is known as "polling"). It is a programing idea that can take some getting used to, but the power it gives you in an embedded system is well worth the effort.
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