We can’t provide further help, but you can find some good documentation in the internet about Arduinos, timers and interruptions.
Take a look in this post:
And the official documentation:
I would also recommend more three things:
- Try to isolate and minimize your code until the point you can make your problem explicit and easy to debug. Try commenting out one line at a time to see if the problem goes away, this way you can find which particular lines are causing the problems.
- Take a look in the Arduino forums, since your problem is not related to Blue Robotics products, but arduino in general. You will get better advice there.
- When asking about a problem with code, you should include a minimal example piece of code that demonstrates your problem. This way, others can replicate your problem in front of themselves, and this makes it faster to find the problem. Don’t paste an entire project with unrelated code, but just the core pieces that create the problem. In the process of creating this code, you might find the problem yourself (this is very closely related to advice #1 above)