I have been using loop interrupts for a while, and not had an issue... until now. And it is driving me nuts. The program has 2 main loops, titled "touch" and "end" with two more nested in the "touch" loop, both titled "01"- these are just for turning with the gyro. I've attached pics so you can see this in detail The problem loop is the "touch" loop- the main nested one. I have a separate thread running to check the state of a switch. When it is pressed, I have a loop interrupt for the "touch" loop only. Since it is nested, and I only have one loop interrupt, I would expect it to pick up with the "end" loop and start over... but instead it ends the program, as if I interrupted both "touch" and "end". So I'm obviously missing something here... anyone with ideas, please speak up.