WOW, thanx alot. I'll post them on my webpage ASAP. I've been working on my own PWM output servo control with a friend since we felt it was easier than deciphering someone elses code. Right now it's running a servo just fine, but we still have to implement a little better Integral term algorithm and also figure out someway to calcualate the max encoder speed. Right now the encoder section is only 30 lines or so long in assembly and with the 4 or so clocks needed for the interrupt, it should be pretty fast. I also think we're gonna try some AVR overclocking to see just how fast these chips can run.....Keep you posted.

David B.