Hi Jason,
I've been playing around using PICs for control of Radio control
submarines for a while now and have implemented various
pulse width schemes and servo control output. I would
love to take a look at your code. I make use of 16c71 (I need
the A/D for tilt and pressure inputs). In my version I finally
decided to make use of a range of -64..+64 with -64 = 1ms
and +64=2ms. I trim out of range inputs to this range. I have
to do a fair amount of processing of the input values combining
them with pressure inputs etc. and I find that having this type
of range lets me to virtually all of the calculations in 8 bit
arithmetic. I do lose out on resolution but this is not really
a big problem for me (the noise from the sensors I use is
at least as big as this loss!).

Andy

>I have the source code here, I am not sure if I should post it to the
>PICLIST.  It is about 350 lines..