Hi all, Background: I use the PIC16C74 20MHz microcontroller to do a robot project. 6 analogue signals are received from 6 IR proximity sensors The analogue signals and a direction value (another sensor reading) are input to a fuzzy logic control strategy with two outputs controlling both the turning rate (in terms of angle) and linear velocity( in terms of pulse rate) of 2 stepping motors. Questions: 1) How can I write a program to receive these analogue signals and put these readings into consecutive addresses for further processing ? 2) How can I write a program to control the two stepping motor motion (assume 2 I/O pins to control the direction and clock signal) with input pulse rate from 100Hz to 400Hz ? Thanks ! Samuel Lau E-mail : cclau@vtc.edu.hk