--- Mike M wrote: > welp guess i got a photographic memory. Ive been > programming since i was 12, like i said IF YOU ARE > WORKING THEN ITS A DIFFERENT STORY..everyone is one Does that mean you have 5 years of experience now? If you could write code as complicated as some of the members on this list you'd see how important comments really are. Without comments, absolutely no one can possibly understand what I write. Without comments, I often have a hard time understanding what I write. I re-use the same tricks over and over, but the context in which they're used is extremely important. BTW, for your basic clone thingy, read up on interrupt programming and isochronous coding techniques - these two subjects alone would go a long way to help you implement a "background" servo controller. While you're at it, you may wish to study state machines. Sorry for being so harsh, but I really don't believe you know what you're saying. .lo __________________________________________________ Do You Yahoo!? Bid and sell for free at http://auctions.yahoo.com