Hi, I've figured out most of the design phase for my robot project, however there is still the very important issue of which language to use. >From reading the PIClist archive, there are a few obvious choices : - PIC C - Assembly - BASIC Obviously each of these has their ups and downs. For example, some of my requirements are : - Sine functions (thanks to the replies from this list, I've found a few routines that seem to do the job, but they're all in assembly. How would I go about with PIC C ? Does it already have sine functions built in ?) - Tutorials (Few with assembly, have yet to find any for BASIC or C) - Cheap (Some C compilers are hundreds, even thousands of dollars) I have the most experience with assembly, having tinkered around with the blinky LEDs project and Microchip's MPLAB. And correct me if I'm wrong but MPLAB lets you work with .c files, but the assembler (MPASM.exe) seems to accept only .asm files ? So I take it MPLAB does not provide the option of compiling C ? Sorry for so many unclear, broad questions, but apparently this is an open-ended issue of which language to use... --Phu T. Van