Herbert, look in the PIC archives, there was someone who built a
multi-channel decoder. You can write the code to just count while testing
for the edge, after finding the rising edge of the servo pulse. You can
also do it using a timer and interrupt on pin change.

The tricky part is the analog feedback from the mechanics which requires
an A/D. You can try the digital A/D approach but maybe better try to use a
16C711 which already has an A/D inside. An A/D is harder to make than a
CCP ;-).

Peter

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