>> I was wondering If someone has already implemented a PID algorithim for the PIC16 family. I want to work in asm since I'am requiring a very efficient code implementation. << I've done this sort of thing a few times. What is the question? ******************************************************************** Olin Lathrop, embedded systems consultant in Littleton Massachusetts (978) 742-9014, olin@embedinc.com, http://www.embedinc.com -- http://www.piclist.com#nomail Going offline? Don't AutoReply us! email listserv@mitvma.mit.edu with SET PICList DIGEST in the body