Andy, great site! The sub-related pages got my attention; your Neptune II system is really something. When I get more time and money I'd love to get into subs, and I have a feeling I'll be referring to that page if/when I get to it. I can see that I can learn quite a bit from the source code on those projects... -Tony Andy Shaw wrote: << Hi Tony, Not sure if this is of any use but you may want to take a look at my speed controller project at www.gloomy-place.com Source code for decoding RC pulses plus software PWM plus a simpler (no H bridge) circuit. The software would be easy to change for use with a H bridge.... Andy >> -- http://www.piclist.com hint: PICList Posts must start with ONE topic: [PIC]:,[SX]:,[AVR]: ->uP ONLY! [EE]:,[OT]: ->Other [BUY]:,[AD]: ->Ads