I've separately coded and tested most of  the functions that I want on a
balancing robot but I now have to put them together in one program on a
16F877. I'm now wondering if that is even possible and was hoping that
somebody with a feel for this type of thing could offer some insight.
 
I'm got functions for the following:
 
1. A gyro input. I use timer_o to create a 1500 uS pulse.
2. A gyro output. I use CCP_2 to get the duty cycle.
3. Accelerometer output.  I use CCP_1 to get the duty cycle.
4. PWM for 2 motors. I previously used CCP_1 and CCP_2 for these.
5. I have a future need for a timing cycle for 2 wheel encoders.
 
I think I can use timer_2 for function 5. but obviously I can't do 4. with
2. & 3. 
 
Any suggestions?
 
Thanks.....Harry
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