Seconded -- you'll get more control over the thresholds/levels using the ADC,
and it's quite simple coding.  You shouldn't worry about inefficiency, as
this is trivial for the PIC.
IBYDKTA :)



Jinx-4 wrote:
> 
>> 4. I could use ADC, but it seems inefficient to convert the voltage
>> into an 8 bit number just to turn it back into a one or zero
> 
> That would give you an earlier warning of drift than a Schmitt trigger
> could. What you'd have with ADC is essentially an adjustable ST.
> Really it depends on the speed of transition between light and dark,
> ie how fast the robot is drifting and how quickly you want to respond
> and correct. Using the h/w of ST pins might be the more convenient
> solution but I'd have a look at ADC, JFTHOI
> 
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