Hi please could anyone point me to code for dsPIC30F2010 or sim as I have spent many hundred hours reading & google search, only to find many unfinished projects. This is for positioning Brushless DC servo motors. Looking for step & direction input, Quad encoder input. Hall Sw inputs, 3PW= M outputs. any help much appreciated. Many Thanks Paul --=20 http://www.piclist.com PIC/SX FAQ & list archive View/change your membership options at http://mailman.mit.edu/mailman/listinfo/piclist .