Quote Originally Posted by HenrikOlsson View Post
So, are you saying that it works now? No more "ticks" or "jumps", always smooth? What was the actual problem?
To complicate calculation of position what I was make - no need for that!
I was buy "Running small motors with Pic by Harprit Singh Sandhu" in middle time and there is very good examples and sources about 18F4431 ans 16F876 - 877.After reading a couple of day's it was put me in righ direction.
That complicate calc of position was make big big proposition in interrupt and Pic was do error's .....
I must work more on that program but now it work pretty good.
Now I want remove part of reding key on RA1 and put a couple more interrupt's. One for RS232 , one for ADC reading and one for dir/step.

The best regards to all and you Henrik special.
Any suggest are welcome
/Robert