PBP projects for R/C models

[ScaleRobotics]

Regarding the blocking commands. All I want to know is which ones block TMR1 and hence TMR1 based interrupts? Judging from my LOGIC TOOL images PULSIN blocks. True?

I thought I read somewhere that most of the commands which involve time, like Pulsin, Pulsout, etc, use timer1. But I can't find anything documenting that. Maybe someone can correct this for me? I did a little testing, and if you put your 20 ms timer on Timer2, it will be unaffected by pulsout, and I expect pulsin as well. These blocking commands DO NOT block an interrupt. For instance, you can have a pause 10000 in your main, while an interrupt gives you a heartbeat LED indication every second. But they will interfere if they are trying to load the same timer with a value.

EDIT: Turns out I was way off base here. Here Darrel corrects me:

The only PicBasic command that uses a timer is HPWM, which uses Timer2.
No PBP commands use Timer1 unless you tell it to.

And all PBP commands are blocking (while they execute).
They might interface with harware peripherals that are doing other things at the same time, but the statements themselves are blocking.

As you pointed out though, they don't block interrupts.
And it's the commands that do software based timing that get disturbed by the interrupts.
PAUSE, PULSIN/OUT, RCTIME, SEROUT/IN(2) etc.
They stop keeping time while the interrupt code executes, so all that time gets lost.

When using interrupts, you should use Hardware Timers to do things like PAUSE or PULSIN, and the USART instead if SEROUT/IN(2).
And when not using interrupts, use the easier versions (PBP), or still use the hardware which are the NON-BLOCKED functions.

You can do PULSIN with the CCP module at the same time you're sending serial data to a PC without any interrupts.