Some time ago, I know not when, I purchased PIC MICROCONTROLLERS from MikroElektronika. Then I put it in a pile and forgot. It reappeared this morning. Looks like I have much of the ASM info I have been seeking.

My old HPWM system uses a TRIGGER: subroutine for SONAR triggers. The leds on the SONARs blink many times per second. They are too fast to count accurately. Each SONAR blinks at least 55 times in ten seconds. My non-mathematical guess is fast's enough if the steering servo and the wheel motor are reacting 'instantly'. Which they are not.

I think I have learned that there is no advantage keeping the PWM signal down to 50hz. All that is necessary is to calibrate the pulse widths as they appear in HPWM 2, xx, 50.