I keep saying that my RC car is meant to be a race car while being autonomous. Struggling to find its way around a room is not the demo that I want. I think an oval track in the gym bounded on the inside by many cardboard boxes at least a couple feet high. The kids with the RC transmitters must sit still in the lower seats of the roll out stands. The cars would be out of their sight when on the far side of the track.

My serious problem is that as a race car driver my 16F887 is not doing very well. It does not query the SRF05s quickly enough. The trigger pulses get to the sonars about one per second.

I am at a loss to figure what is consuming all the PIC compute time.

QUESTION? What would be the easiest, most efficient way for me to get on board with Assembly Language 16F887 coding? Machine language is not new to me. I used it professionally from 1957 till somewhere in the '80's. What is a clear and complete document on this ASM?

Ken