I have been multiplying by .066 (in my head). Give or take a decimal point. I want to be able to READ the EEPROM and see inches. Not easy?? Is there a PBP routine that does this?

My interrupts are once every 5 millisec. I count 25 of them between each SONAR trigger. They are 125 millisec apart. The servos do work well with properly timed pulses, but they do not seem to react any quicker or with any finer precision. I have no accurate means of measuring this.

Thank you for thinking along with me. My computer experience was all digital data communication. Ultimately I retired from CISCO. I know nothing about real time control systems.

Ken