So far, she does run... however, i'm having a right mare with the comms hardware setup and the comms handler...(shakes head)
Now that i have 6 18F4550's from crownhill i may revert the program back to using them...
The program does sweet FA, everything is driven from interrupts, their is only the 'automatic' and 'manual' modes that have gosubs and they are correctly returned so i don't think it's over/under runs that are the problem now...

I'll post more info later on, I'm going to take a break for a couple of hours and have a blast on CnC...