Hello Peter, looks like you are progressing very well. I think your prognosis is right on the nose. In my opinion, interrupts are the way to go. I think the servo's are not at full torque because they do not get fed their pulses at the regular intervals that they need.
Here is an example of someone using code similar to yours, but only using one input and output: http://www.picbasic.co.uk/forum/show...4056#post84056
And here is Darrel's 2 servo interrupt based output example: http://www.picbasic.co.uk/forum/show...1993#post81993
And here is my interrupt based input/output for up to 5 ch inputs, and 4 ch outputs. Only problem is that it does not seem to be compatible with some receivers. http://www.scalerobotics.com/stamps/84-projects/pwm/71-pwm-passthrough.html And there is also a problem with signals that are longer than 2ms, so trims might have to be adjusted accordingly, and a scope helps.
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