Thanks for the hint Walter, After some sleep, I will study it and see what I can learn. I remember seeing that post once, but didn't study it or think to apply his solution to my problem. He's using Step/Direction, so I'm sure there some answers there.

After a few hours of looking at my original problem, it became apparent that I was going to have to find out how to generate 2 independent pulse trains that had variable frequency in order to move the motors in two axises. I am currently looking at the timers, CCP's, and the HWPWM for a clean way to do that. At first glance, I overlooked that it was considerably different than varying the width of pulses over a constant period (ie.. PWM). I seem to remember where someone did the calculations with a formula on the fly. I'm going to see if I can do that with the PR2 register and get somewhere with 2 timers.

I will keep this post updated as I learn more.

Bo

BTW, better up your sampling rate, you're not even near Nyquist!