Hello,

I made a platform that looks similar to boe bot. I am using a 16F877A MCU for it, lots of I/O. I have two sharp range finders that are on my A0 & A1 ADC ports. Currently I have range detection, speed control (using 2-HWPWM) and steering all in main. There has to be a better more efficient way of doing this in an interrupt? The goal of this is to avoid obstacles when the range finders get to a threshold distance.

Thanks!