Thanks. I'll check into that book.

The book I bought is called "Insectronics" by Karl Williams.

Web site: http://www.thinkbotics.com/

I haven't built it yet, don't know if I ever will because I'm holding out for something with a bit more in the way of degrees of freedom.

I looked at your code here too and as much as I wouldn't genrally disagree with Mister E (who is 1000X smarter than I) I don't think you can just make a couple changes to get it to work in PicBasic. The ENDIF statement alone would grind it to a halt so you are lucky to have found someone who can compile it for you with the Pro version.

Bart