Blackhawk, As sayzer said if you could please give us some more definition of your problem it would help. What I don't understand is the phrase "- PIC16F877a at the core, running at 20MHz (first annoyance as PICBASIC does not allow for changing xtal speeds, everything runs 5 times faster than it should)." Do you want the pic to run slower or faster? Also I don't understand the phrase "I can't actually manually drive the servos because PICbasic only lets you delay for integer milliseconds" There is a 16 bit timer or 2 inside the 16F877 which will allow 1 tick to be as small as the osc freq. / 4. Also there is a PAUSEUS command that will allow timing to about 2uS. Which 16 bit A to D convertor are you using?

Dave Purola,
N8NTA