The leopard thanks you, Nigel, for your advice. I can see how using the two PICs separately for the sensory and motor functions makes the design and functions more efficient. Motion, I have not been in the hobby for long, so I didn't know about 20 Mhz PICs. I am new at the whole "PIC" thing. I do know if I can get the two PICs to run the bot, I can make some neat programs with them. Nigel, do you think you could show or tell the leopard how to tie the PICs to control the separate functions, yet still signal each other some how about the different inputs? The leopard greatly thanks your advice.