Hi I'm using a 16F84A (when I'm not using a 16F628A) but thats beside the point. I am building a Hexapod and am trying to control direction using modulated (38khz) ir signal. Transmitter -->works FINE. Receiver should be high output shifting to low in IR presence. I was going to read its output with a PIC (PortB.4) and if high go to one routing if low goto another. The problem is that the low signal is around 1.8V so the pic is not registering a low and therefore not switching. Do I have to use the PORTA as comparator function??????????? Please help. By the way I am programming in high level basic and am not too up on assembly code!!!!!!!!!!!!!!!!!! Find Attached the IR Test Code.