This code is a mess. It was written just to get things barely working while I was trying to write an article about tuning a PID control system. Things I know work (Mostly): address_nogroup baud address coef pva_1 pva_2 waitdone_1 waitdone_2 rect (Draws a rectangular spiral on an etch-a-sketch) a (Read position and prints it) Things I know don't work: Setting the baud, and then setting the PIC-SERVO's addresses does not work every time. Power cycle the PICs and t ry again. The idea is to run the script init to get things setup, then run coef to set the PID parametere, then run pva to make a move. Sorry about the mess. I never intended to let anyone see the code, but many people have asked for it, so here it is. -Alan Kilian kilian@pobox.com