[KenWittlief]

the way I used them no you cant distinquish between the 1mS and 2mS pulse widths on the opposite sides of the field - our sensors point 90° left and right from the front, so we know which is which - when the right sensor goes off, turn right - you dont care which beacon type it really is, right?

if you want to use rc_dig_in02 for the other one, the inter flag bit is INTCON3bits.INT3IF instead, and make a second set of variables for the other side, like DiSeeR and DirFilterR - and make a copy of the code for the right side.

BTW i didnt mention that you have to declare the variables used in that code - I assumed you already knew that.

your code above looks correct (when DiSeeL==1) then that sensor is seeing the beacon