Unfortunately I didn't grab the code from last night so I don't remember
exactly how "B_Dubbs" set it up (and he is hopefully at school right now and can't answer).
Generally it was counting down each loop and at one number it would do the Ping_Sonar() and a (lower) number it would do the Get_Sonar_Distance(). Originally it was 38 and 19, but I was trying to get him to go down to 3 and 1. My reasoning being that the Ping needs time to, er, ping before doing the Get.
We didn't have too many printfs, just printing out the distance and (at one time) printing out the raw number in Get_Sonar_Distance(). The output was pretty regular.
The numbers were approximately the distance, though I was just eye-balling it from afar. I tried to find out how far a distance it could reach but the numbers were only going up to 12 or 14. (I'm hoping for a bigger distance.) When it was working it would alternate a number-distance with a zero.
We are using 2006 (pre-Kevin's PWM routine) code, BTW.
Going back to my DOS days programming with INT 27h, I recall that you can daisy-chain programs to an interrupt address. Thinking ahead to making this code work with 2007 code, can this daisy-chaining work with IFI's code?
Mike, I want to also thank you for your time. I also want to thank you for an opportunity for me (at least) to dive into FRC interrupts -- it looks like fun!
Gdeaver: I'll put your suggestion into the Subcommittee in charge of Acquisitions (Sonars and Sodas sector)
We're only using vex sonars as we have a couple from years past.