[siaohuang]

I have it to work thank you!!

This is what I did

static int counter=0;


pwm02=100;
pwm03=155;

counter= ++counter ;

if(counter>271){   (5/18.5ms)
  pwm02=127;
  pwm03=127; 
}

and the robot moved for 5 seconds and it stopped! What I'm doing right here is the way Foster suggested right ? I think the both of you are doing the same thing right? I have a question about the 18.5ms is it true that no matter how long the code, it will always take 18.5ms in the loop?

Also MARK can you show me how to write the Wait subroutine?

I can't thank you guys enough! You've been such great help!