I didn't utilize any delay per function as can be seen. I was thinking that since I want the functions to respond immediately to the the RC control sticks, that I should not use any delay. But after reading your statement it does seem as though that could help. This is going to be an underwater rov so a spot on immediate response is not absolutely necessary. Would you recommend adding a delay to the end of each function or should I find a way to monitor for an input value "change" to start the function? Thanks, DVDdoug...