Santosh Kodimyala wrote:
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"This solution is simple. You should use flags, and should NOT write the whole algorthm in the ISR.(agrees with micheal's idea). You can use flags that are modified in the ISR and check it in the main program."


MR. Santosh

in order to know the status every amplified sensor output go to some i/o pin. most probably to a single port. then no need to define any variable as simole read will give you the status. i dont know you are familier with master lio's old saga but he is trying to track his robot to a ball emmiting light pulses. so i dont think there would be any priority based scheme. every time status changes his robot will take some decision to move, so old data expires as soon as new arrives.


abhishek