Finally got ahead a little bit on the Blingway Bot. The PWM inputs from the Accelerometer are finally working correctly. Problem was a bug/feature in PICC that caused the first few readings from whichever pins I was using for input, to be glitchy (false 1 or 0) when read.
Now that problem is fixed, I am having some troubles with their math libs. I am going to have to switch to a completely fixed point math library (that I am going to have to write unfortunately), and maybe modify the tilt sensing code to not need so much trig. Just using an arctan function pretty much fills the entire PIC rom.
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