Dear Google:

       I already purchased the Serial PIC'n Book by Roger L. Stevens
to learn about serial communications...I am building robot navigation
system, using the Hexapod Walker by Parallax/Lynxmotion having (3)
servomotors with Basic Stamp microcontroller (PIC16C56 that came with
the kit).....which I decided to use the PIC16F84 to have more freedom
in memory size and in testing/debugging the program.  Now, I'm trying
to interface a compass sensor that outputs data protocols (NMEA 0183
standard, which I'm going to go ahead and use the simple ASCII
character sets that I configured from using Hyper Terminal).....along
with the robot kit, there's IRPD sensor that came with it that also
have a pre-written program that I can download to the chip using EPIC
WIN Programmer.......well, I mentioned about Serial PIC'n book, since
I'm trying to use the Microwire Interface scheme in order to
synchronize both of my slave devices, the compass sensor and IRPD
sensor output data and to receive  by my master device PIC16F84 using
the Serial EEPROM (93LC56) device....For example, the microcontroller
may need to deliver a stable pulse width modulation (PWM) control
signal to each servomotors, send and time returning pulse with an
internal timer, capture and sample pulse code (PCM) infrared pulse
with an internal clock, keep track of the compass, etc.  I believe it
can be done by software, and I really need help on writing this
complex code program....I know there are plug-n-play components that
might be available out there, but I rather write the code to save
money since we already spent over $800 just on the compass and total
of $1400 for this whole project.....I rather spend it on books...which
that's what I'm going to ask you guys...if you can help me find that
book that has all these programs/written Code (PicBasic Compiler
language)I'm looking for......the Serial PIC'n book has half of my
program, but it can only go from
receiving the characters, but I don't know how I can incorporate the
received signal to control the servomotors.  I have a sample programs
on walking the robot, but I don't know how to put the whole thing
together, respect to data received signals.  I would really appreciate
your kind help or any suggestions whether where I can get any
information of this project.  If there's a book out there that can
help me to write the code, please tell me.  Ok, Thank you very much. 
Have a wonderful day.

*Note:  I also purchased the "PIC Microcontroller Project Book," but
it also came up short.

Onassis  Empederado