Brilliant! I have been considering different approaches in setting up a robust tracking and control structure, and I believe I will be doing what you are. With a global reference frame to read from and write to, the static size of the program becomes much smaller. Like a PLC, these AVR controllers are very good at fetching and delivering data, not so good at constructing complex data structures. Since speed and memory are limited, too much calculating and waiting for devices to respond can really slow them down.
Thank you so much for your insight into your system! I am working on developing a sketch this weekend, but not right now. I have to work half a day today (saturday).
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