Version 1

Here is my plan for version 1 of my GUI.
My plan is this. I will have a thread that does nothing but parse the incoming serial stream into a multidimensional array. The array components will consist of:

• time (this will be the value of the free-running timer from the AVR)
• left commanded velocity
• right commanded
• left measured velocity
• right measured velocity
• left distance (though I may omit these and let the GUI calculate these two)
  
• right distance
• sonar reading
• left PWM value (right now I'm set for 10-bit PWM, this might help me determine if I can use less resolution)
  
• right PWM value
• left PID proportional value (the I is silent :) )
  
• right PID proportional value
• left PID derivative value
• right PID derivative value

I'll need to format the string in the most efficient manner so I'm thinking HEX

Stay tuned...