Set Portd.3 set Portd.6 Do Waitms 100 A = pina B = pinc error= A -B If error > 0 Then error=error*0.1 Pwm1a = 500 + error Pwm1b = 500 - error if(Pwm1a >1023) then Pwm1a =1023 end if if(Pwm1b <0) then Pwm1b =0 end if Elseif error < 0 Then error=error*0.1 Pwm1a = 500 - error Pwm1b = 500 + error if(Pwm1b >1023) then Pwm1b =1023 end if if(Pwm1a <0) then Pwm1a =0 end if Elseif error= 0 Then Pwm1a = 1023 Pwm1b = 1023 End If Loop
$regfile = "m16def.dat" $crystal = 8000000 Config Porta = Input Config Portb = Input Config Portc = Input Config Pind.0 = Input Config Pind.1 = Input Config Pind.2 = Input Config Pind.7 = Input Config Portd.3 = Output Config Portd.4 = Output Config Portd.5 = Output Config Portd.6 = Output Config Timer1 = Pwm , Pwm = 10 , Prescale = 8 , Compare A Pwm = Clear Down , Compare B Pwm = Clear Down Dim A As Integer , B As Integer , Error As Integer Set Portd.3 set Portd.6 Do Waitms 100 A = pina B = pinc Error = A - B If error > 0 Then error=error*0.1 Pwm1a = 500 + error Pwm1b = 500 - error if Pwm1a >1023 then Pwm1a =1023 end if If Pwm1b < 0 Then Pwm1b =0 end if Elseif error < 0 Then error=error*0.1 Pwm1a = 500 - error Pwm1b = 500 + error If Pwm1b > 1023 Then Pwm1b =1023 end if If Pwm1a < 0 Then Pwm1a =0 end if Elseif error= 0 Then Pwm1a = 1023 Pwm1b = 1023 End If Loop
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