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void main ()
{
DDB0_bit = 1 ; // output pin for motor 1
DDB1_bit = 1 ; // output pin for motor1
DDB3_bit = 1 ; // pwm for motor 1
DDD0_bit = 1 ; // output pin for motor 2
DDD1_bit = 1 ; // output pin for motor 2
DDD7_bit = 1 ; // pwm2 for motor 2
PWM1_Init(_PWM1_FAST_MODE, _PWM1_PRESCALER_8, _PWM1_NON_INVERTED,i); // pwm1 initialize
PWM2_Init(_PWM1_FAST_MODE, _PWM1_PRESCALER_8, _PWM1_NON_INVERTED,j); // pwm2 initialize
while (1)
{
PORTD = 0b00000001 ; // motor2 rotates cw entire time
j = 100 ;
PWM2_Set_Duty (j) ; // pwm2 set at duty = 100 ; duty cycle = 39 %
PORTB = 0b00000010 ; // motor1 rotates CCW
i = 255 ;
PWM1_Set_Duty(i); // pwm1 at 100% duty cycle for 100 ms
delay_ms (100) ;
i = 128 ;
PWM1_Set_Duty (i) ; // pwm1 at 50% duty cycle for 100 ms
delay_ms (100) ;
PORTB = 0b00000001 ; // motor1 rotates cw
i = 100 ; // pwm1 at 39% for 100 ms
PWM1_Set_Duty (i) ;
delay_ms (100) ;
}
}
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