'---------------------------------------------------------------------------------------------------------------------
'Chopper Dual Speed Controller 
'---------------------------------------------------------------------------------------------------------------------
'PROGRAM DESCRIPTION
'This program uses a PIC16F877 as a dual PWM speed controller for the two Speed 400 motors used in the arcade chopper project.
'---------------------------------------------------------------------------------------------------------------------
Include "modedefs,bas"
'---------------------------------------------------------------------------------------------------------------------
'SET VARIABLES
Define ADC_bits		8				'Anolog configuration
Define ADC_clock	3
Define ADC_sampleus	50
TRISA=%111111
ADCON1=%00000100					'set port A analogs and right justify result
TRISB=1							'default everything to inputs
TRISC=1
TRISD=1
TRISE=1
'---------------------------------------------------------------------------------------------------------------------
'PIN DESIGNATIONS
'Left Throttle	var porta.0				'Anolog input left throttle control
'Right Throttle	var porta.1				'Anolog input from right throttle control
'CCP2		var porta.2				'Pin 16 HPWM
'CCP1		var portd.2				'Pin 17 HPWM

'Variables
Lvolts	var word
Rvolts	var word
Rangeadj var word
'--------------------------------------------------------------------------------------------------------------------		
	 
Loop:	Adcin 2, Rangeadj				'read voltage from range pot
	Adcin 0,Lvolts					'read left throttle pot volts
	Lvolts = (Lvolts*330/100)*(Rangeadj*100/255)/100
	Lvolts = Lvolts Min 255				'ensure no invalid numbers
	Adcin 1,Rvolts					'read right throttle pot volts
	RVolts = (Rvolts*330/100)*(Rangeadj*100/255)/100
	Rvolts = Rvolts Min 255				'ensure no invalid numbers
	HPWM 1,Lvolts,10000				'generate PWM signal to channel one, motor1
	HPWM 2,Rvolts,10000				'generate PWM signal to channel two, motor2
	goto loop