/*******************************************************************************
||============================================================================||
||::::::::::::::::::::::::::|Name of the Project|:::::::::::::::::::::::::::::||
||                Control of a H-Brided motor with PIC16F877A                 ||
||                                                                            ||
|| * Autor:                                                                   ||
||     Guilherme Nabeyama                                                     ||
|| * Descrição:                                                               ||
||     This is a simple control of a motor using a PIC16F877A, H-Briged and   ||
||     DEMUX, the Microcontroller PIC recive the analog input and convert it  ||
||     to a movement of the motor                                             ||
|| * Device Configuration                                                     ||
||     MCU:             PIC16F877A                                            ||
||     Oscillator:      HS,  4.0000 MHz                                       ||
||     Ext. Modules:    -                                                     ||
||     SW:              mikroC v8.2                                           ||
||============================================================================||
*******************************************************************************/


void main(){
  int j;
  int oj;
  int leitura;

      TRISB.F7 = 0;              // PORT is output
      PORTB.F7 = 0;              // Set PORT to 0
      TRISB.F6 = 0;              // PORT is output
      PORTB.F6 = 0;              // Set PORT to 0
      TRISB.F5 = 0;              // PORT is output
      PORTB.F5 = 0;              // Set PORT to 0

      TRISB.F0 = 1;              // PORT is input
      PORTB.F0 = 0;              // Set PORT to 0
      TRISB.F1 = 1;              // PORT is input
      PORTB.F1 = 0;              // Set PORT to 0

      TRISB.F3 = 1;              // PORT is input
      PORTB.F3 = 0;              // Set PORT to 0
      TRISB.F4 = 1;              // PORT is input
      PORTB.F5 = 0;              // Set PORT to 0

  ADCON1 = 0x80;           // Configure analog inputs and Vref
  TRISA  = 0xFF;           // PORTA is input

  PORTC = 0xFF;           // Set PORTC to $FF
  TRISC = 0;              // PORTC is output

  Pwm_Init(5000);         // Initialize PWM module

  j   = 0;               // Initial value for j
  oj  = 0;                // oj will keep the 'old j' value
  Pwm_Start();            // Start PWM

  while (1) {             // Endless loop


    leitura = Adc_Read(2); // Get results of AD conversion


    if ((leitura <= 514) && (leitura >=508)) {  // Read of Analog is 0 to 1024
       j = 0;
    }
    if (leitura >= 515) {                    // Make the motor rotate clockwise
       j = (leitura - 514)/2;
       PORTB.F5 = 0 ;
       PORTB.F6 = 0 ;
       PORTB.F7 = 0 ;
    }
    if (leitura <= 507) {                    // Make the motor rotate
       j = (-leitura + 1024)/2;              //                counterclockwise
       PORTB.F5 = 0 ;
       PORTB.F6 = 1 ;
       PORTB.F7 = 0 ;
    }
    Pwm_Change_Duty(j); //   set new duty ratio,


    Delay_ms(200);        // Slow down a bit
  }

}