PWM01.c

//Initializes PWM for Channel 0 and takes in the parameters to determine PWM

//Output Polarity and PWM Clock Select (just prescale or prescale & postscale.)

initPWM0: parameters = Polarity and PostScaleOption

Enable PWM0 with PWME

Map PWM0 to Port T with MODRR

If Polarity is initially hi

Set PWMPOL of PWM0 hi

Else Polarity is initially low

Set PWMPOL of PWM0 lo

If want PostScaleOption

Set PWMCLK hi

Else

Set PWMCLK low = prescaled clock only

Set duty cycle of PWM0 initially = 0 so motors don’t start

setPWM0Period: parameters = desired # of clock counts in 1 period

PWMPER0 = period

setPWM0DutyCycle: parameter = number of clock counts for active part of duty cycle

PWMDTY0 = dutyCycle

//Initializes PWM for Channel 1 and takes in the parameters to determine PWM

//Output Polarity and PWM Clock Select (just prescale or prescale & postscale.)

initPWM1: parameters = Polarity and PostScaleOption

Enable PWM1 with PWME

Map PWM1 to Port T with MODRR

If Polarity is initially hi

Set PWMPOL of PWM1 hi

Else Polarity is initially low

Set PWMPOL of PWM1 lo

If want PostScaleOption

Set PWMCLK hi

Else

Set PWMCLK low = prescaled clock only

Set duty cycle of PWM1 initially = 0 so motors don’t start

setPWM1Period: parameters = desired # of clock counts in 1 period

PWMPER1 = period;

setPWM1DutyCycle: parameter = number of clock counts for active part of duty cycle

PWMDTY0 = dutyCycle;