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  1. #include <htc.h>
  2. #define _XTAL_FREQ 20000000  // Define oscillator frequency (20MHz)
  3.  
  4. // LCD Connections
  5. #define RS RD0
  6. #define EN RD1
  7. #define D4 RD2
  8. #define D5 RD3
  9. #define D6 RD4
  10. #define D7 RD5
  11.  
  12. // Motor Control Pins
  13. #define IN1 RB0
  14. #define IN2 RB1
  15. #define PWM RC2
  16.  
  17. // Push Button Inputs
  18. #define SPEED_UP RB2
  19. #define SPEED_DOWN RB3
  20. #define DIR_CHANGE RB4
  21.  
  22. // Variables
  23. int speed = 0;  // Initial speed (0)
  24. int direction = 1; // 1 = CW, 0 = CCW
  25. char lastButtonState = 0;
  26.  
  27. // Function Prototypes
  28. void LCD_Command(unsigned char);
  29. void LCD_Char(unsigned char);
  30. void LCD_Init();
  31. void LCD_String(const char*);
  32. void LCD_Clear();
  33. void Set_PWM(int);
  34. void Update_Display();
  35. void Check_Buttons();
  36. char debounce_button(char button);
  37.  
  38. // LCD Functions
  39. void LCD_Command(unsigned char cmd) {
  40.     RS = 0;
  41.     D4 = (cmd >> 4) & 1;
  42.     D5 = (cmd >> 5) & 1;
  43.     D6 = (cmd >> 6) & 1;
  44.     D7 = (cmd >> 7) & 1;
  45.     EN = 1; __delay_us(10); EN = 0;
  46.     D4 = cmd & 1;
  47.     D5 = (cmd >> 1) & 1;
  48.     D6 = (cmd >> 2) & 1;
  49.     D7 = (cmd >> 3) & 1;
  50.     EN = 1; __delay_us(10); EN = 0;
  51.     __delay_ms(2);
  52. }
  53.  
  54. void LCD_Char(unsigned char data) {
  55.     RS = 1;
  56.     D4 = (data >> 4) & 1;
  57.     D5 = (data >> 5) & 1;
  58.     D6 = (data >> 6) & 1;
  59.     D7 = (data >> 7) & 1;
  60.     EN = 1; __delay_us(10); EN = 0;
  61.     D4 = data & 1;
  62.     D5 = (data >> 1) & 1;
  63.     D6 = (data >> 2) & 1;
  64.     D7 = (data >> 3) & 1;
  65.     EN = 1; __delay_us(10); EN = 0;
  66.     __delay_ms(2);
  67. }
  68.  
  69. void LCD_Init() {
  70.     TRISD = 0x00;
  71.     __delay_ms(20);
  72.     LCD_Command(0x02);
  73.     LCD_Command(0x28);
  74.     LCD_Command(0x0C);
  75.     LCD_Command(0x06);
  76.     LCD_Command(0x01);
  77. }
  78.  
  79. void LCD_String(const char *str) {
  80.     while (*str) {
  81.         LCD_Char(*str++);
  82.     }
  83. }
  84.  
  85. void LCD_Clear() {
  86.     LCD_Command(0x01);
  87.     __delay_ms(2);
  88. }
  89.  
  90. // PWM Setup
  91. void Set_PWM(int duty) {
  92.     CCP1CON = 0x0C;
  93.     PR2 = 124;
  94.     CCPR1L = (duty * 124) / 100;
  95.     T2CON = 0x04;
  96. }
  97.  
  98. // Display Update
  99. void Update_Display() {
  100.     LCD_Clear();
  101.     LCD_String("DUTY: ");
  102.     LCD_Char((speed / 10) + '0');
  103.     LCD_Char((speed % 10) + '0');
  104.     LCD_Char('%');
  105.     LCD_Command(0xC0);
  106.     LCD_String("DIR: ");
  107.     LCD_String(direction ? "CW " : "CCW");
  108. }
  109.  
  110. // Button Debounce Function
  111. char debounce_button(char button) {
  112.     static char lastState = 1;
  113.     if (!button && lastState) {  // Detect falling edge (press)
  114.         __delay_ms(50);
  115.         lastState = 0;
  116.         return 1;
  117.     } else if (button) {
  118.         lastState = 1;
  119.     }
  120.     return 0;
  121. }
  122.  
  123. // Button Check
  124. void Check_Buttons() {
  125.     char updateFlag = 0;
  126.  
  127.     if (debounce_button(SPEED_UP) && speed < 100) {
  128.         speed += 10;
  129.         updateFlag = 1;
  130.     }
  131.     if (debounce_button(SPEED_DOWN) && speed > 0) {
  132.         speed -= 10;
  133.         updateFlag = 1;
  134.     }
  135.     if (debounce_button(DIR_CHANGE)) {
  136.         direction = !direction;
  137.         IN1 = direction;
  138.         IN2 = !direction;
  139.         updateFlag = 1;
  140.     }
  141.  
  142.     if (updateFlag) {
  143.         Set_PWM(speed);
  144.         Update_Display();
  145.     }
  146. }
  147.  
  148. // Main Function
  149. void main() {
  150.     TRISB = 0x1C;  // RB2, RB3, RB4 as inputs
  151.     TRISC2 = 0;    // PWM output
  152.     TRISB0 = 0;
  153.     TRISB1 = 0;
  154.  
  155.     OPTION_REGbits.nRBPU = 0;  // Enable internal pull-ups for buttons
  156.  
  157.     LCD_Init();
  158.     Set_PWM(speed);
  159.     Update_Display();
  160.  
  161.     while (1) {
  162.         Check_Buttons();
  163.     }
  164. }
  165.  
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#include <htc.h>
#define _XTAL_FREQ 20000000  // Define oscillator frequency (20MHz)

// LCD Connections
#define RS RD0
#define EN RD1
#define D4 RD2
#define D5 RD3
#define D6 RD4
#define D7 RD5

// Motor Control Pins
#define IN1 RB0
#define IN2 RB1
#define PWM RC2

// Push Button Inputs
#define SPEED_UP RB2
#define SPEED_DOWN RB3
#define DIR_CHANGE RB4

// Variables
int speed = 0;  // Initial speed (0)
int direction = 1; // 1 = CW, 0 = CCW
char lastButtonState = 0;

// Function Prototypes
void LCD_Command(unsigned char);
void LCD_Char(unsigned char);
void LCD_Init();
void LCD_String(const char*);
void LCD_Clear();
void Set_PWM(int);
void Update_Display();
void Check_Buttons();
char debounce_button(char button);

// LCD Functions
void LCD_Command(unsigned char cmd) {
    RS = 0;
    D4 = (cmd >> 4) & 1;
    D5 = (cmd >> 5) & 1;
    D6 = (cmd >> 6) & 1;
    D7 = (cmd >> 7) & 1;
    EN = 1; __delay_us(10); EN = 0;
    D4 = cmd & 1;
    D5 = (cmd >> 1) & 1;
    D6 = (cmd >> 2) & 1;
    D7 = (cmd >> 3) & 1;
    EN = 1; __delay_us(10); EN = 0;
    __delay_ms(2);
}

void LCD_Char(unsigned char data) {
    RS = 1;
    D4 = (data >> 4) & 1;
    D5 = (data >> 5) & 1;
    D6 = (data >> 6) & 1;
    D7 = (data >> 7) & 1;
    EN = 1; __delay_us(10); EN = 0;
    D4 = data & 1;
    D5 = (data >> 1) & 1;
    D6 = (data >> 2) & 1;
    D7 = (data >> 3) & 1;
    EN = 1; __delay_us(10); EN = 0;
    __delay_ms(2);
}

void LCD_Init() {
    TRISD = 0x00;
    __delay_ms(20);
    LCD_Command(0x02);
    LCD_Command(0x28);
    LCD_Command(0x0C);
    LCD_Command(0x06);
    LCD_Command(0x01);
}

void LCD_String(const char *str) {
    while (*str) {
        LCD_Char(*str++);
    }
}

void LCD_Clear() {
    LCD_Command(0x01);
    __delay_ms(2);
}

// PWM Setup
void Set_PWM(int duty) {
    CCP1CON = 0x0C;
    PR2 = 124;
    CCPR1L = (duty * 124) / 100;
    T2CON = 0x04;
}

// Display Update
void Update_Display() {
    LCD_Clear();
    LCD_String("DUTY: ");
    LCD_Char((speed / 10) + '0');
    LCD_Char((speed % 10) + '0');
    LCD_Char('%');
    LCD_Command(0xC0);
    LCD_String("DIR: ");
    LCD_String(direction ? "CW " : "CCW");
}

// Button Debounce Function
char debounce_button(char button) {
    static char lastState = 1;
    if (!button && lastState) {  // Detect falling edge (press)
        __delay_ms(50);
        lastState = 0;
        return 1;
    } else if (button) {
        lastState = 1;
    }
    return 0;
}

// Button Check
void Check_Buttons() {
    char updateFlag = 0;

    if (debounce_button(SPEED_UP) && speed < 100) {
        speed += 10;
        updateFlag = 1;
    }
    if (debounce_button(SPEED_DOWN) && speed > 0) {
        speed -= 10;
        updateFlag = 1;
    }
    if (debounce_button(DIR_CHANGE)) {
        direction = !direction;
        IN1 = direction;
        IN2 = !direction;
        updateFlag = 1;
    }

    if (updateFlag) {
        Set_PWM(speed);
        Update_Display();
    }
}

// Main Function
void main() {
    TRISB = 0x1C;  // RB2, RB3, RB4 as inputs
    TRISC2 = 0;    // PWM output
    TRISB0 = 0;
    TRISB1 = 0;
    
    OPTION_REGbits.nRBPU = 0;  // Enable internal pull-ups for buttons

    LCD_Init();
    Set_PWM(speed);
    Update_Display();

    while (1) {
        Check_Buttons();
    }
}
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