void __attribute__((interrupt, no_auto_psv)) _T1Interrupt(void)
{
IFS0bits.T1IF = 0; // Clear timer 1 interrupt flag
// LEDRED = 1;
CalcPid(&mypid);
// LEDRED = 0;
}
int main() {
unsigned char Lcd_LINE1[6] = {'\0'};
unsigned char Lcd_LINE2[16] = {'\0'};
unsigned int i;
InitCan();
InitQEI();
InitPwm();
// InitInt();
InitAdc();
// InitUart();
//pid
unsigned int *pwmOUT;
pid_t mypid;
float degPOT = 0.0;
float degMTR = 0.0;
while (1) {
if(InData0[1] > 0){
// if(InData0[2] == 1){
// PDC2 = (unsigned int)(InData0[1]* 2 *.5914);
// PDC1 = 0;
// }
// else{
// PDC1 = (unsigned int)(InData0[1]* 2* .5914);
// PDC2 = 0;
// }
pwmOUT = CalcPid(&mypid, degPOT, degMTR);
PDC1 = *(pwmOUT + 0); // 16-bit register
PDC2 = *(pwmOUT + 1); // 16-bit register
}
if (InData0[3] == 1) {
C1TX0B4 = 2;
C1TX0B1 = POSCNT;
C1TX0B2 = C1RX0B2;
C1TX0B3 = C1RX0B3;
C1TX0CONbits.TXREQ = 1;
while (C1TX0CONbits.TXREQ != 0);
}
msDelay(10);
} //while
} // main