// a potentiometer will control the position of a servo motor
// 2 buttons will control a DC motor connected to an H-bridge
//using pic 16f886

#include <htc.h>

// CONFIG1
#pragma config FOSC = HS        // Oscillator Selection bits (HS oscillator: High-speed crystal/resonator on RA6/OSC2/CLKOUT and RA7/OSC1/CLKIN)
#pragma config WDTE = OFF       // Watchdog Timer Enable bit (WDT disabled and can be enabled by SWDTEN bit of the WDTCON register)
#pragma config PWRTE = OFF      // Power-up Timer Enable bit (PWRT disabled)
#pragma config MCLRE = OFF      // RE3/MCLR pin function select bit (RE3/MCLR pin function is digital input, MCLR internally tied to VDD)
#pragma config CP = OFF         // Code Protection bit (Program memory code protection is disabled)
#pragma config CPD = OFF        // Data Code Protection bit (Data memory code protection is disabled)
#pragma config BOREN = OFF      // Brown Out Reset Selection bits (BOR disabled)
#pragma config IESO = ON        // Internal External Switchover bit (Internal/External Switchover mode is enabled)
#pragma config FCMEN = ON       // Fail-Safe Clock Monitor Enabled bit (Fail-Safe Clock Monitor is enabled)
#pragma config LVP = OFF        // Low Voltage Programming Enable bit (RB3 pin has digital I/O, HV on MCLR must be used for programming)

// CONFIG2
#pragma config BOR4V = BOR40V   // Brown-out Reset Selection bit (Brown-out Reset set to 4.0V)
#pragma config WRT = OFF        // Flash Program Memory Self Write Enable bits (Write protection off)

signed short PW;
signed short Period = 20000;
signed short OffTime;

void main(void)
{
    TRISA = 0xFF; //PORTA pins are inputs

    TRISB = 0xEF; //PORTB pins are inputs except RB4

    TRISC = 0xFD; //PORTC pins are inputs except pin 1

    ADCON1 = 0X00; //0b00000000

    ANSEL = 0xFF; //0b11111111

    ADCON0 = 0x4D; //0b01001101

    GO_DONE = 1;

    while (GO_DONE == 1)
    {}

    PW = 1000 + 1000/250 * ADRESH;

    OffTime = Period - PW;

    RB4 = 1;
    RC1 = 1;
    while(PW >= 0)

    {PW = PW - 12;}

    RB4 = 0;
    RC1 = 0;

    while (OffTime >=0)
    {
        OffTime = OffTime - 12;

    }
    //end servo control


}