From f7dddf06297f415413760f3bedf00f7297e60cf7 Mon Sep 17 00:00:00 2001
From: RossTheRoss <msattr@gmail.com>
Date: Wed, 8 Apr 2020 11:17:47 -0500
Subject: Forget to add a bunch of things oops

---
 Lab4.X/lab4_servo.c | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)
 create mode 100644 Lab4.X/lab4_servo.c

(limited to 'Lab4.X/lab4_servo.c')

diff --git a/Lab4.X/lab4_servo.c b/Lab4.X/lab4_servo.c
new file mode 100644
index 0000000..9ff5b42
--- /dev/null
+++ b/Lab4.X/lab4_servo.c
@@ -0,0 +1,23 @@
+#include "xc.h"
+#include "lab4_servo.h"
+void setServo(int Val)
+{
+    OC1RS=Val;
+}
+void initServo() {
+    TRISB &= 1111111111011111;
+    //TIMER 3
+    T3CON = 0x0010; //Stop Timer, Tcy clk source, PRE 1:8
+    T3CONbits.TCKPS = 0b01;
+    T3CONbits.TCS=0;
+    TMR3 = 0;     // Initialize to zero
+    PR3 = 39999; // Set period in order to make 20ms cycle
+    T3CONbits.TON = 1;
+    
+    //OC1
+    OC1CON = 0;
+    OC1R = 1234;   // servo start position. We won?t touch OC1R again
+    OC1RS = 1234;  // We will only change this once PWM is turned on
+    OC1CONbits.OCM = 0b110;
+    OC1CONbits.OCTSEL = 1;
+}
-- 
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