// Declaring Constants for sine.
 const unsigned short Sine [20] =
 {
 	127, 146, 163, 177, 185, 189, 185,
 	177, 163, 146, 127, 107, 90, 76,
 	68, 65, 68, 76, 90, 107
 };
 void main (void)
 {
 	// Declaration of variables.
 	unsigned short n = 0;
 	// Configure ports.
 	TRISB = 0;
 	PORTB = 127;
 	while (1) // infinite loop.
 	{
 		// Loop for 20 samples of a sine wave cycle.
 		for (n = 0; n <20; n ++)
 		{
 			// Change port B.
 			PORTB   = Sine [n];
 			// Delay 50u sec.
 			delay_us (50);
 		}
 	}
 }

void main( void )
{
	unsigned short CD=0;
	OPTION_REG = 0;     	//Activate the pull-up resistors.
	PWM1_Init( 500 );   	//PWM module starts at 500 Hz
	PWM1_Set_Duty(CD);
	PWM1_Start();
	while(1)          	//Infinite Loop.
	{
		//loop to increment PWM  when Bttton RB1 pressed.
		while( Button( &PORTB, 1, 10, 0 ) )
		{
			CD++; if( CD==0 )CD=255;
			PWM1_Set_Duty(CD);
			delay_ms(10);
		}
		//loop decrement PWM  when Bttton  RB0 pressed
		while( Button( &PORTB, 0, 10, 0 ) )
		{
			CD--; if( CD==255 )CD=0;
			PWM1_Set_Duty(CD);
			delay_ms(10);
		}
	}
}

void main( void )
{
     OPTION_REG = 0; //Activate the pull-up resistors.
     TRISB = 0x0F; //Configuring port B  as output and input .
     PORTB = 0;
     
     while(1) //Infinite Loop.
     {
              //Loop for detecting the rotation to the left button .
              while( Button( &PORTB, 0, 10, 0 ) )
              {
                     PORTB = 0; 	//Turn off the control pins.
                     PORTB.F7 = 1; 	//Activates the control pin 1.
              }
              
              //Loop for detecting the stop button.
              while( Button( &PORTB, 1, 10, 0 ) )
              {
                     PORTB = 0; 	//Turn off the control pins.
              }
              
              //Loop for detecting the rotation  to the right button.
              while( Button( &PORTB, 2, 10, 0 ) )
              {
                     PORTB = 0; 	//Turn off the control pins.
                     PORTB.F6 = 1; 	//Activates the control pin 2.
              }
     }
}

IL = Max. Motor Current
Ib = IL/β, Minimum input current required to flow current IL through the load (active region).
Ib’ = 10xIb, To make sure that transistor works in saturation region.
Rin = (Vin – Vbe)/Ib’
Take Vbe = 0.7V

void main()
{
 TRISB = 0; // PORT B as output port
 PORTB = 1; // Set RB0 to high
 do
 {
   //To turn motor clockwise
   PORTB.F0 = 1;
   Delay_ms(2000);//2 seconds delay

   //To Stop motor
   PORTB = 0; // or PORTB = 3 
   Delay_ms(2000);//2 seconds delay

   //To turn motor anticlockwise direction
   PORTB.F1 = 1;
   Delay_ms(2000);//2 seconds delay

   //To Stop motor
   PORTB = 0; // or PORTB = 3 (3 = 0b00000011)
   Delay_ms(2000); // 2 seconds delay

 }while(1);
}

void main()
{
  short duty  = 0; //initial value for duty

  TRISD = 0xFF; //PORTD as input
  TRISC = 0x00; //PORTC as output
  TRISB = 0x00; //PORTB as output
  PORTB = 0x02; //Run motor in anticlock wise

  PWM1_Init(1000);  //Initialize PWM1
  PWM1_Start();  //start PWM1
  PWM1_Set_Duty(duty); //Set current duty for PWM1

  while (1)        // endless loop
  {
     if (!RD0_bit && duty<250) //if button on RD0 pressed      
     {       
        Delay_ms(40);       
        duty = duty + 10;  //increment current_duty     
        PWM1_Set_Duty(duty);  //Change the duty cycle      
     }     
     if (!RD1_bit && duty >0) //button on RD1 pressed
     {
       Delay_ms(40);
       duty = duty - 10;  //decrement duty
       PWM1_Set_Duty(duty);
     }
    Delay_ms(10);      // slow down change pace a little
  }
}

//Constants with sequence of steps.
const unsigned short STEPS[4] =
{
      0b00000001,
      0b00000010,
      0b00000100,
      0b00001000
};

void main( void )
{
     //Declaration of variables.
     unsigned short STEP=0;
     //Port  initiation
     TRISB = 0xF0;
     PORTB = 0;
     OPTION_REG = 0; //Activation of the pull-up resistors.
     while(1)//Infinite Loop.
     {
          //While loop to rotate in clockwise
          //through pin  RB6
          while( Button( &PORTB, 6, 100, 0) )
          {
              PORTB = STEPS[STEP];
              STEP++;
              if( STEP==4 )STEP=0;
          }
          //While loop to rotate in a counterclockwise
          //through pin RB7
          while( Button( &PORTB, 7, 100, 0) )
          {
              PORTB = STEPS[STEP];
              STEP--;
              if( STEP==255 )STEP=3;
          }
     }
}

//Constants with the sequence of steps.
const unsigned short STEPS[4] =
{
    0b00000011,
    0b00000110,
    0b00001100,
    0b00001001
};

//Constants with sequence of steps.
const unsigned short STEPS[4] =
{
	0b00000101,
	0b00001001,
	0b00001010,
	0b00000110
};

 //Constants with the sequence of steps.
const unsigned short STEPS[4] =
{
0b00000101,
0b00001001,
0b00001010,
0b00000110
};

void main( void )
{
     //Declaration of variables.
     unsigned short STEP=0;
     //Port  initiation
     TRISB = 0xF0;
     PORTB = 0;
     OPTION_REG = 0; //Activation of the pull-up resistors.
     while(1)//Infinite Loop.
     {
          //While loop to rotate in clockwise
          //through pin  RB6
          while( Button( &PORTB, 6, 100, 0) )
          {
              PORTB = STEPS[STEP];
              STEP++;
              if( STEP==4 )STEP=0;
          }
          //While loop to rotate in a counterclockwise
          //through pin RB7
          while( Button( &PORTB, 7, 100, 0) )
          {
              PORTB = STEPS[STEP];
              STEP--;
              if( STEP==255 )STEP=3;
          }
     }
}

void main() {  
int i=0;  
TRISB=0x00;  
delay_ms(1000);
  
while(1){  
/////// rotate to 0 degree  
for(i=0;i<50;i++){  
PORTB.F0=1; 
delay_us(900);  //ON Time 
PORTB.F0=0;  
delay_us(19100); //OFF Time 
}
  
delay_ms(4000);  //delay for 4 sec
  
/////// rotate to 45 degree  
for(i=0;i<50;i++)  
PORTB.F0=1;  
delay_us(1250);  
PORTB.F0=0;  
delay_us(18750);  
} 
 
delay_ms(4000);
  
/////// rotate to 90 degree  
for(i=0;i<50;i++){  
PORTB.F0=1;  
delay_us(1500);  
PORTB.F0=0;  
delay_us(18500);  
}
  
delay_ms(4000);  //delay for 4 sec 
 
/////// rotate to 1350 degree  
for(i=0;i<50;i++)  
{  
PORTB.F0=1;  
delay_us(1750);  
PORTB.F0=0;  
delay_us(18250);  
}
  
delay_ms(4000);  //delay for 4 sec  

/////// rotate to 180 degree  
for(i=0;i<50;i++)  
{  
PORTB.F0=1;  
delay_us(2000);  
PORTB.F0=0;  
delay_us(18000);  
}
  
delay_ms(4000);  //delay for 4 sec 
 
}  
}

   
/*
 Pic Micro Servo Motor Control
 PIC16F628A * Ext 4.00 MHz Crystal Osc.
*/
sbit SW1 at RB0_bit;
sbit Control at RB1_bit;

unsigned short i=7, delay;

void interrupt() {
  delay = i*10;  // min 7*10*10 = 700us
  Control = 1;
  Delay_Cyc(delay);  // Generates delay equal to 10*delay clock cycles
  Control = 0;
  TMR0 = 180;        // TMR0 returns to its initial value
  INTCON.T0IF = 0;   // Bit T0IF is cleared so that the interrupt could reoccur
}

void main() {
 CMCON = 0x07;    // Disable Comparators
 TRISB = 0b00000001;
 PORTB = 0;
 OPTION_REG = 0x07; // Prescaler (1:256) is assigned to the timer TMR0
 TMR0 = 180;        // Timer T0 counts from 180 to 255 to create ~20 ms period
 INTCON = 0xA0;     // Enable interrupt TMR0 and Global Interrupts

 do{
  if(!SW1){         // Change pulse width when Switch is pressed
   Delay_ms(300);
   i = i+2;
   if(i>24) i=7; // max 24 *10 *10 = 2400us
  }
 }  while(1);
}