Controlling multi servo motor with PIC16F716

In the previous example, I show a simple method to rotate the angle of a servo motor using delay() function in CCS PICC.

Controlling a servo motor with PIC16F84A

In this example I use three potentiometers to adjust the three corresponding servo motor simultaneously.

A simple pot can generate variable analog voltage output,
fed to the MCU analog input.

The overall process is to convert the 8-bit analog value reading from pot to PIC16F716. Then converting the 8-bit analog data to time value in microseconds.

The 8-bit data have 256 value. This 256 value map the 1000 microsecond high time.

The PIC16F716 CPU clocks at 20 Mhz, giving a precise timing for delay() function.
Three pots connect to RA0, RA1 and RA3.
Three servo output connect to RB0, RB1 and RB2.

Source code is written in CCS PICC, and could be download here:

#include<16F716.h>
#fuses HS
#use delay(clock=20M)

void main(){
   int32 adcResult_1;
   int32 adcResult_2;
   int32 adcResult_3;
   
   int32 _h_1=0,_l_1=0;
   int32 _h_2=0,_l_2=0;
   int32 _h_3=0,_l_3=0;
   
   output_B(0x00);
   set_tris_a(0xFF);
   set_tris_b(0x00);
   setup_adc(ADC_CLOCK_INTERNAL);
   setup_adc_ports(AN0_AN1_AN3);
   
   delay_ms(2000);
   
   while(1){
   //Servo 1
      set_adc_channel(0);
      adcResult_1=read_adc();
      while(!adc_done());
      
      _h_1=1000+((1000*adcResult_1)/255);
      _l_1=20000-_h_1;
          
      output_high(pin_b0);
      delay_us(_h_1);
      output_low(pin_b0);
      delay_us(_l_1);
      
      //Servo 2
      set_adc_channel(1);
      adcResult_2=read_adc();
      while(!adc_done());
      
      _h_2=1000+((1000*adcResult_2)/255);
      _l_2=20000-_h_2;
          
      output_high(pin_b1);
      delay_us(_h_2);
      output_low(pin_b1);
      delay_us(_l_2);
      
       //Servo 3
      set_adc_channel(3);
      adcResult_3=read_adc();
      while(!adc_done());
      
      _h_3=1000+((1000*adcResult_3)/255);
      _l_3=20000-_h_3;
          
      output_high(pin_b2);
      delay_us(_h_3);
      output_low(pin_b2);
      delay_us(_l_3);
   }
}