1. 輸出動作與輸入命令相同

2. 工作圖

3. //#include <stdio.h> //呼叫stdio(標準輸入輸出)指令巨集
//#define FCY
#include <p30F4011.h> //呼叫p30F3011(IC)指令巨集
#include <timer.h>
#include <math.h>
unsigned int icount=0;
double v1=0.0,v2=0.0,e_new=0.0,e_old=0.0,d_new=0.0,d_old=0.0,kp=1.0,ki=100.0;
_FWDT(WDT_OFF);
void PWM_Initial(void) {
PTPER = 1250; //PWM = (10MHz / (2000)) = 5 KHz
IEC2bits.PWMIE = 0; //Disable PWM Interrupt
PTCON = 0xA008; // 0b
PWMCON1 = 0x0777; // 0b
PDC1=0;
OVDCON= 0x0100; //設定輸出腳位
IPC9bits.PWMIP = 7; }

4. void Init_Timer1( void ){
T1CON = 0;
IFS0bits.T1IF = 0;
IPC0bits.T1IP = 7;
IEC0bits.T1IE = 1;
PR1 = 5000; // 20MHz/8/5000=500Hz 中斷為2ms
T1CONbits.TCS = 0;
T1CONbits.TCKPS=1; //TCKPS<1:0>: Timer Input Clock Prescale Select bits
//11 = 1:256 prescale value
//10 = 1:64 prescale value
//01 = 1:8 prescale value
//00 = 1:1 prescale value
T1CONbits.TON=1; }
void _ISR _ADCInterrupt(void)
IFS0bits.ADIF = 0 ; // 1 = Interrupt request has occurred
// 0 = Interrupt request has not occurred
while (!ADCON1bits.DONE ); // wait for end of conversion
// 1 = A/D conversion is done // 0 = A/D conversion
is NOT done
ADCON1bits.DONE = 0;

5. void ADC10_Initial(void){
ADPCFG = 0xfffc; // 0B
// 1 = Analog input pin in Digital mode
// 0 = Analog input pin in Analog mode
ADCON1 = 0x00EE; // 0b
ADCON2 = 0x043C; // 0b
ADCON3 = 0x1F3F; // 0b
ADCSSL = 0xFFFF; // no scan input selected
ADCHS = 0x0000 ;
IEC0bits.ADIE = 1 ; // Disable AD interrupt
// IPC2bits.ADIP = 7 ; // Set Priority to 7 >> highest !!
ADCON1bits.ADON = 1; // turn ADC ON }

6. void _ISR _T1Interrupt(void){
v1=ADCBUF0 & 0x3ff;
v2=ADCBUF1 & 0x3ff;
e_old=e_new;
d_old=d_new;
e_new=(v1-v2)*1.0;
d_new=d_old+kp*(e_new-e_old)+ki*0.001*e_new;
if(d_new>2500.0)
d_new=2500.0;
else if(d_new<0.0)
d_new=0.0;
PDC1=d_new;
IFS0bits.T1IF = 0; }
int main(void)
TRISB = 0x0003;
ADC10_Initial( );
Init_Timer1();
PWM_Initial();
while(1);

7. 作業
改變輸出或輸入的倍率