2. Electrical Overview HC08 Motor Controller Motor Controller Motor Controller

3. Software Overview Depth Control depth equal to 30? Ascend Start Surface Water Present in hull? No Yes No depth Greater than 30? descend Yes No Yes SET_DEPTH: SEI ; LDAA M1_CTRL BPL SD_M1_DIVE ; BCLR PORTT,%00000001 NEGA ; BRA SD_M1_CONT SD_M1_DIVE: BSET PORTT,%00000001 SD_M1_CONT: TSTA ; BNE SD_M1_SETSPEED INCA SD_M1_SETSPEED: LDAB #PWM_STEP ; MUL STD M1_PWM_DCYCLE ; ; --- LDAA M2_CTRL BPL SD_M2_FORW ;must be negative BSET PORTT,%00000100 ;( NEGA BRA SD_M2_CONT SD_M2_FORW: BCLR PORTT,%00000100 ;( SD_M2_CONT: TSTA BNE SD_M2_SETSPEED INCA SD_M2_SETSPEED: LDAB #PWM_STEP MUL STD M2_PWM_DCYCLE CLI ;