PMDC SERVO MOTOR WITH quadrature encoder DRIVE ?

[phoenix_1]

My first step to make led blink and probe with these code:

define osc 20

    ADCON1 = 7
    led1 var porta.0
    led2 var porta.1
    high led1
    low led2
    pause 1000
    loop:
    toggle led1
    pause 500
    toggle led2
    pause 500
    goto loop

And led wor blink...
Now we will learn other fuses and options on 18F4431..
But I still mean we must be WIZARD to get all we need..
There is 400 pages of datasheet.
All what I want to make is UHU type of PMDC control to interface it to MACH3 software for CNC.
Idea come from original UHU controller from Uli Hubert from Germany.
He use ATTINY2313 and make full stf WOW.
Can you image these :
He put in that little chip quadrature encoder full measure of his speed , direction and velocity reading ,
capture coming pulse from PC wich is from 1-5 uS, PID control , RS232 terminal , 20KHz PWM , current measure , and motor control ...ETC.
Then with 18F4431 must be much easy to do that.
His UHU controller is maybe the best in world and I was test it like finished module on my friend CNC wich work 2 years without error 10h/day .

Regards Robert