Hello,

I found this snippet of code for a PID written in picbasic. I need some help understanding a few things....

1). What size are the variables? byte, word..?
2). I don't want to use the X2 board. I have a PWM port set up for PWM driving an H-bridge using portb.0 and portb.1 for forward/reverse directions using 16F877A. How would I change the code to reflect the internal PWM and portb direction bits?
3). What is going on with the LOOKUP bit of code? What is it trying to do?

I am running a small electronic motor off of AA batteries, I am creating a servo.

Best Regards,
Nick


PID-Control-Implementation-1.doc