Hi All,

I am pleased to report that I now have the PID system operating with a timer/counter configuration (100Hz time base) AND a 4 x 20 serial LCD being driven via the 18F2431's EUSART and HSEROUT commands.
My original design only allowed single direction motor drive but the new design has the motor driven by a MOSFET H-Bridge allowing for forward and reverse direction.

Henrik, you suggested to limit the pid_Out result to allow only positive drive outcomes for my original design. Now that I have forward and reverse direction capability, should I re-introduce positive and negative pid_Out drive conditions or do you think switching the motor/H-Bridge between forward and reverse state will cause undue stress on the motor?

Cheers
Barry
VK2XBP