Cascading two PICs together

[mister_e]

interesting point. But let's assume 1KHZ a frequency. a cycle should be 1mS right?

HPWM 1,127,1000
pause 1 ' one cycle
pause 1 ' two cylce
pause 1 ' three cycle
CCP1CON=0 stop PWM

rought and nasty example. Now you have to implement your tests during those cycles.. mmm

HPWM 1,127,1000  ' Start Motor1
Hpwm 2,127,1000  ' Start Motor2
For Msec=0 to 300
    PauseUS 10  ' 10uSec * 300 = 3mSec = 3 Cycles
    If SensorX=Something then Doplahplah
    If sensorY=Somethingelse then DoAnotherPlahPlah
    next

But there's some other way to use only High/LOW on specific Motor pins then using Pause/Pauseus (or loop of) to do the same thing and do your test within a loop.

For Msec=0 to ((Cycle*100)*2)
    Toggle Motor1
    Toggle Motor2
    PauseUS 5
    If sensor...
    If sensor...
    next

This will create a 50% duty cycle 'PWM' of a XCycle

Should be something to play 'round.

Now, if it was me, i would use HPWM to generate both signal to the motor, then use 2 sensor to monitor the revolution of the wheel using interrupts or internal counter. It add flexibility and also if a motor is burn or else, you'll be able to know it.