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line is the actual speed error, whereas the darker line is the Delta_PWM, or change in speed control PWM duty cycle. The changes in the speed control PWM duty cycle are in 0.5 percent duty cycle increments because the total PWM range is 0 to 199. For this application, this error rate is quite acceptable. You may nd that for your own applications, this error rate is either too stringent or too loose. One of the biggest advantages to using fuzzyTECH is that the output s performance can be seen graphically and in real time.
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The next step in the process was to compile the fuzzy logic system and put the code into the application. I did this to see how well the fuzzy rules would perform in a standalone system and how accurate Microchip s statement that the PIC18 was source-codecompatible with the PIC16Cxx (mid-range) devices for which the tool was designed. I compiled the application and attempted to include it into the fuzzy2 source. Fuzzy2ASM can be found in the code/fuzzy folder. After attempting to get the combined source code to assemble without any errors, I gave up with over 200 errors and over 100 warnings left to resolve (and probably many more as I worked through the application). If you look at the fuzzy2ASM source code, you will see that the code works like mid-range source code except for three differences. The rst is that I didn t have to worry about register banks for the hardware interface registers. I also kept all the le register variables in the rst 128 addresses, which meant that the BSR register never had to be accessed in the application. The second point to notice is the lack of goto instructions. Instead, I used the branch always (BRA) because this takes up just one instruction word. It can access all the instructions in the applications easily. The third change was to replace branches on status ag conditions to branch instructions. An example you ll see in the source code is replacing
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I found myself often going to the two-instruction format (out of habit), but it was easy to go back and put in the conditional branch statements before I was ready to build the code. This is something that you will have to watch (as well as avoid the goto instruction in the PIC18).
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RESOURCES
Microchip
Microchip s corporate headquarters is Microchip Technology, Inc. 2355 W. Chandler Blvd. Chandler, AZ 85224 Phone: (480) 786-7200 Fax: (480) 917-4150 The company s website is www.microchip.com and contains a complete set of data sheets in .pdf format for download, as well as the latest versions of the MPLAB IDE. Look for the World Wide Sales and Distribution page on the website for technical information for your region.
REFERENCE INFORMATION AND TOOLS
As I indicated above, the Microchip website has a wealth of information on PIC microcontroller products, application notes, and articles that can be downloaded free of charge. Also on the website is a link to http://buy.microchip.com which is Microchip s online ordering system known as Microchip Direct. From this website, you will be able to download the MPLAB IDE and datasheets and order
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APPENDIX A
sample parts (which does have some restrictions). For buying actual PIC microcontroller parts, you will have to contact one of the distributors listed below. Microchip used to put on a series of seminars throughout the world every year; more recently, the company has created the yearly Microchip Masters seminar event in Chandler, Arizona, in which you can get product introductions and tutorials and the chance to meet other developers. I highly recommend going to this event because it is an excellent way to learn more about PIC microcontrollers, meet the eld application engineers (FAEs), and nd out what is new in the PIC MCU world.
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