Chief Delphi - Programing delays in MPLAB

There is no single function through MPLAB, but there are several ways to accomplish what you want. The simplest is to just use a count of the slow radio packet loops as an approximation of time.
Here's an example.

Code:

#define HOW_LONG 38                //38 = 1 second, e.g., 76 = 2 seconds

static int counter=0;

 

if (counter < HOW_LONG)

{

    counter++;

    // Drive at half speed

    pwm01 = 127 - 60;

    pwm02 = 127 + 60;

}

else

{

    // Stop driving

    pwm01 = 127;

    pwm02 = 127;

}

Another method is to setup an internal clock, but that's more complex.
There's a white paper on understanding timers here: http://www.ifirobotics.com/docs/time...004-jan-14.pdf