well... lets see... using ccp's on TMR3:
1. Period Clock for 'overclocked' PWM's (update @100Hz as opposed to IFI's
38Hz update.... a 263% improvement
)
2. %duty cycle up time (@16bits as opposed to IFI's 8) for left motors
(resolution increases x256
)
3. " " for right motors
TMR1:
1. In combination with INT2 on PORTB, timing pulses coming back from
ultrasonic transceiver to get distance in great 16bit accuracy (+/-0.05")
CCP's with programmable hardware triggers on compare matches... with the prescalar I'm using for the pwm timebase, getting accuracy of 0.0000002sec on pulse timing. Embedded peripherals make me happy!
For those of you who follow RALFF, I just finished v2 for 1024's 2007 robot. Have to say it was quite a bit more complicated than last years with the SDAR and all....
-q