EE-444​ ​Fall​ ​2017

PWM​ ​Control​ ​With​ ​C++

Timer/Counter​ ​and​ ​PWM
This​ ​article​ ​is​ ​the​ ​second​ ​of​ ​a​ ​two​ ​part​ ​series​ ​on​ ​the​ ​AdaFruit​ ​Motor​ ​Shield.​ ​The​ ​first​ ​article
focused​ ​on​ ​a​ ​Software​ ​implementation​ ​of​ ​the​ ​Serial​ ​Peripheral​ ​Interface​ ​(SPI).​ ​This​ ​second
article​ ​in​ ​the​ ​series​ ​covers​ ​Fast​ ​Pulse​ ​Width​ ​Modulation.

The​ ​AVR​ ​Microcontroller​ ​and​ ​Embedded​ ​Systems​ ​using​ ​Assembly​ ​and​ ​C)
by​ ​Muhammad​ ​Ali​ ​Mazidi,​ ​Sarmad​ ​Naimi,​ ​and​ ​Sepehr​ ​Naimi
Chapter​ ​5:​ ​Arithmetic,​ ​Logic​ ​Instructions,​ ​and​ ​Programs
Section​ ​5.4:​ ​Rotate​ ​and​ ​Shift​ ​Instructions​ ​and​ ​Data​ ​Serialization
Chapter​ ​7:​ ​AVR​ ​Programming​ ​in​ ​C
Section​ ​7.5​ ​Data​ ​Serialization​ ​in​ ​C
Chapter​ ​11:​ ​AVR​ ​Serial​ ​Port​ ​Programming​ ​in​ ​Assembly​ ​and​ ​C
Section​ ​17.1​ ​SPI​ ​Bus​ ​Protocol

ATMEL​ ​8-bit​ ​AVR​ ​Microcontroller​ ​with​ ​4/8/16/32K​ ​Bytes​ ​In-System​ ​Programmable​ ​Flash
http://www.atmel.com/dyn/resources/prod_documents/doc8161.pdfasd​​ ​Chapter​ ​14​ ​“16-bit

1 Thomas​ ​Forman
 EE-444​ ​Fall​ ​2017

Timer/Counter​ ​1​ ​with​ ​PWM”

Table​ ​of​ ​Contents

References
Speed​ ​Control​ ​or​ ​Fast​ ​PWM
Using​ ​the​ ​Motor​ ​Shield
Power
Program
Acknowledgment

References
1. ATMEL​ ​8-bit​ ​AVR​ ​Microcontroller​ ​with​ ​4/8/16/32K​ ​Bytes​ ​In-System​ ​Programmable​ ​Flash
http://www.atmel.com/dyn/resources/prod_documents/doc8161.pdfasd​​ ​Chapter​ ​18​ ​“SPI​ ​-
Serial​ ​Peripheral​ ​Interface”
2. ATmega328P​ ​Serial​ ​Communications​ ​(located​ ​in​ ​the​​ ​EE346​ ​Lectures​​ ​folder)
3. ATmega32U4​ ​Datasheet​ ​(​Link​ ​HERE​)
4. TB6612FNG​ ​Datasheet

Prerequisite
It​ ​is​ ​assumed​ ​that​ ​students​ ​can​ ​configure​ ​GPIO​ ​on​ ​their​ ​own​ ​by​ ​reading​ ​data​ ​sheet​ ​information,
and​ ​an​ ​understanding​ ​of​ ​setting​ ​Pins​ ​as​ ​inputs​ ​and​ ​outputs​ ​is​ ​needed.
It​ ​is​ ​also​ ​assumed​ ​they​ ​have​ ​been​ ​exposed​ ​to​ ​basic​ ​C++​ ​flow​ ​control​ ​methods/​ ​functions​ ​for​ ​the
examples​ ​at​ ​the​ ​end.

Speed​ ​Control​ ​or​ ​Fast​ ​PWM

The​ ​speed​ ​of​ ​the​ ​DC​ ​motors​ ​is​ ​controlled​ ​using​​ ​pulse-width-modulation​​ ​(PWM).​ ​ ​ ​The​ ​idea​ ​of
PWM​ ​is​ ​to​ ​control​ ​the​ ​power​ ​to​ ​a​ ​motor​ ​using​ ​a​ ​high-frequency​ ​square​ ​wave.​ ​ ​When​ ​the​ ​square
wave​ ​signal​ ​is​ ​high​ ​the​ ​motor​ ​is​ ​powered​ ​ON,​ ​and​ ​when​ ​the​ ​signal​ ​is​ ​low​ ​the​ ​power​ ​is​ ​turned
OFF.​ ​ ​ ​The​ ​speed​ ​of​ ​the​ ​motor​ ​is​ ​controlled​ ​by​ ​the​ ​fraction​ ​of​ ​time​ ​the​ ​controlling​ ​signal​ ​is​ ​ON
(duty​ ​cycle​ ​=​ ​Th/Tp​ ​%,​ ​where​ ​Th​ ​=​ ​time​ ​high​ ​and​ ​Tp​ ​=​ ​clock​ ​period).​ ​ ​The​ ​Arduino​ ​can​​ ​generate
square​ ​waves​ ​for​ ​PWM​​ ​on​ ​digital​ ​pins​ ​3,​ ​5,​ ​6,​ ​9,​ ​10,​ ​11.

2 Thomas​ ​Forman
 EE-444​ ​Fall​ ​2017

Before​ ​diving​ ​into​ ​the​ ​code​ ​let’s​ ​examine​ ​our​ ​Pin​ ​allocation.​ ​We​ ​will​ ​be​ ​using​ ​the​ ​3Dot​ ​for
reference​ ​which​ ​uses​ ​the​ ​TB6612FNG​ ​dual​ ​motor​ ​driver.​ ​The​ ​image​ ​from​ ​the​ ​block​ ​diagram
shows​ ​that​ ​we​ ​have​ ​configured​ ​2​ ​motors​ ​where​ ​each​ ​motor​ ​has​ ​3​ ​control​ ​pins​ ​and​ ​a​ ​standby
(STBY)​ ​pin​ ​for​ ​the​ ​entire​ ​IC.​ ​If​ ​STBY​ ​is​ ​set​ ​low​ ​then​ ​the​ ​motors​ ​are​ ​not​ ​powered​ ​regardless​ ​of
the​ ​state​ ​of​ ​the​ ​other​ ​two​ ​pins.​ ​The​ ​pins​ ​attached​ ​to​ ​AIN1/2​ ​and​ ​BIN1/2​ ​are​ ​digital​ ​outputs​ ​that
control​ ​the​ ​rotation​ ​of​ ​the​ ​motor.​ ​The​ ​PWM​ ​inputs​ ​clearly​ ​must​ ​connect​ ​to​ ​a​ ​pin​ ​capable​ ​of​ ​a
PWM​ ​output​ ​to​ ​control​ ​the​ ​speed​ ​of​ ​the​ ​motor.

While​ ​the​ ​wiring​ ​is​ ​easy​ ​to​ ​understand,​ ​the​ ​code​ ​requires​ ​some​ ​explanation.​ ​It​ ​directly​ ​accesses
internal​ ​registers​ ​of​ ​the​ ​ATmega​ ​processor.​ ​The​ ​datasheet​ ​provides​ ​the​ ​information​ ​we​ ​need,​ ​so
let's​ ​dive​ ​in.

The​ ​ATmega32U4​ ​processor​ ​has​ ​4​ ​timer/counter​ ​(TC)​ ​modules​ ​that​ ​can​ ​be​ ​used​ ​to​ ​generate​ ​a
PWM​ ​signal.​ ​They​ ​are​ ​numbered​ ​0,​ ​1,​ ​3,​ ​and​ ​4.​ ​I​ ​will​ ​use​ ​TCx​ ​convention​ ​from​ ​now​ ​on.​ ​Looking
at​ ​the​ ​block​ ​diagram​ ​again​ ​we​ ​see​ ​the​ ​PWMA​ ​and​ ​PWMB​ ​are​ ​associated​ ​with​ ​OC4D​ ​and​ ​OC4B
respectively.​ ​OC4X​ ​denotes​ ​an​ ​output​ ​compare​ ​with​ ​TC4.​ ​The​ ​32U4​ ​has​ ​a​ ​more​ ​extensive​ ​timer
system​ ​than​ ​the​ ​328p​ ​and​ ​this​ ​timer​ ​(TC4)​ ​has​ ​3​ ​OCRs​ ​attached​ ​to​ ​it.​ ​Conveniently​ ​for​ ​us,​ ​both
of​ ​these​ ​utilize​ ​the​ ​same​ ​timer​ ​making​ ​configuration​ ​a​ ​little​ ​more​ ​straightforward.

The​ ​TC​ ​modules​ ​can​ ​be​ ​configured​ ​in​ ​various​ ​operating​ ​modes.​ ​We​ ​will​ ​investigate​ ​the
"Fast​ ​PWM",​ ​for​ ​our​ ​purposes.​ ​In​ ​“Fast​ ​PWM”​ ​the​ ​output​ ​pin​ ​is​ ​set​ ​high​ ​(1)​ ​each​ ​time​ ​the
counter​ ​transitions​ ​from​ ​the​ ​MAX​ ​value​ ​to​ ​BOTTOM​ ​value​ ​of​ ​the​ ​TCx.​ ​The​ ​line​ ​is​ ​then​ ​set​ ​low
(0)​ ​when​ ​the​ ​counter​ ​reaches​ ​the​ ​described​ ​comparison​ ​value,​ ​this​ ​generates​ ​the​ ​PWM​ ​and
therefore​ ​acts​ ​as​ ​the​ ​speed​ ​setting.

3 Thomas​ ​Forman
 EE-444​ ​Fall​ ​2017

Take​ ​note​ ​though​ ​that​ ​TC4​ ​in​ ​this​ ​microcontroller​ ​is​ ​actually​ ​a​ ​10-bit​ ​timer.​ ​Meaning,​ ​if​ ​desired,​ ​a
1024​ ​bit​ ​resolution​ ​could​ ​be​ ​achieved​ ​for​ ​more​ ​refined​ ​motor​ ​control.​ ​The​ ​OCRx​ ​however,​ ​is
only​ ​8-bits​ ​long​ ​and​ ​will​ ​only​ ​compare​ ​to​ ​the​ ​low​ ​8-bits​ ​of​ ​the​ ​timer​ ​giving​ ​an​ ​easy​ ​256​ ​bit
resolution​ ​which​ ​is​ ​consistent​ ​with​ ​arduino​ ​implementation.​ ​This​ ​means​ ​we​ ​can​ ​safely​ ​ignore​ ​the
high​ ​2​ ​-bits​ ​of​ ​the​ ​timer​ ​as​ ​far​ ​as​ ​PWM​ ​generation​ ​is​ ​concerned.

Read​ ​page​ ​160​ ​of​ ​the​ ​data​ ​sheet​ ​for​ ​more​ ​informations​ ​on​ ​using​ ​the​ ​timer​ ​in​ ​10-bit.

The​ ​TC4​ ​is​ ​a​ ​monster!​ ​It​ ​has​ ​5​ ​configuration​ ​registers​ ​attached​ ​to​ ​it.

For​ ​any​ ​PWM​ ​you​ ​need:

1. Enable​ ​Fast​ ​PWM​ ​Mode

2. An​ ​appropriate​ ​timer​ ​frequency​ ​and...
3. OCR​ ​configuration

Only​ ​the​ ​bits​ ​required​ ​for​ ​Fast​ ​PWM​ ​will​ ​be​ ​covered,​ ​many​ ​configuration​ ​bits​ ​will​ ​be​ ​skipped
over​ ​to​ ​keep​ ​the​ ​lecture​ ​consistent​ ​and​ ​digestible.

Enable​ ​PWM:

To​ ​enable​ ​PWM​ ​we​ ​will​ ​use​ ​Table​ ​15-18:

We​ ​need​ ​to​ ​set​ ​the​ ​bits​ ​to​ ​match​ ​row​ ​#2.

PWM4x​ ​means​ ​we​ ​have​ ​to​ ​find​ ​a​ ​unique​ ​configuration​ ​bit​ ​for​ ​OC4D,​ ​and​ ​OC4D.​ ​The
WGM41:WGM0​ ​pair​ ​is​ ​for​ ​all​ ​of​ ​TC4.

4 Thomas​ ​Forman
 EE-444​ ​Fall​ ​2017

WGM​ ​Bits​ ​are​ ​in​ ​TCCR4D:

PWM​ ​B​ ​and​ ​D​ ​bits​ ​are​ ​found​ ​in​ ​TCCR4A​ ​and​ ​TCCR4C​ ​respectively.

We​ ​will​ ​come​ ​back​ ​to​ ​these​ ​registers​ ​later​ ​for​ ​additional​ ​configuration.

NOTE:​​ ​Upon​ ​further​ ​reading​ ​the​ ​arduino​ ​defaults​ ​to​ ​a​ ​125kHz-​ ​Phase​ ​correct​ ​mode​ ​at​ ​startup.
WGM1:0​ ​=​ ​0:1.​ ​ ​Normally​ ​this​ ​level​ ​of​ ​detail​ ​is​ ​not​ ​needed​ ​because​ ​the​ ​embedded​ ​arduino
startup​ ​function​ ​“init()”​ ​found​ ​in​ ​“wiring.c”​ ​will​ ​initialize​ ​all​ ​the​ ​prescalers​ ​for​ ​you.​ ​This​ ​discussion
is​ ​provided​ ​to​ ​enable​ ​you​ ​to​ ​build​ ​PWM​ ​systems​ ​on​ ​your​ ​own​ ​without​ ​arduino​ ​at​ ​all​ ​in​ ​the​ ​future.

Frequency:

The​ ​arduino​ ​functions​ ​hide​ ​this​ ​from​ ​us,​ ​but​ ​the​ ​PWM​ ​signal​ ​we​ ​can​ ​use​ ​is​ ​limited​ ​by​ ​the​ ​motor
driver.​ ​Look​ ​at​ ​the​ ​TB3312FNG​ ​datasheet,​ ​from​ ​page​ ​3​ ​on​ ​the​ ​table​ ​“​ ​Operating​ ​Ranges.”

5 Thomas​ ​Forman
 EE-444​ ​Fall​ ​2017

The​ ​PWM​ ​frequency​ ​is​ ​limited​ ​to​ ​less​ ​than​ ​100​ ​kHz.​ ​Since​ ​we​ ​have​ ​an​ ​8Mhz​ ​FIO​
​ ​ ​we​ ​can
determine​ ​the​ ​prescaler​ ​needed​ ​to​ ​be​ ​within​ ​those​ ​limits.

8M
.1M = 80
This​ ​shows​ ​we​ ​need​ ​a​ ​minimum​ ​prescaler​ ​of​ ​80,​ ​the​ ​closest​ ​power​ ​of​ ​2​ ​to​ ​that​ ​is​ ​2^(7)​ ​or​ ​128.
This​ ​configuration​ ​is​ ​found​ ​in​ ​TCCR4B.

Looking​ ​at​ ​table​ ​15-14:

6 Thomas​ ​Forman
 EE-444​ ​Fall​ ​2017

We​ ​will​ ​desire​ ​CS43-CS40​ ​bit​ ​values​ ​of​ ​0b1000​ ​to​ ​set​ ​our​ ​128​ ​prescaler.

Be​ ​aware​ ​that​ ​if​ ​power​ ​is​ ​a​ ​big​ ​consideration​ ​that​ ​the​ ​timer​ ​is​ ​disabled​​ ​until​ ​the​ ​prescaler​ ​is​ ​set.
Leaving​ ​the​ ​prescaler​ ​off​ ​as​ ​late​ ​as​ ​possible​ ​can​ ​save​ ​some​ ​power.​ ​In​ ​addition​ ​note​ ​that​ ​if
building​ ​a​ ​project​ ​in​ ​the​ ​arduino​ ​environment​ ​that​ ​all​​ ​the​ ​timers​ ​are​ ​operating​ ​by​ ​default.

OCR​ ​Configuration

The​ ​comparison​ ​registers​ ​are​ ​identified​ ​as​ ​OCR4D​ ​and​ ​OCR4B.​ ​The​ ​OCR​ ​configuration
bits​ ​will​ ​gives​ ​us​ ​control​ ​over​ ​how​ ​we​ ​want​ ​the​ ​pin​ ​to​ ​change​ ​when​ ​the​ ​timer​ ​hits​ ​the​ ​provided
compare​ ​value.

We​ ​will​ ​need​ ​TCCR4A​ ​and​ ​TCCR4C​ ​again​ ​for​ ​these​ ​bits.

The​ ​COMnX​ ​(n​ ​is​ ​a​ ​letter,​ ​x​ ​is​ ​a​ ​bit​ ​number)​ ​bits​ ​do​ ​different​ ​things​ ​for​ ​different​ ​PWM​ ​modes.
We​ ​will​ ​be​ ​looking​ ​at​ ​the​ ​Fast​ ​PWM​ ​table.

7 Thomas​ ​Forman
 EE-444​ ​Fall​ ​2017

This​ ​table​ ​/​ ​description​ ​is​ ​for​ ​COMAx​ ​but​ ​it​ ​the​ ​same​ ​for​ ​COMDx​ ​and​ ​COMBx​ ​in​ ​Fast​ ​PWM.

The​ ​“notted”​ ​pins​ ​do​ ​exactly​ ​what​ ​it​ ​says.​ ​If​ ​OC4B​ ​is​ ​set,​ ​then​ ​OC4B​ ​not​ ​pin​ ​is​ ​the​ ​opposite.​ ​We
will​ ​not​ ​be​ ​using​ ​them​ ​as​ ​they​ ​reside​ ​on​ ​separate​ ​pins​ ​that​ ​are​ ​not​ ​used​ ​for​ ​our​ ​motors​ ​PWM.
For​ ​example,​ ​!OC4D​ ​is​ ​on​ ​Pin​ ​PD6.

The​ ​description​ ​also​ ​says​ ​that​ ​for​ ​the​ ​PWM​ ​to​ ​work​ ​we​ ​need​ ​to​ ​set​ ​DDRD​ ​of​ ​the​ ​ports​ ​as
outputs.​ ​So​ ​we​ ​will​ ​be​ ​enable​ ​DDRD​ ​-​ ​PD7​ ​and​ ​DDRB​ ​-​ ​PB6​ ​from​ ​looking​ ​at​ ​the​ ​block​ ​diagram.

Our​ ​configuration​ ​for​ ​the​ ​motors​ ​will​ ​use​ ​COM4X1..0​ ​=​ ​0b10.

The​ ​last​ ​part​ ​of​ ​the​ ​configuration​ ​is​ ​setting​ ​the​ ​OCR​ ​threshold​ ​which​ ​will​ ​generate​ ​the​ ​PWM
signal.​ ​We​ ​will​ ​be​ ​working​ ​from​ ​OCR4D​ ​and​ ​OCR4B​ ​located​ ​here:

8 Thomas​ ​Forman
 EE-444​ ​Fall​ ​2017

Write​ ​directly​ ​to​ ​these​ ​registers​ ​to​ ​augment​ ​your​ ​PWM​ ​duty​ ​cycle.

9 Thomas​ ​Forman
 EE-444​ ​Fall​ ​2017

Example​ ​Outline:
Handling​ ​PWM​ ​in​ ​C++​ ​will​ ​be​ ​divided​ ​into​ ​two​ ​functions(or​ ​sections).
1. Configure​ ​the​ ​timer​ ​and​ ​OCR
2. Set​ ​OCR​ ​value​ ​as​ ​needed​ ​to​ ​change​ ​PWM

void​ ​RobotPWM(){
//​ ​Configure​ ​Timer4​ ​for​ ​PWMs
//​ ​Motor​ ​A​ ​on​ ​PD7​ ​(OC4D)
//​ ​Motor​ ​B​ ​on​ ​PB6​ ​(​ ​OC4B)
//​ ​Ignore​ ​10-bit​ ​mode​ ​for​ ​ease​ ​of​ ​use

//Need​ ​to​ ​configure​ ​Timer4​ ​for​ ​fast​ ​PWM

//​ ​PWM4D​ ​and​ ​PWM4B​ ​set​ ​with​ ​WGM4​ ​1:0​ ​=​ ​0b00
//Setting​ ​WGM​ ​=​ ​00
TCCR4D​ ​&=​ ​~(_BV(WGM41)​ ​|​ ​_BV(WGM40));
//​ ​Set​ ​PD7​ ​and​ ​PB6​ ​as​ ​outputs
//​ ​I​ ​have​ ​also​ ​added​ ​digital​ ​pins​ ​since​ ​they​ ​are​ ​part​ ​of​ ​the​ ​same
system
//​ ​If​ ​i​ ​want​ ​the​ ​PWM​ ​then​ ​I​ ​want​ ​the​ ​digitals​ ​also

//MOTOR​ ​PINS
//Motor​ ​A​ ​PD6,4,7
DDRD​ ​|=​ ​ ​_BV(PD7)​ ​|​ ​_BV(PD6)​ ​|​ _
​ BV(PD4);​ ​ ​//​ ​0xD0
//​ ​Default​ ​to​ ​Low​ ​output
PORTD​ ​&=​ ​~(_BV(PD7)​ ​|​ ​_BV(PD6)​ | ​ ​ ​_BV(PD4));

//Motor​ ​B​ P ​ B5,6​ ​and​ ​ ​and​ ​STBY​ ​=​ ​PB4

DDRB​ ​ ​|=​ ​ ​ ​ ​_BV(PB6)​ ​|​ ​_BV(PB5)​ ​|​ ​_BV(PD4)​ ​;​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​//0x70
PORTB​ ​&=​ ​ ​ ​ ​~(_BV(PB6)​ ​|​ ​_BV(PB5​ ​|​ ​_BV(PD4)));

//And​ f​ or​ m ​ otor​ ​B​ ​PC6​ ​BIN2

DDRC​ ​ |​ =​ ​ ​ ​ ​_BV(PB6)​ ​;​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​//0x40
PORTC​ & ​ =​ ​ ​ ​ ​~(_BV(PB6));

//Setting​ ​PWM4B​ ​and​ ​COMB

TCCR4A​ ​|=​ ​(_BV(COM4B1)|​ ​_BV(PWM4B));
TCCR4A​ ​&=​ ​~(_BV(COM4B1));
//Setting​ ​PWM4D​ ​and​ ​COMD

10 Thomas​ ​Forman
 EE-444​ ​Fall​ ​2017

​ =​ (
TCCR4C​ | ​ _BV(COM4D1)|​ ​_BV(PWM4D));
TCCR4A​ &​ =​ ~​ (_BV(COM4D0));

//SetPrescaler​ ​-​ ​turn​ ​on​ ​timer

//Assumes​ ​*Mhz​ ​external​ ​with​ ​defult​ f ​ uses​ ​(making​ ​Fio​ ​=​ ​1Mhz)
//TB66612FNG​ ​says​ ​wants​ ​PWM​ ​Freq​ ​<=​ 1​ 00k
//​ ​Fio​ ​=​ ​8Mhz
//​ ​8M​ ​/​ ​128​ ​=​ ​62.5kHz

//CS4​ ​4:0​ ​=​ ​0b1000;

TCCR4B​ ​|=​ ​_BV(CS43);
TCCR4B​ ​&=​ ​~(_BV(CS42)|​ ​_BV(CS41)|_BV(CS40));​ ​//​ ​Clear​ ​prior​ ​settings
from​ ​arduino.
}

With​ ​the​ ​configuration​ ​ready​ ​we​ ​can​ ​make​ ​a​ ​function​ ​to​ ​set​ ​our​ ​PWM​ ​by​ ​change​ ​the​ ​OCR
threshold.

void​ ​setPWM(char​ ​Pin,​ ​uint8_t​ ​val){

​ ​ ​ ​ ​//​ ​Only​ ​using​ ​8-bit​ ​mode​ ​so​ ​value​ ​is​ ​from​ ​0-255​ ​as​ ​normal.
​ ​ ​ ​ ​//​ ​This​ ​assumes​ ​proper​ ​values​ ​passed,​ ​if​ ​block​ ​should​ ​protect
from​ ​bad​ ​inputs
​ ​ ​ ​ ​//if​ ​(Pin​ ​==​ ​'A'|​ ​Pin​ ​==​ ​'B')​ ​(Pin​ ​==​ ​'A'​ ​)​ ​?​ ​(OCR4D​ ​=​ ​val)​ ​:
(OCR4B​ ​=​ ​val)​ ​;
​ ​ ​ ​ ​//​ ​looking​ ​at​ ​more​ ​stuff​ ​this​ ​ternary​ ​probably​ ​won’t​ ​work​ ​):

//​ ​wanted​ ​something​ ​more​ ​elegant​ ​that​ ​ ​switch,​ ​but​ ​it​ ​works.
//​ ​would​ ​have​ ​to​ ​make​ ​own​ ​methods​ ​like​ ​arduino​ ​has​ ​it​ ​set​ ​up​ ​to​ ​be
really​ ​clean.
​ ​ ​switch​ ​(Pin){
​ ​ ​case​ ​'A': //​ ​Due​ ​to​ ​ASCII,​ ​this​ ​is​ ​case​ ​sensitive​,
change​ ​if​ ​you​ ​wish.
​ ​ ​ ​ ​OCR4D​ ​=​ ​val;
​ ​ ​ ​ ​break;

​ ​ c ​ ase​ ​'B':
​ ​ ​ ​ ​OCR4B​ ​=​ ​val;

​ ​ ​ ​ ​break;

default:

11 Thomas​ ​Forman
 EE-444​ ​Fall​ ​2017

​ ​ ​Serial.println("Invalid​ ​Motor​ ​Pin");

​ ​ b ​ reak;
​ ​ ​}
}

Additional​ ​Notes:
This​ ​is​ ​a​ ​great​ ​starter​ ​to​ ​understand​ ​building​ ​the​ ​PWM​ ​implementation​ ​from​ ​the​ ​ground​ ​up.
Ideally​ ​to​ ​avoid​ ​pin​ ​confusion(like​ ​with​ ​the​ ​Switch​ ​case)​ ​ ​I​ ​would​ ​make​ ​a​ ​Motor​ ​object​ ​where​ ​the
pin​ ​is​ ​specific​ ​to​ ​that​ ​motor.​ ​This​ ​would​ ​also​ ​help​ ​make​ ​the​ ​code​ ​more​ ​readable.

12 Thomas​ ​Forman