//////////////////////////////////////////////////////////////////////////////// 
///           Three Phase PWM Control for AC Induction Motor                 /// 
///                                 by                                       /// 
///                           Larry E Himes Jr                               /// 
///                            April 30, 2012                                /// 
///                                                                          /// 
///                  ECET 581 Applied Electronic Drives                      /// 
///                                                                          /// 
///          PIN A0 - AN0 is used for the Closed Loop Feedback               /// 
///          PIN A1 - AN1 is used for User Speed Control Input               /// 
///             PIN C3 - User Direction Control Switch Input                 /// 
///                                                                          /// 
///              Frequency Range Control from 20Hz to 120Hz                  /// 
///                                                                          /// 
///               Thirteen Samples per PWM Sine Wave Output                  /// 
///                                                                          /// 
//////////////////////////////////////////////////////////////////////////////// 

#include <18f4431.h> 
#device adc=10 
#fuses  INTRC_IO,NOWDT,NOPROTECT,NOMCLR 
#use delay(clock=8000000) 

void main() 
   { 
   int16 adc_val;                                   // ADC Variable 
   int16 period;                                    // PWM Time Period Variable 
   int16 feedbackI;                                 // Feedback Varaiable 
   int16 feedbackL;                                 // Feedback Variable 
   int16 adjust;                                    // Speed Adjust Variable 
   int16 speed;                                     // Speed Control Variable 
   int16 i;                                         // Counter Variable 
   int8  x;                                         // Soft Start Variable 

   //PPWM channels 0 and 1 are both on and always opposite values 
   setup_power_pwm_pins(PWM_COMPLEMENTARY,PWM_COMPLEMENTARY,PWM_COMPLEMENTARY, 
                        PWM_OFF); 

   // Continuously Sample ADC Channels 
   setup_adc_ports(ADC_CONT_A | ADC_WHEN_PPWM | VSS_VDD); 
   setup_adc(ADC_CLOCK_INTERNAL); 

   x=0;                                             // Initial Startup 

   while(TRUE) 
      { 
      set_adc_channel(1);                           // Select ADC Channel 1 
      adc_val = read_adc();                         // Read Current ADC Value 
      feedbackL=0;                                  // Clear ADC Variable 
      feedbackI=0;                                  // Clear ADC Variable 
      // Prepare Variables for Startup 
      if (x==0) 
         { 
         feedbackL=adc_val;                         // Initial Speed Setting 
         adc_val=0;                                 // Clear ADC Variable 
         } 
      // Ramp Up Speed in Forward Direction 
      while(adc_val<<feedbackL && x==0 && !input(PIN_C3)) 
         { 
         period = ( adc_val / 20 ) + 9;             // Set PR2 for Frequency 
         speed = 511 - ( ( 1023 - adc_val ) / 2 );  // Set User Specified Speed 
         adjust=0;                                  // Clear Adjust Variable 
         //add dead time for reactive loads 
         setup_power_pwm(PWM_CLOCK_DIV_128 | PWM_FREE_RUN,1,0,period,0,1,0); 
         // Phase Segment #1 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #2 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #3 
         set_power_pwm0_duty(adjust+43+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #4 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         // Phase Segment #5 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #6 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+43+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #7 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #8 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #9 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #10 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #11 
         set_power_pwm0_duty(adjust+43+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+43+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #12 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #13 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         x=1;                                       // Ramp Up Cycle Completed 
         adc_val=adc_val+3;                         // Increment ADC Value 
         } 
      i=0;                                          // Clear Counter Variable 
      feedbackL=0;                                  // Clear ADC Variable 
      // Rotate Motor in Forward Direction 
      while(!input(PIN_C3)) 
         { 
         // Read Initial ADC Values 
         set_adc_channel(0);                        // Select ADC Channel 0 
         feedbackI = read_adc();                    // Read Initial Feedback 
         set_adc_channel(1);                        // Select ADC Channel 1 
         adc_val = read_adc();                      // Read Current ADC Value 
         period = ( adc_val / 20 ) + 9;             // Set PR2 for Frequency 
         speed = 511 - ( ( 1023 - adc_val ) / 2 );  // Set User Specified Speed 
         //add dead time for reactive loads 
         setup_power_pwm(PWM_CLOCK_DIV_128 | PWM_FREE_RUN,1,0,period,0,1,0); 
         // Phase Segment #1 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #2 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #3 
         set_power_pwm0_duty(adjust+43+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #4 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         // Phase Segment #5 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #6 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+43+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #7 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #8 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #9 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+speed);         // Phase W PWM Duty Setting 
         // Phase Segment #10 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #11 
         set_power_pwm0_duty(adjust+43+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+43+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #12 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #13 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         i++;                                       // Increment Counter 
         if (i>>1799)                               // Check Counter 
            { 
            set_adc_channel(0);                     // Select ADC Channel 0 
            feedbackL = read_adc();                 // Read Feedback from ADC 
            adjust = feedbackI - feedbackL;         // Calculate Speed Adjust 
            i=0;                                    // Clear Counter Variable 
            } 
         } 
         i=0;                                       // Clear Counter Variable 
      // Ramp Down Motor Speed for Direction Change 
      while(adc_val>>0 && input(PIN_C3)) 
         { 
         period = ( adc_val / 20 ) + 9;             // Set PR2 for Frequency 
         speed = 511 - ( ( 1023 - adc_val ) / 2 );  // Set User Specified Speed 
         adjust=0;                                  // Clear Adjust Variable 
         //add dead time for reactive loads 
         setup_power_pwm(PWM_CLOCK_DIV_128 | PWM_FREE_RUN,1,0,period,0,1,0); 
         // Phase Segment #1 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #2 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #3 
         set_power_pwm0_duty(adjust+43+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #4 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         // Phase Segment #5 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #6 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+43+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #7 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #8 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #9 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #10 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #11 
         set_power_pwm0_duty(adjust+43+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+43+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #12 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #13 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         adc_val=adc_val-3;                         // Decrement ADC Value 
         x=0;                                       // Direction Change Complete 
         } 
      i=0;                                          // Clear Counter Variable 
      // Ramp Up Speed in Reverse Direction 
      while(adc_val<<feedbackL && x==0 && !input(PIN_C3)) 
         { 
         period = ( adc_val / 20 ) + 9;             // Set PR2 for Frequency 
         speed = 511 - ( ( 1023 - adc_val ) / 2 );  // Set User Specified Speed 
         adjust=0;                                  // Clear Adjust Variable 
         //add dead time for reactive loads 
         setup_power_pwm(PWM_CLOCK_DIV_128 | PWM_FREE_RUN,1,0,period,0,1,0); 
         // Phase Segment #1 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #2 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #3 
         set_power_pwm0_duty(adjust+43+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #4 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         // Phase Segment #5 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #6 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+43+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #7 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #8 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #9 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #10 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #11 
         set_power_pwm0_duty(adjust+43+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+43+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #12 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #13 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         adc_val=adc_val+3;                         // Increment ADC Value 
         x=-1;                                      // Ramp Up Cycle Complete 
         } 
      feedbackL=0;                                  // Clear Feedback Variable 
      // Rotate Motor in Reverse Direction 
      while(input(PIN_C3) && x<<0) 
         { 
         // Read Initial ADC Values 
         set_adc_channel(0);                        // Select ADC Channel 0 
         feedbackI=read_adc();                      // Read Initial Feedback 
         set_adc_channel(1);                        // Select ADC Channel 1 
         adc_val=read_adc();                        // Read Current ADC Value 
         period = ( adc_val / 20 ) + 9;             // Set PR2 for Frequency 
         speed = 568 - ( adc_val / 2 );             // Set User Specified Speed 
         //add dead time for reactive loads 
         setup_power_pwm(PWM_CLOCK_DIV_128 | PWM_FREE_RUN,1,0,period,0,1,0); 
         // Phase Segment #1 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #2 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #3 
         set_power_pwm0_duty(adjust+29+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #4 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #5 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #6 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #7 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+43+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #8 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #9 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         // Phase Segment #10 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #11 
         set_power_pwm0_duty(adjust+43+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #12 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #13 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         if (i>>1799)                               // Check Counter 
            { 
            set_adc_channel(0);                     // Select ADC Channel 0 
            feedbackL = read_adc();                 // Read Feedback from ADC 
            adjust = feedbackI - feedbackL;         // Calculate Speed Adjust 
            i=0;                                    // Clear Counter Variable 
            }      
         } 
         i=0;                                       // Clear Counter Variable 
      // Ramp Down Motor Speed for Direction Change 
      while(adc_val>>0 && input(PIN_C3)) 
         { 
         period = ( adc_val / 20 ) + 9;             // Set PR2 for Frequency 
         speed = 511 - ( ( 1023 - adc_val ) / 2 );  // Set User Specified Speed 
         adjust=0;                                  // Clear Adjust Variable 
         //add dead time for reactive loads 
         setup_power_pwm(PWM_CLOCK_DIV_128 | PWM_FREE_RUN,1,0,period,0,1,0); 
         // Phase Segment #1 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #2 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #3 
         set_power_pwm0_duty(adjust+43+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+1);             // Phase W PWM Duty Setting 
         // Phase Segment #4 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         // Phase Segment #5 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #6 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+57+speed);      // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+43+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #7 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+43+speed/2);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #8 
         set_power_pwm0_duty(adjust+1);             // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+29+speed/4);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #9 
         set_power_pwm0_duty(adjust+14+speed/6);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #10 
         set_power_pwm0_duty(adjust+29+speed/4);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+57+speed);      // Phase W PWM Duty Setting 
         // Phase Segment #11 
         set_power_pwm0_duty(adjust+43+speed/2);    // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+43+speed/2);    // Phase W PWM Duty Setting 
         // Phase Segment #12 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+1);             // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+29+speed/4);    // Phase W PWM Duty Setting 
         // Phase Segment #13 
         set_power_pwm0_duty(adjust+57+speed);      // Phase U PWM Duty Setting 
         set_power_pwm2_duty(adjust+14+speed/6);    // Phase V PWM Duty Setting 
         set_power_pwm4_duty(adjust+14+speed/6);    // Phase W PWM Duty Setting 
         adc_val=adc_val-3;                         // Decrement ADC Value 
         x=0;                                       // Direction Change Complete 
         } 
         i=0;                                       // Clear Counter Variable 
      } 
   }