The robotic arm was controlled through PWM signals using a dsPIC33 signal processor. Each PWM line has its own dedicated register and output pin to make updates to the motors as quick as possible.  The microcontroller was setup to be able to read analog inputs as well as communicate through an RS232 UART. The user has the option of switching from either analog mode (dial, or sEMG control) or RS232 mode on boot-up by holding down a switch.


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