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The first chapters of this book introduce the reader to the concept of a microcontroller and lead him through the basics of C programming and a structured programming process. The following chapters teach the reader to program and effectively use the 68HCS12 GPIO ports, A/D converters, timing system, PWM generators, and interrupt system. The final sections describe basic motor control algorithms and describe a distributed control system such as could be used in an efficient home environment control system. Each section includes copious examples.