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This paper presents a demonstration model that illustrates the use of fuzzy logic on a Motorola microcontroller (MCU). The M68HC12 MCU was introduced in mid-1996 by Motorola as an upgrade to the M68HC11 MCU, one of the most widely used microcontrollers in the world. The M68HC12 has been enhanced in a number of ways over the M68HC11, and is the world’s first standard MCU that includes a complete fuzzy logic instruction set. The “background debug™ mode” of the M68HC12 supports the real-time remote cross debugging (RTRCD) without interfering with the MCU’s operation. To support systems design, Inform Software Corp. and Motorola created the fuzzyTECH MCU-68HC12 Edition, which supports both the M68HC12’s fuzzy logic instruction set and the M68HC12 background debug mode. To demonstrate the use of both the fuzzy logic instruction set and the background debug mode with the fuzzyTECH development system, Inform and Motorola have designed an autonomously guided tank as a demonstration model. This paper discusses the tank’s fuzzy logic controller design, as well as the fuzzyTECH implementation on the M68HC12 MCU.
