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### PWM (Pulse Width Modulation) Determine the Period using the ICR1 (Input Capture Register)

The period is determined according to what period the device that you will be delivering the PWM to will accept. In this case, the PWM is being sent to a hobby sery which accepts a 50 Hz signal. The period for 50Hz is 20ms. To determine the period time frame: 1 / 50 Hz = .02 seconds or 2 centiseconds, or 20 milliseconds.

First, the period may rely on having a prescaler. To determine if a prescaler is needed with the 16-bit timer (which can count up to 65535), use the frequency of the AVR which is 1,000,000 Hz (1 MHz - megahertz) and divide that by the required frequency 50 Hz. 1,000,000 Hz / 50 Hz = 20,000. The 16-bit timer can handle counting up to 20,000, so the ICR1 will need to have the value of 19,999, since it is indexed from 0.

What if the clock frequency is at 8 MHz? Then the 50 Hz would require a count of 8,000,000 Hz / 50 Hz = 160,000. That's too high for the 16-bit count since it's only 65535. A prescaler of 4 or 8 would be required for this scenario.

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