Microcontrollers and analog signals

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If I have a simple microcontrol, say 8 pin PICAXE. Could I use it to read the voltage going through a circuit directly? And can I output varying voltages?
 
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According to the datasheet, it does have built-in analog-to-digital conversion circuitry, but it does not have built-in digital-to-analog circuitry. It does have digital outputs though, so you might be able to accomplish what you want with pulse-width modulation.

- Warren