/*********************************************

This program was produced by the

CodeWizardAVR V1.23.8d Standard

Automatic Program Generator

© Copyright 1998-2003 HP InfoTech s.r.l.

http://www.hpinfotech.ro

e-mail:office@hpinfotech.ro



Project : MEGAbitty Motor Test

Version : 1.0

Date    : 2/8/2005

Author  : Monty Goodson

Company : BittyBot

Comments: 

Test H-Bridge by sweeping PWM ratio.



Cycles motor A & B from zero to full speed fwd,

back to zero, then full speed reverse, and then back to zero.

Mot A starts out at zero; Mot B starts out at 1/2 speed reverse.

MotA is disabled during every other fwd-rev cycle

MotB is disabled during every other rev-fwd cycle





Chip type           : ATmega8

Program type        : Application

Clock frequency     : 16.000000 MHz

Memory model        : Small

External SRAM size  : 0

Data Stack size     : 256

*********************************************/



#include <mega8.h>

#include <delay.h>



#define FULL_PERIOD 2000 //in ms

#define FULL_VALUE 256



#define GREEN_LED PORTB.3

#define BLUE_LED PORTB.4

#define MOTA_EN_N PORTB.0

#define MOTB_EN_N PORTB.5



bit motorAFwd = 1;

bit motorBFwd = 1;



void main(void)

{

  unsigned char motorAVal = FULL_VALUE >> 1;	//motor stopped

  unsigned char motorBVal = FULL_VALUE >> 2;	//motor 1/2 speed rev



// Input/Output Ports initialization

// Port B initialization

// Func0=Out Func1=Out Func2=Out Func3=Out Func4=Out Func5=Out Func6=In Func7=Out 

// State0=1 State1=1 State2=1 State3=1 State4=1 State5=1 State6=T State7=0 

PORTB=0x3F;

DDRB=0xBF;



// Port C initialization

// Func0=In Func1=In Func2=In Func3=In Func4=In Func5=In Func6=In 

// State0=T State1=T State2=T State3=T State4=T State5=T State6=T 

PORTC=0x00;

DDRC=0x00;



// Port D initialization

// Func0=In Func1=In Func2=In Func3=In Func4=In Func5=In Func6=In Func7=In 

// State0=T State1=T State2=T State3=T State4=T State5=T State6=T State7=T 

PORTD=0x00;

DDRD=0x00;



// Timer/Counter 1 initialization

// Clock source: System Clock

// Clock value: 16000.000 kHz

// Mode: Fast PWM top=00FFh

// OC1A output: Non-Inv.

// OC1B output: Inverted

// Noise Canceler: Off

// Input Capture on Falling Edge

TCCR1A=0xB1;

TCCR1B=0x09;

TCNT1H=0x00;

TCNT1L=0x00;

OCR1AH=0x00;

OCR1AL=0x7F;

OCR1BH=0x00;

OCR1BL=0x7F;



MOTA_EN_N = 0;	//Enable motor A

MOTB_EN_N = 0;	//Enable motor B



while (1)

{

  OCR1AL = motorAVal;

  OCR1BL = motorBVal;

  if(motorAFwd)

  {

    if(++motorAVal == (FULL_VALUE-1)) {

      motorAFwd = 0;

    }

    if(motorAVal == (FULL_VALUE >> 1)) {

      MOTA_EN_N ^= 1;	//Disable motor every other fwd/rev cycle

      GREEN_LED ^= 1;   //Turn off LED when disable motor

    }

  }

  else

  {

    if(--motorAVal == 1)

      motorAFwd = 1;

  }



  if(motorBFwd)

  {

    if(++motorBVal == (FULL_VALUE-1))

      motorBFwd = 0;

  }

  else

  {

    if(--motorBVal == 1) {

      motorBFwd = 1;

    }

    if(motorBVal == (FULL_VALUE >> 1)) {

      MOTB_EN_N ^= 1;	//Disable motor every other fwd/rev cycle

      BLUE_LED ^= 1;   //Turn off LED when disable motor

    }

  }



  delay_ms(FULL_PERIOD/FULL_VALUE);

};

}