AVRFreaks.net

// headerfile
#include <avr/io.h>
#include <avr/interrupt.h>
#include "delay.h"

#define F_CPU 8000000UL
#define OC3C_PORT E
#define OC3C_PIN PE5
#define OC3B_PORT E
#define OC3B_PIN PE4

#define DDR(a) __CONCAT(DDR,a)
#define PORT(a) __CONCAT(PORT,a)
#define PIN(a) __CONCAT(PIN,a)

#define HALT    0
#define LEFT   1
#define RIGHT   2
#define FORWARD    1
#define BACKWARD 2

void MotorInit();
void Motor_Dir(uint8_t dir);
void Motor_Speed(uint8_t dir,uint8_t speed);

void MotorInit()
{

   //  DEFINING SPEED OF PWM
      TCCR3A= (1<<COM3B1)|(1<<COM3C1);   // Clear OC3B & OC3C on compare match
      TCCR3B |= (1<<WGM33); // Phase and frequency correct PWM mode
         
   //  CLOCK SPEED = F_CPU/ RESCALAR--------PRESCALAR = 8
       TCCR3B |= (1<<CS31);
      ICR3 = 1250; // 200 Hz
   
   //  SET THE PINS TO OUTPUT
      DDR(OC3C_PORT)|=(1<<OC3C_PIN);
      DDR(OC3B_PORT)|=(1<<OC3B_PIN);

   //  DEFINE OUTPUT FOR CONTROL PINS
      DDRE|=0X0F;   //  PE4 to PE7 as output
      
}

/*----------------------------------------------------
DEFINING SPEED (0 TO 255) & DIRECTION OF THE MOTOR_Speed

DIR = 0 for STOP ROTAION
     = 1 for FORWARD
     = 2 for BACKWARD
----------------------------------------------------*/
void Motor_Speed(uint8_t dir,uint8_t speed)
{
   //  DIRECTION
   if(dir == 0)
   {
      PORTE&=(~(1<<PE4));
      PORTE&=(~(1<<PE5));
   }

   else if(dir == 2)
   {
      PORTE&=(~(1<<PE4));
      PORTE|=(1<<PE5);
      OCR3B=speed;
   }
   else if(dir == 1)
   {
      PORTE&=(~(1<<PE5));
      PORTE|=(1<<PE4);
      OCR3C=speed;
   }

   //  SPEED
   uint8_t sreg=SREG;

   cli();

   SREG=sreg;
}
//---------------------------------------------   

void Moving(uint8_t AngDir , uint8_t VectDir , uint8_t Speed);

void Moving(uint8_t AngDir , uint8_t VectDir , uint8_t Speed)
{
   if(AngDir!=0)
   {
        Motor_Speed(VectDir,Speed);  // Moves straight with speed of 0.5 m/s
         Motor_Dir(AngDir);
         _delay_us(1);
         }
   else
   {
     Motor_Dir(0);    // assure  steering wheel is straight
     Motor_Speed(VectDir,Speed); // Moves straight with speed of 1 m/s
   }
}