/*
** test program for PWM motor control routines for ORANGUTAN from pololu
** atmega8/LB1836M motor controller by Jim Remington (sjames_remington _at_ yahoo.com)
** This code uses 8-bit fast PWM mode with motor either coasting or braking in off state.
** include appropriate routine pwm_coast.c or pwm_brake.c (see below)
** WinAVR
*/

#include <avr/io.h>
#include <avr/interrupt.h>
#define 	sei()   __asm__ __volatile__ ("sei" ::)
#define 	cli()   __asm__ __volatile__ ("cli" ::)
#include <stdlib.h>

/*
** Delays
*/
#define F_CPU 1000000UL
#include <util/delay.h>
#define	Delay( x )	_delay_loop_2( x )
// above, x is uint16


/*
***GLOBALS REQUIRED for communication with interrupt routines***
*/

int l_speed,r_speed;

//#include "pwm_coast.c"
#include "pwm_brake.c"

/*
** MAIN. Exercise left and right motors. Ramp up and down, forward and reverse.
*/
int main(void)
{
	int i,j;
	pwm_init();
	sei();
	
	for(j=0;j<256;j+=5)
	{
	l_speed=j;
	r_speed=j;
	pwm_set();
	Delay(20000);
	}
	for(j=255;j>0;j-=5)
	{
	l_speed=j;
	r_speed=j;
	pwm_set();
	Delay(20000);
	}

	for(j=0;j<256;j+=5)
	{
	l_speed=-j;
	r_speed=-j;
	pwm_set();
	Delay(20000);
	}
	for(j=255;j>0;j-=5)
	{
	l_speed=-j;
	r_speed=-j;
	pwm_set();
	Delay(20000);
	}

	l_speed=r_speed=0;
	pwm_set();

	while(1);
	
	return 0;
}