motors.c

/**********************************************************************
    __file__.c

    This file is part of the <MyPackage> package

    Copyright (c) 2003 dinux - dinux@mail.bg

    This program is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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

#include <avr/io.h>

#include "main.h"
#include "motors.h"


/** Set left motor:
 * 	0: stop
 * 	1: forward
 * 	2: backward
 */
void set_left_motor(uint8_t state)
{
	if(!state) {
		//Stop
		cbi(MOTOR_DDR,bMOTOR_LEFT);
		cbi(MOTOR_PORT,bMOTOR_LEFT);
	} else if(state==1) {
		//Forward
		sbi(MOTOR_DDR,bMOTOR_LEFT);
		cbi(MOTOR_PORT,bMOTOR_LEFT);
	} else {
		//Backward
		sbi(MOTOR_DDR,bMOTOR_LEFT);
		sbi(MOTOR_PORT,bMOTOR_LEFT);
	}
}


/** Set right motor:
 * 	0: stop
 * 	1: forward
 * 	2: backward
 */
void set_right_motor(uint8_t state)
{
	if(!state) {
		//Stop
		cbi(MOTOR_DDR,bMOTOR_RIGHT);
		cbi(MOTOR_PORT,bMOTOR_RIGHT);
	} else if(state==1) {
		//Forward
		sbi(MOTOR_DDR,bMOTOR_RIGHT);
		cbi(MOTOR_PORT,bMOTOR_RIGHT);
	} else {
		//Backward
		sbi(MOTOR_DDR,bMOTOR_RIGHT);
		sbi(MOTOR_PORT,bMOTOR_RIGHT);
	}
}

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