Colony

/*

        motor.h - Contains the function prototypes for controlling motors

        author:  Tom Lauwers

*/

#ifndef _MOTOR_H

#define _MOTOR_H

#include <avr/io.h>

#define FORWARD 1

#define BACKWARD 0

#ifdef FFPP

#define IN1A PD4

#define IN1B PD5

#define IN2A PD6

#define IN2B PD7

/* truth table for this robot (w/ 17529 and nand gates)

PWM        !A        !B        M+        M-

L        X        X   Z        Z  - coast

H        0        0        Z        Z  - coast

H        0        1        1        0  - forward

H        1        0        0        1  - backward

H        1        1        0        0  - fast brake

*/

#endif

// Function descriptions can be found in motor.c

void motors_init(void);

void motor1_set(int direction, int speed);

void motor2_set(int direction, int speed);

void motors_off(void);

#endif