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homing.c
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/**
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 * Copyright (c) 2008 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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 /**
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 * @file homing.c
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 * @brief Contains declarations for managing the orbs.
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 *
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 * Contains declarations for using the orbs and PWM.
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 *
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 * @author Colony Project, CMU Robotics Club
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 **/
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//carrier for beacons is on blue timer
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//manually defined ISRs
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//high frequency = 200Hz
......
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int state = 0;
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IR_init(){
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void IR_init(void){
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  DDRA |= _BV(DDA0)|_BV(DDA1);
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  DDRB |= _BV(DDB3);
......
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  TCCR0A |= _BV(COM0A1)|_BV(COM0A0)|_BV(WGM01)|_BV(WGM00);
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  TCCR0B |= _BV(CS00);
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  OCR0A = 128;
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  OCR0A = 0x80;
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  TCCR1A |= _BV(COM1B1)|_BV(COM1B0)|_BV(WGM11);	
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  TCCR1B |= _BV(WGM13)|_BV(WGM12)|_BV(CS10);

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