Colony » Colony Scout

extern "C" {

#include <avr/io.h>

#include <util/delay.h>

}

#include "orb.h"

void orb_init() {

  /* set pins to output mode */

        DDRB |= _BV(PB4) | _BV(PB5) | _BV(PB6);

  DDRE |= _BV(PE3) | _BV(PE4) | _BV(PE5);

  orb_set0(0, 0, 0);

  //orb_set1(0, 0, 0);

  orb_set1(0, 255, 255);

        /* timer 2 */

  TCCR2A |= _BV(COM2A1) | _BV(COM2A0) | _BV(WGM20);

        TCCR2B |= _BV(CS21);

        /* timer 1 */

        TCCR1A |= _BV(COM1A1) | _BV(COM1A0) |  _BV(COM1B1) | _BV(COM1B0) |_BV(WGM10);

        TCCR1B |= _BV(CS11);

        /* timer 3 */

  TCCR3A |= _BV(COM3A1) | _BV(COM3A0) | _BV(COM3B1) | _BV(COM3B0) | _BV(COM3C1)

    | _BV(COM3C0) | _BV(WGM30);

        TCCR3B |= _BV(CS31);

}

void orb_set0(unsigned char r, unsigned char g, unsigned char b) {

        OCR1B = r;

        OCR2A = g;

        OCR1A = b;

}

void orb_set1(unsigned char r, unsigned char g, unsigned char b) {

        OCR3B = r;

        OCR3C = g;

        OCR3A = b;

}