goodgodgd / microprocessor Goto Github PK

#define F_CPU 16000000L
#include <avr/io.h>
#include <util/delay.h>

#define OCR_MAX	255
unsigned char read_switch(unsigned char sw_id);
void control_motor(float vel_ratio, int dir);
// volatile unsigned char pin_bef = 0xff;

int main(void){
	
	DDRC = 0x00;
	DDRB = 0xFF;
	DDRE = 0xFF;
	PORTB = 0x00;
	
	TCCR0 |= (1<<WGM01) | (1<< WGM00);
	TCCR0 |= (1<<CS02);
	TCCR0 |= (1<<COM01);
	OCR0 = 0;
	
	int speed = 0;
	
	while(1){
		if(read_switch(0))
			speed += 1;
		else if(read_switch(1))
			speed -= 1;
		else if(read_switch(2))
			speed = 0;

		if(speed > 0)
			control_motor(speed*0.2f, 1);
		else if(speed < 0)
			control_motor(speed*0.2f, -1);
		else if(speed == 0)
			control_motor(speed*0.2f, 0);
		
		if(speed==0)
			PORTE = 0x01;
		else if(speed==1)
			PORTE = 0x02;
		else if(speed==2)
			PORTE = 0x04;
		else if(speed==3)
			PORTE = 0x08;
		else if(speed==-1)
			PORTE = 0x10;
		else if(speed==-2)
			PORTE = 0x20;
		else if(speed==-3)
			PORTE = 0x40;
		else
			PORTE = 0x00;
		
		
		_delay_ms(50);
	}
}
unsigned char read_switch(unsigned char sw_id){
	static unsigned char pin_bef = 0xff;
	unsigned char sw_bef = pin_bef & (1 << sw_id);
	unsigned char sw_cur = PINC & (1 << sw_id);
	
	if(sw_bef > 0 && sw_cur == 0)
	{
		_delay_ms(10);
		sw_cur = PINC & (1 << sw_id);
		pin_bef = (pin_bef & ~(1 << sw_id)) | sw_cur;
		if(sw_cur == 0)
			return 1;
	}
	pin_bef = (pin_bef & ~(1 << sw_id)) | sw_cur;
	return 0;
}

void control_motor(float vel_ratio, int dir)
{
	
	OCR0 = (int)(OCR_MAX * vel_ratio);
	
	if(dir > 0){
		PORTB |= 0x01;
		PORTB &= ~0x02;
	}
	else if(dir < 0){
		PORTB &= ~0x01;
		PORTB |= 0x02;
	}
	else {
		PORTB &= ~0x01;
		PORTB &= ~0x02;
	}
}