Lab evaluation 6

gistfile1.txt

// Hadi Elnemr 46-6804 T-54 Mechatronics Lab Evaluation 6

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

void init_adc(void) { // AREF 0, channel 0.
	ADMUX &= ~(1 << REFS0 | 1 << REFS1 | 1 << ADLAR | 1 << MUX0 | 1 << MUX1
			| 1 << MUX2 | 1 << MUX3);
	ADCSRA |= 1 << ADEN;
	DIDR0 |= 0xFF;
}
long adc_conv(void) { // Get pot. value
	ADCSRA |= 1 << ADSC;
	while (ADCSRA & (1 << ADSC))
		;
	return ADC;
}

void enable_pwm(void) {
	TCCR0A |= ((1 << WGM00) | (1 << COM0A1)) & (~(1 << WGM01) & ~(1 << COM0A0));
	TCCR0B &= (~(1 << CS02)) & (~(1 << CS00)) & ~(1 << WGM02);
	TCCR0B |= 1 << CS01;
}


	
int main(void) {
	DDRD &= ~(1 << DDD0 | 1 << DDD1); //D0, D1 inputs
	DDRD |= 1 << DDD2 | 1 << DDD3 | 1 << DDD6; // D2, D3 output
	DDRC &= ~(1 << DDC0);
	init_adc();
	enable_pwm();
	char i1, i2;
	unsigned long adc_out;
	while (1) {
		adc_out = adc_conv() / 4l;
		OCR0A = adc_out;
		i1 = PIND & (1 << PIND0);
		i2 = PIND & (1 << PIND1);
		_delay_ms(100);
		if ((PIND & (1 << PIND0)) == i1 && i2 == (PIND & (1 << PIND1))) {
			if (i1 == i2) {
				if (i1) {
					PORTD |= 1 << 2;
					PORTD |= 1 << 3;
				} else {
					PORTD &= ~(1 << 2);
					PORTD &= ~(1 << 3);
				}
			} else if (i1) {
				PORTD |= 1 << 2;
				PORTD &= ~(1 << 3);
			} else if (i2) {
				PORTD |= 1 << 3;
				PORTD &= ~(1 << 2);
			}
		
	}
}