Cesar Comment maxEmbedded

void pwm_init()
{
//Timer1
//top=15000, prescaler=8, frec=50hz (T=20ms)
ICR1=15000;
TCCR1B|=(1<<CS11);

//phase and frequency correction, icr1 = top
TCCR1B|=(1<<WGM13);

//set OC1A,OC2B on downcounting, clear on upcounting
TCCR1A |= (1<<COM1A1)|(1<<COM1B1);

//Timer 2
//top=233, prescaler=1024, frec=50hz (T=20ms)
OCR2A=233;//233
OCR2B=200;//200
TCCR2B|=(1<<CS22)|(1<<CS21)|(1<<CS20);

//phase correction, OCR2x = top
TCCR2A|=(1<<WGM22)|(1<<WGM20)|(1<<WGM21);

//set OC1A,OC2B on downcounting, clear on upcounting
TCCR2A |=(1<<COM2A1)|(1<<COM2B1);

//make sure to make pin as output pin
DDRD |= (1<<PD4);
DDRD |= (1<<PD5);
DDRD |= (1<<PD6);
DDRD |= (1<<PD7);

}

int get_pulse(int degrees){
return (int)((float)degrees*750/180+750);
}

int get_pulset2(int degrees){
return (int)((float)degrees*12/180+12);
}

void set_pulse1(int degrees){
OCR1A=get_pulse(degrees);
}

void set_pulse2(int degrees){
OCR1B=get_pulse(degrees);
}

void set_pulse3(int degrees){
OCR2A=get_pulset2(degrees);
}

void set_pulse4(int degrees){
OCR2B=get_pulset2(degrees);
}