Potentiomètre + Servo x3

/*
 * Robot-168-01.cpp
 *
 * Created: 01-May-21 18:22:03
 * Author : Justin Castilloux
 */

#include <avr/io.h>

void SetupConfigRegisters()
{
    // ADC
    ADMUX        = 0x40;                                        // AN0 Selected, ref=AVcc, Right adjusted
    ADCSRA      |= (1 << ADPS1) | (1 << ADPS2) | (1 << ADEN);   // Prescaler 1/64 (125kHz)
    DIDR0       |= (1 << ADC0D) | (1 << ADC1D) | (1 << ADC2D);

    // TIMER1 - Servo #1 & #3
    TCCR1A = 0xA2;                      // OC1A/B Non-inverting, Fast PWM, TOP=ICR1
    TCCR1B = 0x1A;                      // 1:8 prescaler (1us/cycle)
    ICR1 = 20000;                       // 20ms = 50 Hz
    OCR1A = ((2300 - 700) / 2) + 700;   // Approximativement au centre
    OCR1B = ((1800 - 600) / 2) + 600;   // Approximativement au centre
    DDRB |= (1 << PB1) | (1 << PB2);    // OC1A/B Output

    // TIMER2 - Servo #2
    TCCR2A = 0x23;                      // OCR2B Non-inverting, Fast PWM, TOP=OCR2A
    TCCR2B = 0x0F;                      // Prescaler 1:1024
    OCR2A = 156;                        // 8M / 50Hz = 160k, 160k / 1024 = 156.25
    OCR2B = 14;                         // Approximativement au centre
    DDRD |= (1 << PD3);                 // OC2B Output
}


int main(void)
{
    SetupConfigRegisters();

    uint16_t A0, A1, A2;

    while (1)
    {
        ADMUX = 0x40;
        ADCSRA |= (1 << ADSC);
        while (ADCSRA & (1 << ADSC))
            ;
        A0 = ADC;

        ADMUX = 0x41;
        ADCSRA |= (1 << ADSC);
        while (ADCSRA & (1 << ADSC))
            ;
        A1 = ADC;

        ADMUX = 0x42;
        ADCSRA |= (1 << ADSC);
        while (ADCSRA & (1 << ADSC))
            ;
        A2 = ADC;

        OCR1A = ((A0 * 1600UL) >> 10) + 700;    // 700 -> 2300
        OCR1B = ((A2 * 1200UL) >> 10) + 600;    // 600 -> 1800
        OCR2B = (((A1 >> 2) * 4UL) >> 8) + 14;  // 14 -> 18 ????
    }
}