Gerjo - IVIbot default settings

void InitializeSystem(void) {
    // Setup for basic usage:
    ADCON1 |= 0b00001111;   // Default all pins PORTA to digital
    TRISB   = 0b00000000;   // Leds are all set to output.
    TRISA   = 0b00010000;   // RA4 is PGM (program) button

    // Setup for IR LEDS:
    TRISD = 0x00;           // Set all PORTD pins to output (Note: room for improvement)
    PORTDbits.RD2 = 0x01;   // left IR LED
    PORTDbits.RD1 = 0x01;   // front IR LED
    PORTDbits.RD0 = 0x01;   // right IR LED

    // Setup for IR light detection:
    TRISA   = 0b11011111;   // All input port A5 as output
    ADCON1  = 0b00001011;   // Use AN0 to AN3, 4 channel
    ADCON2  = 0b10100110;   // Select AD acquisition time and AD conversion clock, ADCON2
    ADCON0 |= 0b00000001;   // Turn on AD module, ADCON0 bit 0;

    // Setup for both engines:
    PR2     = 0b11111111;   // Set PR2 register to set PWM period to 19.53 kHz before prescale
    T2CON   = 0b00000101;   // Set T2CON register/timer TMR2 to prescale 1:4 gives a PWM freq of 5 khz

    TRISCbits.TRISC2 = 0;   // Set as output
    CCP1CON =  0b0001100;   // Enable PWM

    TRISCbits.TRISC1 = 0;   // Set as output
    CCP2CON = 0b0001100;    // Enable PWM

    TRISEbits.TRISE0 = 0;   // Set as output
    TRISEbits.TRISE1 = 0;   // Set as output

    // Setup for tachometer:
    // TODO: make this work
}