mega8servotest.c

/*
* mega8servotest.c
*
* Created: 2013-05-10 19:04:22
*  Author: Olek
*/


#include <avr/io.h>
#include <util/delay.h>

int main(void)
{
    DDRD=0x00;

    PORTD=0x02;
    //Set PORTB1 pin as output

    DDRB=0xFF;

    //TOP=ICR1;

    //Output compare OC1A 8 bit non inverted PWM

    //Clear OC1A on Compare Match, set OC1A at TOP

    //Fast PWM

    //ICR1=20000 defines 50Hz PWM

    ICR1=20000;

    TCCR1A|=(0<<COM1A0)|(1<<COM1A1)|(0<<COM1B0)|(0<<COM1B1)|

    (0<<FOC1A)|(0<<FOC1B)|(1<<WGM11)|(0<<WGM10);

    TCCR1B|=(0<<ICNC1)|(0<<ICES1)|(1<<WGM13)|(1<<WGM12)|

    (0<<CS12)|(1<<CS11)|(0<<CS10);

    //start timer with prescaler 8
    OCR1A = 1500;
    while(1)
    {


            if(bit_is_clear(PIND, 4)){

                //Lewo

                //OCR1A=515;

            }

            if(bit_is_clear(PIND, 5)) {

                //środek

                //OCR1A=1560;

            }
            if(bit_is_clear(PIND, 6)) {

                //Prawo

                //OCR1A=2560;

            }
            if(bit_is_clear(PIND, 7)) {

                //wyłącz wyjśća PWM, odlącz serwo
                //TCCR1A ^= (1<<COM1A0);
                //TCCR1A ^= (1<<COM1A1);
                //PORTB ^= _BV(1);

            }
            OCR1A=515;
            _delay_ms(500);
            OCR1A=1560;
            _delay_ms(500);
            OCR1A=2560;
            _delay_ms(500);
            OCR1A=1560;
            _delay_ms(1000);
    }
}