/*****************************************************
This program was produced by the
CodeWizardAVR V1.25.3 Standard
Automatic Program Generator
© Copyright 1998-2007 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com

Project : 
Version : 
Date    : 7/7/2008
Author  : F4CG                            
Company : F4CG                            
Comments: 


Chip type           : ATmega16
Program type        : Application
Clock frequency     : 4.000000 MHz
Memory model        : Small
External SRAM size  : 0
Data Stack size     : 256
*****************************************************/

#include <mega16.h>
#include <stdio.h>

// Alphanumeric LCD Module functions
#asm
   .equ __lcd_port=0x18 ;PORTB
#endasm
#include <lcd.h>
void tampil(unsigned char dat)
{
	unsigned char data;
	
	data = dat / 100;
	data+=0x30;
	lcd_putchar(data);
	
	dat%=100;
	data = dat / 10;
	data+=0x30;
	lcd_putchar(data);
	
	dat%=10;
	data = dat + 0x30;
	lcd_putchar(data);
}

#define dirA_Ki PORTD.0		// Direction A untuk motor kiri
#define dirB_Ki PORTD.1		// Direction B untuk motor kiri
#define EnKi PORTD.2		// Enable L298 untuk motor kiri
#define EnKa PORTD.5		// Enable L298 untuk motor kanan
#define dirC_Ka PORTD.6		// Direction C untuk motor kanan
#define dirD_Ka PORTD.3		// Direction D untuk motor kanan

unsigned char xcount,lpwm,rpwm;
// Timer 0 overflow interrupt service routine
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
	xcount++;
	if(xcount<=lpwm)EnKi=1;
	else EnKi=0;
	if(xcount<=rpwm)EnKa=1;
	else EnKa=0;
	TCNT0=0xc0;
}   

ki_cw() 
{
        dirA_ki = 1;
        dirB_ki = 0;
}

ki_ccw() 
{
        dirA_ki = 0;
        dirB_ki = 1;
}

ka_cw() 
{
        dirC_ka = 1;
        dirD_ka = 0;
}

ka_ccw() 
{
        dirC_ka = 0;
        dirD_ka = 1;
}
           
unsigned char data_adc;
char tampil_adc[12];
#define ADC_VREF_TYPE 0x20

// Read the 8 most significant bits
// of the AD conversion result
unsigned char read_adc(unsigned char adc_input)
{
ADMUX=adc_input | (ADC_VREF_TYPE & 0xff);
// Start the AD conversion
ADCSRA|=0x40;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
return ADCH;
}

// Declare your global variables here

void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTB=0x00;
DDRB=0x00;

// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTC=0x00;
DDRC=0x00;

// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTD=0x00;
DDRD=0x00;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x01;
TCNT0=0xc0;
OCR0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer 1 Stopped
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x01;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;

// ADC initialization
// ADC Clock frequency: 125.000 kHz
// ADC Voltage Reference: AREF pin
// ADC Auto Trigger Source: None
// Only the 8 most significant bits of
// the AD conversion result are used
ADMUX=ADC_VREF_TYPE & 0xff;
ADCSRA=0x85;

// LCD module initialization
lcd_init(16);

// Global enable interrupts
#asm("sei")

lpwm = 0;
rpwm = 0;

while (1)
      { 
        // motor kiri
        data_adc = read_adc(0);
        if (data_adc > 128) {     // CW        
                lcd_gotoxy(4,0);
                lcd_putchar('C'); 
                lcd_putchar('W'); 
                lcd_putchar(' ');
                lpwm = ( data_adc - 128 ) * 2; 
                ki_cw();            
        } else if (data_adc < 126) {  // CCW
                lcd_gotoxy(4,0);
                lcd_putchar('C'); 
                lcd_putchar('C');
                lcd_putchar('W');
                lpwm = 255 - (data_adc * 2);
                ki_ccw();
        } else if ( (data_adc >= 126) && (data_adc <= 128) ) { // stop
                lcd_gotoxy(4,0);
                lcd_putchar('O'); 
                lcd_putchar('F');
                lcd_putchar('F');          
                lpwm = 0;
        }
        lcd_gotoxy(0,0);
        tampil(lpwm);
        lcd_gotoxy(0,1);
        tampil(data_adc);
        
        // motor kanan
        data_adc = read_adc(1);
        if (data_adc > 128) {     // CW        
                lcd_gotoxy(13,0);
                lcd_putchar('C'); 
                lcd_putchar('W');
                lcd_putchar(' ');
                rpwm = ( data_adc - 128 ) * 2; 
                ka_cw();            
        } else if (data_adc < 126) {  // CCW
                lcd_gotoxy(13,0);
                lcd_putchar('C'); 
                lcd_putchar('C');
                lcd_putchar('W');
                rpwm = 255 - (data_adc * 2);
                ka_ccw();
        } else if ( (data_adc >= 126) && (data_adc <= 128) ) { // stop
                lcd_gotoxy(13,0);
                lcd_putchar('O'); 
                lcd_putchar('F');
                lcd_putchar('F');          
                rpwm = 0;
        }
        lcd_gotoxy(9,0);
        tampil(rpwm);
        lcd_gotoxy(9,1);
        tampil(data_adc);
      };
}