void init_motors()
{
//setup reset line
SET_DDR_PIN_OUTPUT(DDRB, PIN0);
//set motor output pins
DDRB |= (1<<PINB1)|(1<<PINB2);
DDRD |= (1<<PIND5)|(1<<PIND6);
configure_motor(&(motors[0]),0,PORTB,PINB1,M1_IDLE_SPEED, M1_OFFSET);
configure_motor(&(motors[1]),1,PORTB,PINB2,M2_IDLE_SPEED, M2_OFFSET);
configure_motor(&(motors[2]),2,PORTD,PIND5,M3_IDLE_SPEED, M3_OFFSET);
configure_motor(&(motors[3]),3,PORTD,PIND6,M4_IDLE_SPEED, M4_OFFSET);
initPWM();
calibrate_motors();
//reset motors
//MOTORS_OFF;
//Reset the RC pulse to zero to simulate throttle low position
/*for(int i = 0; i < nMOTORS; i++) {
//writeVelocity(0,&(motors[i]));
writePWMduty(0,&(motors[i]));
}*/
//writePWMduty(0,&(motors[1]));
//_delay_ms(50);
//MOTORS_ON;
}
u8 setup_motor (u8 motor){
u8 flag=1;
switch (motor){
case 1:
configure_motor(MOTOR_1_PORT, MOTOR_1_PIN, MOTOR_1_TIMER, MOTOR_1_CHANNEL);
break;
case 2:
configure_motor(MOTOR_2_PORT, MOTOR_2_PIN, MOTOR_2_TIMER, MOTOR_2_CHANNEL);
break;
case 3:
configure_motor(MOTOR_3_PORT, MOTOR_3_PIN, MOTOR_3_TIMER, MOTOR_3_CHANNEL);
break;
case 4:
configure_motor(MOTOR_4_PORT, MOTOR_4_PIN, MOTOR_4_TIMER, MOTOR_4_CHANNEL);
break;
default:
flag=0;
break;
}
return flag;
}
void setup_all_motors (void){
configure_motor(MOTOR_1_PORT, MOTOR_1_PIN, MOTOR_1_TIMER, MOTOR_1_CHANNEL);
configure_motor(MOTOR_2_PORT, MOTOR_2_PIN, MOTOR_2_TIMER, MOTOR_2_CHANNEL);
configure_motor(MOTOR_3_PORT, MOTOR_3_PIN, MOTOR_3_TIMER, MOTOR_3_CHANNEL);
configure_motor(MOTOR_4_PORT, MOTOR_4_PIN, MOTOR_4_TIMER, MOTOR_4_CHANNEL);
}
