void carInit(car *c)
{
c->ornt = &orient;
c->pos = &mouz;
c->route = &route;
c->status = 0;
initMotorControl();
initSteering();
startPID();
//initHorn();
}
void initPWM(){
initMotorControl();
ANSELD = 0x0000;
ANSELF = 0x0000;
//-------------------------------------
//FOR MOTOR 1 LEFT
//-------------------------------------
OC1CON = 0x0000; //Turn off OC1 while doing setup
T2CONbits.TCKPS = 0;
//PERIOD CONTROL
PR2 = 1023;
TMR2 = 0;
//PULSE WIDTH CONTROL OCxRS / PR2 = duty cycle
OC1RS = 255; //REAL-TIME UPDATE
OC1R = 0; //UPDATED BY OCxRS EVERY CLOCK CYCLE
T2CONbits.TON = 1; //ENABLE CN
OC1CONbits.OCTSEL = 0;
OC1CONbits.OCM = 6; //6
OC1CONbits.ON = 1;
OC1CONSET = 0x8000; //Enable OC1
//-------------------------------------
//FOR MOTOR 2 RIGHT
//-------------------------------------
OC3CON = 0x0000; //Turn off OC3 while doing setup
T3CONbits.TCKPS = 0;
//PERIOD CONTROL
PR3 = 1023;
TMR3 = 0;
//PULSE WIDTH CONTROL OCxRS / PR2 = duty cycle
OC3RS = 255; //REAL-TIME UPDATE
OC3R = 0; //UPDATED BY OCxRS EVERY CLOCK CYCLE
T3CONbits.TON = 1; //ENABLE CN
OC3CONbits.OCTSEL = 1; //selects Timer to be used
OC3CONbits.OCM = 6; //6
OC3CONbits.ON = 1;
OC3CONSET = 0x8000; //Enable OC3
}