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/*-------------------------------------------------------------
Lab:		3b
Title:		RC Servo motor with Actuator Board
Date:		080327
Ver.:		1.1
Compiler:	AVR-GCC
Target:		ATmega128
Hardware:	ATmega128 controller board, Actuator board, RC servo motor
Author: 	Raivo Sell 2008
 
Notes:	
Description: Moves slowly RC motor shaft from one edge to another.
---------------------------------------------------------------*/
#define F_CPU 14745600UL //CPU Frequency (influences delay function)
 
#include <avr/io.h>
#include <util/delay.h>
 
///////////////// Main function //////////////////////////////////
int main (void){
 
	// Set timer control registers
	TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM11);
	TCCR1B = _BV(CS11) | _BV(WGM13) | _BV(WGM12); 
 
    	DDRB 	 = 0x30;  // PB5 & PB6 output
	ICR1   = 36000; // Sets the upper limit to Timer1 
    			//(creates 50 Hz signal) XTAL/8/256*50   14745600
	OCR1A  = 2700;  // Sets when the PWM signal should toggle.
 
	while(1){
		for(OCR1A=500;OCR1A!=5000;OCR1A++)  {_delay_ms(3);}
		for(OCR1A=5000;OCR1A!=500;OCR1A--)  {_delay_ms(3);}
	}
}