mate-driver/firmware/main.c

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

#include "pwm.h"
#include "input.h"




int main(void) {
	hbridge_init();
	input_init();


	sei();

	DDRD |= (1 << PD1);

	while(1) {
		while(!input_signal_ok()) {
			pwm_cycle_break();
		}

		while(input_get_result() < -20 || input_get_result() > 20) {
			pwm_cycle_break();
		}


		while(input_signal_ok()) {
			int16_t speed = input_get_result();

			if(speed > 20) {
				pwm_cycle_forwards(speed / 2);
			} else if (speed < -20){
				pwm_cycle_backwards(-speed / 2);
			} else {
				pwm_cycle_break();
			}
		}
	}

}