' Program for www.robowars.org IBC controller for use with Smegway.
'
' Smegway, Malcolm's self-balancing ride-on robot.
'
' Copyright (C) 2007 Malcolm Faed <malc@ihug.co.nz>
'
' This program is free software; you can redistribute it and/or modify
' it under the terms of the GNU General Public License as published by
' the Free Software Foundation; either version 2 of the License, or (at
' your option) any later version.
'
' This program is distributed in the hope that it will be useful, but
' WITHOUT ANY WARRANTY; without even the implied warranty of
' MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
' General Public License for more details.
'
' You should have received a copy of the GNU General Public License
' along with this program; if not, write to the Free Software
' Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
' USA
'


$regfile = "attiny2313.dat"
$crystal = 12000000                                         ' used crystal frequency


'left

Ali1 Alias Portd.3
Bli1 Alias Portd.2
Dis1 Alias Portd.4

Lpwm Alias Pind.6                                           'left1
Ldisable Alias Pinb.7                                       'mix
'Ldir Alias Pind.5                                           'aux1 not used

'right

Ali2 Alias Portd.1
Bli2 Alias Portd.0
Dis2 Alias Portb.1

Rpwm Alias Pinb.0                                           'right1
Rdisable Alias Pinb.6                                       'brake
'Rdir Alias Pinb.5                                           'deadband not used

'configure pin direction.

Config Ali1 = Output
Config Bli1 = Output
Config Dis1 = Output

Config Lpwm = Input
Config Ldisable = Input
'Config Ldir = Input                                         'not used

Config Ali2 = Output
Config Bli2 = Output
Config Dis2 = Output

Config Rpwm = Input
Config Rdisable = Input
'Config Rdir = Output                                        'not used

'misc

Flip Alias Pinb.4                                           'flip not used

Config Portb.2 = Output                                     'aux high
Config Portb.3 = Output                                     'aux low
Config Flip = Input                                         'not used


Waitms 50                                                   'wait for MCU to start


'Locked Antiphase

Do

   Dis1 = Ldisable
   Dis2 = Rdisable

   Ali1 = Lpwm
   Bli1 = Not Lpwm
   Ali2 = Rpwm
   Bli2 = Not Rpwm

Loop