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#include "motor.h"

//#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) // Motor 1

#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2

#define H1 PIN_A1

#define L1 PIN_A2

#define H2 PIN_A3

#define L2 PIN_A4

signed int8 command;  // rozsah +-127

#INT_SSP

void ssp_interupt ()

{

   BYTE incoming, state;

   output_a(0);         // vypnuti vsech budicu

	state = i2c_isr_state();

	if(state < 0x80)							//Master is sending data

	{

		command = i2c_read();

	}

	if(state == 0x80)							//Master is requesting data

	{

		i2c_write(command);

	}

}

void main()

{

   int8 speed;

   setup_adc_ports(NO_ANALOGS|VSS_VDD);

   setup_adc(ADC_OFF);

   setup_timer_0(RTCC_INTERNAL);setup_wdt(WDT_144MS);

   setup_timer_1(T1_DISABLED);

   setup_timer_2(T2_DISABLED,0,1);

   setup_comparator(NC_NC_NC_NC);

   setup_vref(FALSE);

   setup_oscillator(OSC_8MHZ|OSC_INTRC);

   enable_interrupts(GLOBAL);

   enable_interrupts(INT_SSP);

   command=-128;  // zastaveni po resetu

   while(true)

   {

      if (command==-128) // prikaz na odpojeni mustku nebo chybna hodnota

      {

         output_a(0);   // volnobeh

         continue;

      };

      speed=command+127;   // posunuti 0 pro zaporna cisla

      output_a(0b10010);   // vpred

      delay_us(speed);

      output_a(0);         // vypnuti vsech budicu

      delay_us(1);

      restart_wdt();

      output_a(0b01100);   // vzad

      delay_us(254-speed);

      output_a(0);         // vypnuti vsech budicu

      delay_us(1);

   }

}