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#include "motor.h"
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#include "motor.h"
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//#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) // Motor 1
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//#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) // Motor 1
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//#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2
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#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2
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#define H1 PIN_A1
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#define H1 PIN_A1
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#define L1 PIN_A2
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#define L1 PIN_A2
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#define H2 PIN_A3
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#define H2 PIN_A3
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#define L2 PIN_A4
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#define L2 PIN_A4
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   setup_oscillator(OSC_8MHZ|OSC_INTRC);
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   setup_oscillator(OSC_8MHZ|OSC_INTRC);
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   enable_interrupts(GLOBAL);
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   enable_interrupts(GLOBAL);
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   enable_interrupts(INT_SSP);
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   enable_interrupts(INT_SSP);
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   command=0;  // zastaveni po resetu
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   command=-128;  // zastaveni po resetu
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   while(true)
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   while(true)
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   {
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   {
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      if ((0==command) || (command>127) || (command<-127)) // prikaz na odpojeni mustky nebo chybna hodnota
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      if (command==-128) // prikaz na odpojeni mustku nebo chybna hodnota
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      {
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      {
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         output_low(H1);      // stop
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         output_a(0);   // volnobeh
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         output_low(H2);
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         output_low(L1);
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         output_low(L2);
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         continue;
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         continue;
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      };
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      };
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      speed=command+127;   // posunuti 0 pro zaporna cisla
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      speed=command+127;   // posunuti 0 pro zaporna cisla
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