Change to fast PWM

ball_and_beam-2018/avr/ball_and_beam-2018.c

@@ -7,7 +7,8 @@
 /*
  * Serial I/O assignments:
  *   
- *   DI 0 -- Motor Overtemp
+ *   DI 0 -- Ball On Beam
+ *   DI 1 -- Motor Overtemp
  *
  *   DO 0 -- Motor Brake
  *   DO 1 -- Accelerometer Self-Test
@@ -124,18 +125,18 @@ SIGNAL(USART_RXC_vect)
   switch (serialio_RXC(ch)) {
     case serialio_clearbit: {
       switch (serialio_channel) {
-        case 0: { PORTB &= ~0x08; } break;
-        case 1: { PORTC &= ~0x80; } break;
+        case 0: { PORTB &= ~0x08; } break; // motorBrake
+        case 1: { PORTC &= ~0x80; } break; // accelerometerSelfTest
       }
     } break;
    case serialio_setbit: {
       switch (serialio_channel) {
-        case 0: { PORTB |= 0x08; } break;
-        case 1: { PORTC |= 0x80; } break;
+        case 0: { PORTB |= 0x08; } break; // motorBrake
+        case 1: { PORTC |= 0x80; } break; // accelerometerSelfTest
       }
     } break;
     case serialio_pollbit: {
-      if (serialio_channel < 1) { 
+      if (serialio_channel < 2) { 
         serial_readbits |= (1<<serialio_channel);
       }
     } break;
@@ -176,15 +177,15 @@ int main()
   serial_readconfig = 0;
   PORTA = 0x00;     // PortA, pull-ups
   DDRA = 0x00;      // PortA, all inputs
-  PORTB = 0x00;     // PortB, pull-ups / initial values
+  PORTB = 0x10;     // PortB, pull-ups / initial values
   DDRB = 0x0a;      // PortB, bits 1 & 3 outputs
   PORTC = 0x00;     // PortC, pull-ups / initial values
   DDRC = 0x80;      // PortC, bit 7 output
   PORTD = 0x00;     // PortD, pull-ups / initial values
   DDRD = 0x20;      // PortD, bit 5 output
   TCCR0 = 0x05;	    // Timer0, Clock / 1024 
-  TCCR1A = 0x83;    // OC1A 10 bit PWM (Phase Correct), clear A on match
-  TCCR1B = 0x01;    // Clock / 1 
+  TCCR1A = 0x83;    // OC1A 10 bit PWM (fast), active high
+  TCCR1B = 0x09;    // Clock / 1 
   OCR1A = 0 & 0x3ff;
   UCSRA = 0x00;     // USART: 
   UCSRB = 0x98;     // USART: RxIntEnable|RxEnable|TxEnable 
@@ -215,9 +216,17 @@ int main()
     if (channels & 0x08) { serialio_putchannel(3, local.accelerometerY); }
     if (channels & 0x10) { serialio_putchannel(4, local.accelerometerZ); }
     if (channels & 0x20) { serialio_putchannel(5, local.motorEncoder); }
-    if (bits & 0x01) { serialio_putbit(0, PORTB & 0x10); }  // thermalFlag
+    if (bits & 0x01) {
+      // ballOnBeam
+      serialio_putbit(0, PINB & 0x01);
+    }
+    if (bits & 0x02) {
+      // thermalFlag 
+      serialio_putbit(1, !(PINB & 0x10));
+    }
     if (config) {
-      CONF_DIGITAL_IN(0, CONF_RESOLUTION(1));   // motorTemp
+      CONF_DIGITAL_IN(0, CONF_RESOLUTION(1));   // ballOnBeam
+      CONF_DIGITAL_IN(1, CONF_RESOLUTION(1));   // motorTemp
 
       CONF_DIGITAL_OUT(0, CONF_RESOLUTION(1));  // motorBrake
       CONF_DIGITAL_OUT(1, CONF_RESOLUTION(1));  // accelerometerSelfTest