X-Git-Url: https://hackdaworld.org/gitweb/?a=blobdiff_plain;f=hdw-tank%2Fmotor.asm;h=9e59e26af1a91e8c267997424bdfe1892a10e82f;hb=7ab0e40c8befe5650c4b859125a6f2b4ea6d2ddf;hp=5b630ed1c429808f7db992729375499bd0117b94;hpb=ebc6337dea06a5abd94de3794352accb573e22ec;p=my-code%2Fatmel.git

diff --git a/hdw-tank/motor.asm b/hdw-tank/motor.asm
index 5b630ed..9e59e26 100644
--- a/hdw-tank/motor.asm
+++ b/hdw-tank/motor.asm
@@ -1,63 +1,61 @@
 ; motor functions
 
-.equ	MOT_DIR_L	= 0x02
-.equ	MOT_DIR_R	= 0x03
-.equ	MOT_PWR_L	= 0x04
-.equ	MOT_PWR_R	= 0x07
+.equ	MOT_1_1		= 0x04
+.equ	MOT_1_2		= 0x02
+.equ	MOT_2_1		= 0x07
+.equ	MOT_2_2		= 0x03
 
 MOTOR_INIT:
 
 	; ports -> output
-	in tmp_motor,DDRB
-	sbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out DDRB,tmp_motor
+	in tmp1,DDRB
+	sbr tmp1,(1<<MOT_1_1)|(1<<MOT_1_2)
+	sbr tmp1,(1<<MOT_2_1)|(1<<MOT_2_2)
+	out DDRB,tmp1
 
 MOTOR_STOP:
 
 	; output zero
-	in tmp_motor,PORTB
-	cbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	cbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out PORTB,tmp_motor
+	in tmp1,PORTB
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_1_2)
+	cbr tmp1,(1<<MOT_2_1)|(1<<MOT_2_2)
+	out PORTB,tmp1
 
 	ret
 
 MOTOR_FWD:
 
-	in tmp_motor,PORTB
-	sbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out PORTB,tmp_motor
+	in tmp1,PORTB
+	sbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
+	cbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
+	out PORTB,tmp1
 
 	ret
 
 MOTOR_BWD:
 
-	in tmp_motor,PORTB
-	cbr tmp_motor,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out PORTB,tmp_motor
+	in tmp1,PORTB
+	sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
+	out PORTB,tmp1
 
 	ret
 
 MOTOR_RIGHT:
 
-	in tmp_motor,PORTB
-	sbr tmp_motor,(1<<MOT_DIR_L)
-	cbr tmp_motor,(1<<MOT_DIR_R)
-	sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out PORTB,tmp_motor
+	in tmp1,PORTB
+	sbr tmp1,(1<<MOT_2_2)|(1<<MOT_1_1)
+	cbr tmp1,(1<<MOT_2_1)|(1<<MOT_1_2)
+	out PORTB,tmp1
 
 	ret
 
 MOTOR_LEFT:
 
-	in tmp_motor,PORTB
-	sbr tmp_motor,(1<<MOT_DIR_R)
-	cbr tmp_motor,(1<<MOT_DIR_L)
-	sbr tmp_motor,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
-	out PORTB,tmp_motor
+	in tmp1,PORTB
+	sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_1)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_2)
+	out PORTB,tmp1
 
 	ret