X-Git-Url: https://hackdaworld.org/gitweb/?p=my-code%2Fatmel.git;a=blobdiff_plain;f=hdw-tank%2Fmotor.asm;h=9e59e26af1a91e8c267997424bdfe1892a10e82f;hp=3339c9972e87a1cecbd93d095b2b24b1e0d02114;hb=7ab0e40c8befe5650c4b859125a6f2b4ea6d2ddf;hpb=12dfe92063a52e73ca7522afbf19e7baf0990e41

diff --git a/hdw-tank/motor.asm b/hdw-tank/motor.asm
index 3339c99..9e59e26 100644
--- a/hdw-tank/motor.asm
+++ b/hdw-tank/motor.asm
@@ -1,24 +1,24 @@
 ; 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 tmp1,DDRB
-	sbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	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 tmp1,PORTB
-	cbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	cbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_1_2)
+	cbr tmp1,(1<<MOT_2_1)|(1<<MOT_2_2)
 	out PORTB,tmp1
 
 	ret
@@ -26,8 +26,8 @@ MOTOR_STOP:
 MOTOR_FWD:
 
 	in tmp1,PORTB
-	sbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	sbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
+	cbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
 	out PORTB,tmp1
 
 	ret
@@ -35,8 +35,8 @@ MOTOR_FWD:
 MOTOR_BWD:
 
 	in tmp1,PORTB
-	cbr tmp1,(1<<MOT_DIR_L)|(1<<MOT_DIR_R)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_2)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_1)
 	out PORTB,tmp1
 
 	ret
@@ -44,9 +44,8 @@ MOTOR_BWD:
 MOTOR_RIGHT:
 
 	in tmp1,PORTB
-	sbr tmp1,(1<<MOT_DIR_L)
-	cbr tmp1,(1<<MOT_DIR_R)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	sbr tmp1,(1<<MOT_2_2)|(1<<MOT_1_1)
+	cbr tmp1,(1<<MOT_2_1)|(1<<MOT_1_2)
 	out PORTB,tmp1
 
 	ret
@@ -54,9 +53,8 @@ MOTOR_RIGHT:
 MOTOR_LEFT:
 
 	in tmp1,PORTB
-	sbr tmp1,(1<<MOT_DIR_R)
-	cbr tmp1,(1<<MOT_DIR_L)
-	sbr tmp1,(1<<MOT_PWR_L)|(1<<MOT_PWR_R)
+	sbr tmp1,(1<<MOT_1_2)|(1<<MOT_2_1)
+	cbr tmp1,(1<<MOT_1_1)|(1<<MOT_2_2)
 	out PORTB,tmp1
 
 	ret