20 PTPERH = (
unsigned char) (period >> 8);
21 PTPERL = (
unsigned char) (period);
39 unsigned char setMotor(
unsigned char motor,
unsigned char enable,
int dc){
49 switch ((
unsigned char) motor){
59 switch ((
unsigned char) motor){
71 period = ((
unsigned int)(PTPERH) << 8) + PTPERL;
74 switch ((
unsigned int) period){
75 case PWM_10K : dutycycle = 2048 + dc;
77 case PWM_20K : dutycycle = 1024 + (dc / 2);
79 case PWM_40K : dutycycle = 512 + (dc / 4);
87 PDC1H = dutycycle >> 8 ;
90 case MOTOR_1 : PDC0H = dutycycle >> 8 ;
93 case MOTOR_2 : PDC1H = dutycycle >> 8 ;