DCDC-Motoren Arduino

Motor1 und Motor2 sind immer identisch

Motor3 und Motor4 sind immer identisch

PD3 -> Ein-/Ausschalten Motor3 und Motor4

PD4 -> Ein-/Ausschalten Motor1 und Motor2

PD5 -> PWM Motor3 und Motor4

PD6 -> PWM Motor1 und Motor2

    DDRD |= ((1 << PIND3) | (1 << PIND4)); // set PD3, PD4 to output

    DDRD |= ((1 << PIND5) | (1 << PIND6)); // set OC0A(PD5), OC0B(PD6) to output

    PORTD &= ~((1 << PIND3) | (1 << PIND4)); // set PD3, PD4 to low

    /* 

     * WGM01; WGM00: FastPWM -> TOP:0xFF; Update of OCRx at: BOTTOM; TOV Flag Set on: MAX

     * COM0A1: Clear OC0A on compare match

     * COM0B1: Coear OC0B on compare match, set OC0B at BOTTOM (non inverting mode)

     */

    TCCR0A |= ((1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00));

    TCCR0B |= (1 << CS01); // clk i/o / 8 (from prescaler)

    OCR0A = 128-1; // initialize compare value

    OCR0B = 128-1; // initialize compare value

    PORTD |= ((1 << PIND3) | (1 << PIND4)); // set PD3, PD4 to high -> Start