#include <xc.h>

//basic configuration of PIC16F1847
#pragma config FOSC=INTOSC,WDTE=OFF,PWRTE=OFF,MCLRE=OFF,CP=OFF,CPD=OFF,BOREN=ON,CLKOUTEN=OFF,IESO=OFF,FCMEN=OFF
#pragma config WRT=OFF,PLLEN=OFF,STVREN=ON,BORV=LO,LVP=OFF

#define  IN1                  LATBbits.LATB1
#define  IN2                  LATBbits.LATB2
#define _XTAL_FREQ           16000000

long Potent=0,power=0;

void Wait(long ms);
void PIC_Init();
void POTENTIOMETER();
void MOTOR_L(int powerL);
void MOTOR_R(int powerR);


void PIC_Init()
{
     TRISA=0b00111111; TRISB=0b00000001;// setting inputs=1/outputs=0
     ANSELA=0b00010000; ANSELB=0b00000000;// setting analog=1/digital=0 inputs
     LATA=0; LATB=0;               // zeroing outputs
    
     OSCCON=0b01111010;	   // 16 MHz internal oscillator
     APFCON0bits.CCP2SEL=1; // PWM CCP2 at RA7

     //setting PWM at RB3 and RA7, PWM frequency = 244 Hz
        TRISAbits.TRISA7=1;
	PR4=255;
	CCP2CON=0b00001100;
	CCPR2L=0;
	PIR3bits.TMR4IF=0;
	T2CON=0b00000111;   // prescaler 64
	TRISAbits.TRISA7=0;

   // setting A/D converter
        ADCON1=0b10100000; // right adjusted, conversion freq. FOSC/32, VDD reference
        ADCON0=0b00010001; // ADC at channel RA4=AN4, ADC module on
}

void main()
{
    PIC_Init();
    
    while(1)
    {
      POTENTIOMETER();  
      if(Potent<=512) 
        {power=255-(Potent/2);
        MOTOR_L(power);}
      else {
         power=(Potent-512)/2;
         MOTOR_R(power);}
    }
}


void MOTOR_L(int powerL)
{
     IN1=1;IN2=0;
     CCPR2L=powerL;
}

void MOTOR_R(int powerR)
{
     IN1=0;IN2=1;
     CCPR2L=powerR;
}

void Wait(long ms)
{
    for(long bb=0;bb<ms;bb++) __delay_ms(1);;
}


void POTENTIOMETER()
{
    Potent=0;
    for(int i=0;i<100;i++)
    {
  	ADCON0=0b00000111; // ADC conversion go
    	while(ADCON0==0b00000111); // waiting for conversion
        Potent+=ADRES;
    }
        Potent=Potent/100;
}