From aae5b19f83144486a9042d44588738ab3dcad179 Mon Sep 17 00:00:00 2001
From: helgie22 <helgie22@ru.is>
Date: Fri, 18 Sep 2026 12:25:51 +0000
Subject: [PATCH] commiting code that didnt work properly on new branch

---
 include/analog_out.h   | 20 ++++++++++++++++++++
 include/motor_driver.h | 18 ++++++++++++++++++
 include/timer_msec.h   | 10 ++++++++++
 src/analog_out.cpp     | 16 ++++++++++++++++
 src/motor_driver.cpp   | 34 ++++++++++++++++++++++++++++++++++
 src/timer_msec.cpp     | 33 +++++++++++++++++++++++++++++++++
 6 files changed, 131 insertions(+)
 create mode 100644 include/analog_out.h
 create mode 100644 include/motor_driver.h
 create mode 100644 include/timer_msec.h
 create mode 100644 src/analog_out.cpp
 create mode 100644 src/motor_driver.cpp
 create mode 100644 src/timer_msec.cpp

diff --git a/include/analog_out.h b/include/analog_out.h
new file mode 100644
index 0000000..972be62
--- /dev/null
+++ b/include/analog_out.h
@@ -0,0 +1,20 @@
+#ifndef ANALOG_OUT_H
+#define ANALOG_OUT_H
+
+#include <timer_msec.h>
+#include <digital_out.h>
+
+class Analog_out
+{
+public:
+    Analog_out(int pin);
+    void init(int period_ms = 1000);
+    void set(int duty_cycle);
+
+private:
+    Timer_msec timer;
+public:    
+    Digital_out pin;
+};
+
+#endif // ANALOG_OUT_H
\ No newline at end of file
diff --git a/include/motor_driver.h b/include/motor_driver.h
new file mode 100644
index 0000000..9bc1c4a
--- /dev/null
+++ b/include/motor_driver.h
@@ -0,0 +1,18 @@
+#ifndef MOTOR_DRIVER_H
+#define MOTOR_DRIVER_H
+
+#include <stdint.h>
+
+// Vélbúnaðar-PWM á Timer1: AIN1 = OC1A = PB1 (D9), AIN2 = OC1B = PB2 (D10)
+class Motor_driver {
+public:
+    Motor_driver();
+    void init(uint16_t top = 799);       // 
+    void set_duty_cycleA(int percent);   // 0-100%, AIN1
+    void set_duty_cycleB(int percent);   // 0-100%, AIN2
+
+private:
+    uint16_t top_value;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/timer_msec.h b/include/timer_msec.h
new file mode 100644
index 0000000..1ec1dad
--- /dev/null
+++ b/include/timer_msec.h
@@ -0,0 +1,10 @@
+#pragma once
+
+class Timer_msec
+{
+public:
+    Timer_msec();
+    void init(int period_ms);
+    void init(int period_ms, int duty_cycle);
+    void set_duty_cycle(int duty_cycle);
+};
\ No newline at end of file
diff --git a/src/analog_out.cpp b/src/analog_out.cpp
new file mode 100644
index 0000000..a643be3
--- /dev/null
+++ b/src/analog_out.cpp
@@ -0,0 +1,16 @@
+#include <analog_out.h>
+
+Analog_out::Analog_out(int pin_number) : pin(pin_number)
+{
+}
+
+void Analog_out::init(int period_ms)
+{
+    pin.init();
+    timer.init(period_ms, 0); // Here we can choose the default duty cycle
+}
+
+void Analog_out::set(int duty_cycle)
+{
+    timer.set_duty_cycle(duty_cycle);
+}
\ No newline at end of file
diff --git a/src/motor_driver.cpp b/src/motor_driver.cpp
new file mode 100644
index 0000000..96859e3
--- /dev/null
+++ b/src/motor_driver.cpp
@@ -0,0 +1,34 @@
+#include "motor_driver.h"
+#include <avr/io.h>
+
+Motor_driver::Motor_driver() : top_value(0) {}
+
+void Motor_driver::init(uint16_t top) {
+    top_value = top;
+
+    DDRB |= (1 << PB1) | (1 << PB2);   // AIN1, AIN2 
+
+    TCCR1A = 0;
+    TCCR1B = 0;
+
+    // Fast PWM, TOP = ICR1 (WGM13:10 = 1110)
+    TCCR1A |= (1 << WGM11);
+    TCCR1B |= (1 << WGM13) | (1 << WGM12);
+
+    // Non-inverting PWM (OC1A og OC1B)
+    TCCR1A |= (1 << COM1A1) | (1 << COM1B1);
+
+    ICR1  = top_value;
+    OCR1A = 0;
+    OCR1B = 0;
+
+    TCCR1B |= (1 << CS10);   // prescaler 1
+}
+
+void Motor_driver::set_duty_cycleA(int percent) {
+    OCR1A = (uint16_t)((uint32_t)top_value * percent / 100);
+}
+
+void Motor_driver::set_duty_cycleB(int percent) {
+    OCR1B = (uint16_t)((uint32_t)top_value * percent / 100);
+}
\ No newline at end of file
diff --git a/src/timer_msec.cpp b/src/timer_msec.cpp
new file mode 100644
index 0000000..7eb7227
--- /dev/null
+++ b/src/timer_msec.cpp
@@ -0,0 +1,33 @@
+#include <timer_msec.h>
+#include <avr/io.h>
+#include <stdint.h>
+
+Timer_msec::Timer_msec()
+{
+
+}
+
+void Timer_msec::init(int period_ms)
+{
+    init(period_ms, 50);   // calls the next function with 50% duty cycle
+}
+
+void Timer_msec::init(int period_ms, int duty_cycle)
+{
+    // this code sets up timer1 for a 1s @ 16Mhz Clock (mode 4)
+    // counting 16000000/1024 cycles of a clock prescaled by 1024
+    TCCR1A = 0; // set timer1 to normal operation (all bits in control registers A and B set to zero)
+    TCCR1B = 0; //
+    TCNT1 = 0; // initialize counter value to 0
+    OCR1A = (uint32_t {16000} * period_ms / 1024) - 1; // assign target count to compare register A (must be less than 65536)
+    OCR1B = OCR1A * (duty_cycle / 100.0); // assign target count to compare register B (should not exceed value of OCR1A)
+    TCCR1B |= (1 << WGM12); // clear the timer on compare match A
+    TIMSK1 |= (1 << OCIE1A); // set interrupt on compare match A
+    TIMSK1 |= (1 << OCIE1B); // set interrupt on compare match B
+    TCCR1B |= (1 << CS12) | (1 << CS10); // set prescaler to 1024 and start the timer
+}
+
+void Timer_msec::set_duty_cycle(int duty_cycle)
+{
+    OCR1B = OCR1A * (duty_cycle / 100.0);
+}
\ No newline at end of file