Module
   PWM_Module.c



 Description
   This is a PWM file for ME218B Lab 8 for Team 3.

 Notes

Private definitions
 PWMTicksPerMS
 BitsPerNibble
 MsPerSecond
 PercentToDec
 PWM0_GenA_Normal
 PWM0_GenB_Normal
 PWM1_GenA_Normal
 PWM1_GenB_Normal
 Set0_DC
 Set100_DC
 RestoreDC
 Startup_Period_ms
 Period_0
 Duty_0
 CompareA
 CompareB

void PWM_Init(uint8_t NumPWM)
	//Switch depending for PWM ports
    // We only want one PWM port. This corresponds to PB6
      // start by enabling the clock to the PWM Module (PWM0)
      // enable the clock to Port B
      // make sure that Port B is initialized
      // Select the PWM clock as System Clock/32
      // make sure that the PWM module clock has gotten going
      // disable the PWM while initializing
      // program generators to go to 1 at rising compare A/B, 0 on falling
      // compare A/B
      // Set the PWM period. Since we are counting both up & down, we
      // initialize the load register to 1/2 the desired total period. We
      // will also program the match compare registers to 1/2 the desired
      // high time
      // Set the initial Duty cycle on A to 50% by programming the compare
      // value to 1/2 the period to count up (or down). Technically, the
      // value to program should be Period/2 - DesiredHighTime/2, but since
      // the desired high time is 1/2 the period, we can skip the subtract
      // now configure the Port B pin to be PWM outputs
      // start by selecting the alternate function for PB6
      // now choose to map PWM to those pins, this is a mux value of 4 that we
      // want to use for specifying the function on bits 6
      // Enable pin 6 on Port B for digital I/O
      // make pin 6 on Port B an output
      // set the up/down count mode, enable the PWM generator and make
      // both generator updates locally synchronized to zero count
    // We want 2 PWM ports. This corresponds to PB6 and PB7.
      // start by enabling the clock to the PWM Module (PWM0)
      // enable the clock to Port B
      // make sure that Port B is initialized
      // Select the PWM clock as System Clock/32
      // make sure that the PWM module clock has gotten going
      // disable the PWM while initializing
      // program generators to go to 1 at rising compare A/B, 0 on falling
      // compare A/B
      // Set the PWM period. Since we are counting both up & down, we
      // initialize the load register to 1/2 the desired total period. We
      // will also program the match compare registers to 1/2 the desired
      // high time
      // Set the initial Duty cycle on A to 50% by programming the compare
      // value to 1/2 the period to count up (or down). Technically, the
      // value to program should be Period/2 - DesiredHighTime/2, but since
      // the desired high time is 1/2 the period, we can skip the subtract
      // Set the initial Duty cycle on B to 50% like A
      // enable the PWM outputs
      // now configure the Port B pins to be PWM outputs
      // start by selecting the alternate function for PB6 and PB7
      // now choose to map PWM to those pins, this is a mux value of 4 that
      // we want to use for specifying the function on bits 6 and 7
      // Enable pins 6 and 7 on Port B for digital I/O
      // make pins 6 and 7 on Port B an output
      // set the up/down count mode, enable the PWM generator and make
      // both generator updates locally synchronized to zero count

void PWM_SetFrequency(uint16_t PWMFreq, uint8_t Group)
  //Calculate Period_0 value=((MsPerSecond * PWMTicksPerMS) / PWMFreq)
	//Calculate DesiredHighTime=(Period_0 * Duty_0) / 100
	//Calculate CompVal = Period_0 / 2 - DesiredHighTime / 2

	//Switch depending which group
		//If group is DriveMotors
      // Set the PWM period. Since we are counting both up & down, we initialize
      // the load register to 1/2 the desired total period. We will also program
      // the match compare registers to 1/2 the desired high time
			// Save Period/2 for  for PWM0 + PWM 0 Load
      // modify compare values for PWM0_BASE and PWM_O_0_CMPA

		//If group is AllServos
      // Set the PWM period. Since we are counting both up & down, we initialize
      // the load register to 1/2 the desired total period. We will also program
      // the match compare registers to 1/2 the desired high time
			// Save Period/2 for PWM0_BASE + PWM_O_1_LOAD and PWM1_BASE + PWM_O_1_LOAD
      // modify compare values for PWM0_BASE (PWM_O_1_CMPA and PWM_O_1_CMPB) and PWM1_BASE (PWM_O_1_CMPA and PWM_O_1_CMPB)
		
		//If group is RecycleEmitter
      // Set the PWM period. Since we are counting both up & down, we
      // initialize the load register to 1/2 the desired total period. We
      // will also program the match compare registers to 1/2 the desired
      // high time
			// Save Period/2 for PWM1_BASE + PWM_O_0_LOAD
      // modify compare values for (PWM1_BASE + PWM_O_0_CMPA)

    //If group is RobotDetEmitter
      // Set the PWM period. Since we are counting both up & down, we
      // initialize the load register to 1/2 the desired total period. We
      // will also program the match compare registers to 1/2 the desired
      // high time
			// Save Period/2 for PWM1_BASE + PWM_O_2_LOAD
      // modify compare values for (PWM0_BASE + PWM_O_0_CMPA)

void PWM_SetDuty(uint8_t DutyCycle, uint8_t PinNum)
  // first take care of the duty cycles of 0 or 100 cases:
	//if DutyCycle equals 0
		//Call Set0_DC with PinNum
	//Else if DutyCycle equals 100
		//Call Set100_DC with PinNum
	//Else
    // make sure to reset the DC by calling RestoreDC
    // now change the correct PWM pin based on PinNum
			//If PinNum is MotorA
        // calculate what compare value should be for desired duty cycle
        // store that compare value into PWM port and write in PWM0_BASE + PWM_O_0_CMPA
			//If PinNum is MotorB
        // calculate what compare value should be for desired duty cycle
        // store that compare value into PWM port and write in PWM0_BASE + PWM_O_0_CMPB
			//If PinNum is RecycleServo
        // calculate what compare value should be for desired duty cycle
        // store that compare value into PWM port and write in PWM0_BASE + PWM_O_1_CMPA
			//If PinNum is TrashServo
        // calculate what compare value should be for desired duty cycle
        // store that compare value into PWM port and write in PWM0_BASE + PWM_O_1_CMPB
			//If PinNum is SortServo
        // calculate what compare value should be for desired duty cycle
        // store that compare value into PWM port and write in PWM1_BASE + PWM_O_1_CMPA
			//If PinNum is FlagServo
        // calculate what compare value should be for desired duty cycle
        // store that compare value into PWM port and write in PWM1_BASE + PWM_O_1_CMPB
			//If PinNum is RecycleEmitter
        // calculate what compare value should be for desired duty cycle
        // store that compare value into PWM port and write in PWM1_BASE + PWM_O_0_CMPA

static void Set0_DC(uint8_t PinNum)
  // check for which pin we should be changing
    // if we want to change MotorA, then make changes to generator A
      // to program 0% DC, set the action on Zero to set the output to 0
    // if we want to change MotorB, then make changes to generator B
      // to program 0% DC, set the action on Zero to set the output to 0
		// if we want to change RecycleServo, then make changes to generator A
      // to program 0% DC, set the action on Zero to set the output to 0
		// if we want to change TrashServo, then make changes to generator B
      // to program 0% DC, set the action on Zero to set the output to 0
		// if we want to change SortServo, then make changes to generator A
      // to program 0% DC, set the action on Zero to set the output to 0
		// if we want to change FlagServo, then make changes to generator B
      // to program 0% DC, set the action on Zero to set the output to 0
		// if we want to change RecycleEmitter, then make changes to generator A
      // to program 0% DC, set the action on Zero to set the output to 0

static void Set100_DC(uint8_t PinNum)
  // check for which pin we should be changing
    // if we want to change MotorA, then make changes to generator A
      // to program 0% DC, set the action on Zero to set the output to 1
    // if we want to change MotorB, then make changes to generator B
      // to program 0% DC, set the action on Zero to set the output to 1
		// if we want to change RecycleServo, then make changes to generator A
      // to program 0% DC, set the action on Zero to set the output to 1
		// if we want to change TrashServo, then make changes to generator B
      // to program 0% DC, set the action on Zero to set the output to 1
		// if we want to change SortServo, then make changes to generator A
      // to program 0% DC, set the action on Zero to set the output to 1
		// if we want to change FlagServo, then make changes to generator B
      // to program 0% DC, set the action on Zero to set the output to 1
		// if we want to change RecycleEmitter, then make changes to generator A
      // to program 0% DC, set the action on Zero to set the output to 1

static void RestoreDC(uint8_t PinNum)
	// check for which pin we should be changing
    // if we want to change MotorA, then make changes to generator A
      // to restore the previous DC, set the action back to the normal actions
    // if we want to change MotorB, then make changes to generator B
      // to restore the previous DC, set the action back to the normal actions
		// if we want to change RecycleServo, then make changes to generator A
      // to restore the previous DC, set the action back to the normal actions
		// if we want to change TrashServo, then make changes to generator B
      // to restore the previous DC, set the action back to the normal actions
		// if we want to change SortServo, then make changes to generator A
      // to restore the previous DC, set the action back to the normal actions
		// if we want to change FlagServo, then make changes to generator B
      // to restore the previous DC, set the action back to the normal actions
		// if we want to change RecycleEmitter, then make changes to generator A
      // to restore the previous DC, set the action back to the normal actions