#include 
#include 

// Pin configuration for L293D
#define MOTOR_PIN1 PB0
#define MOTOR_PIN2 PB1
#define PWM_PIN PB2

void PWM_Init() {
    // Set Fast PWM mode, non-inverting
    TCCR0A = (1 << COM0A1) | (1 << WGM01) | (1 << WGM00);
    TCCR0B = (1 << CS01);  // Prescaler 8
    DDRB |= (1 << PWM_PIN);
}

void setMotorSpeed(uint8_t speed) {
    OCR0A = speed;  // Set PWM duty cycle
}

void setMotorDirection(uint8_t direction) {
    switch(direction) {
        case 0:  // Stop
            PORTB &= ~((1 << MOTOR_PIN1) | (1 << MOTOR_PIN2));
            break;
        case 1:  // Forward
            PORTB |= (1 << MOTOR_PIN1);
            PORTB &= ~(1 << MOTOR_PIN2);
            break;
        case 2:  // Reverse
            PORTB &= ~(1 << MOTOR_PIN1);
            PORTB |= (1 << MOTOR_PIN2);
            break;
    }
}

int main(void) {
    // Initialize motor control pins
    DDRB |= (1 << MOTOR_PIN1) | (1 << MOTOR_PIN2);
    PWM_Init();
    
    uint8_t speed = 0;
    
    while(1) {
        // Accelerate forward
        setMotorDirection(1);
        for(speed = 0; speed < 255; speed++) {
            setMotorSpeed(speed);
            _delay_ms(10);
        }
        
        // Decelerate
        for(speed = 255; speed > 0; speed--) {
            setMotorSpeed(speed);
            _delay_ms(10);
        }
        
        // Change direction
        setMotorDirection(2);
        // Repeat pattern for reverse...
    }
    
    return 0;
}
                        

#include 
#include 

#define SERVO_PIN PB1

void servoInit() {
    // Set Fast PWM mode, 8-bit
    TCCR1A = (1 << COM1A1) | (1 << WGM11);
    TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11);
    
    // Set frequency to 50Hz
    ICR1 = 39999;  // 16MHz / 8 / (39999 + 1) = 50Hz
    
    DDRB |= (1 << SERVO_PIN);
}

void setServoAngle(uint8_t angle) {
    // Convert angle (0-180) to pulse width (1000-2000 microseconds)
    uint16_t pulse_width = (angle * 1000 / 180) + 1000;
    
    // Convert to timer value
    // Timer counts every 0.5us (16MHz/8 prescaler = 2MHz = 0.5us per count)
    uint16_t timer_value = pulse_width * 2;
    
    OCR1A = timer_value;
}

int main(void) {
    servoInit();
    uint8_t angle = 90;
    
    while(1) {
        // Sweep from 0 to 180 degrees
        for(angle = 0; angle <= 180; angle++) {
            setServoAngle(angle);
            _delay_ms(15);
        }
        
        // Sweep from 180 to 0 degrees
        for(angle = 180; angle > 0; angle--) {
            setServoAngle(angle);
            _delay_ms(15);
        }
    }
    
    return 0;
}