/* Standard Includes */

#include <stdint.h>
#include <avr/interrupt.h>
#include <avr/io.h>
	
#define F_CPU 1000000UL 	/* Stock 1mHz rate */
#include <util/delay.h>

/* Pin hookups defined here */
#define FRONT_MOTOR             PB1        
#define FRONT_MOTOR_OC          OC1A
#define FRONT_MOTOR_OC_REGISTER OCR1A

#define REAR_MOTOR              PB2	       
#define REAR_MOTOR_OC           OC1B	
#define REAR_MOTOR_OC_REGISTER  OCR1B


/* Centering and Tweaking */
/* These values vary across motors -- tweak here to get it centered */
#define FRONT_CENTER 1340
#define REAR_CENTER  1400
#define SLEW_SCALE   6


/* Declares */
void init(void);
int main(void);

void turnFront(uint16_t, uint16_t);	
/* turns to location, waiting for specified milliseconds */
void turnRear(uint16_t, uint16_t);	
/* turns to location, waiting for specified milliseconds */

void walkForward(uint16_t, uint16_t, uint16_t, uint16_t, uint16_t); 
/* front right, back right, front left, back left, pause */
void walkBackward(uint16_t, uint16_t, uint16_t, uint16_t, uint16_t); 
/* front right, back left, front left, back right, pause */

void stand(void);		 
/* centers for standing */