/**********************************************************************************
 *  Program Name:test_C01_F1_B1_F2.5_CW
 *  Author      :inoue
 *  Date        : 2006-08-25 05:44:29
 *  explanation :
 *               
 *				 JAPANROBOTECH C-Language Development Environment
 **********************************************************************************/

#include "JRT102.h"      // Hardware definition
#include "RoboDesigner.h"// RoboDesigner Hardware definition
#include "TiCollaLib.h"  // Library definition
#include "vectors.h"     // Interruption vector definition
#include "initialize.h"  // Ininitalize
#include "interrupt.h"   // Interruption


/*--------------------------------------------------------------------------------*/
/* Variable declaration                                                           */        
/*--------------------------------------------------------------------------------*/

/*--------------------------------------------------------------------------------*/
/* Prototype declaration                                                          */        
/*--------------------------------------------------------------------------------*/

void Forward( void );

/*--------------------------------------------------------------------------------*/
/*  main                                                                          */
/*--------------------------------------------------------------------------------*/

void main(void) {
	
	init();		//Initialization

	MOTOR_SPD(PWM_SIDE_CN11, MOTOR_STEP_MID1);	//　スピード設定
		
		M1_IN1 = 1; //前進　1秒
		M1_IN2 = 0;
		M2_IN1 = 1;
		M2_IN2 = 0;
		DELAY_SEC(100);

		M1_IN1 = 0; //後退　1秒
		M1_IN2 = 1;
		M2_IN1 = 0;
		M2_IN2 = 1;
		DELAY_SEC(100);
		
		Forward();

	while(1){		

		M1_IN1 = 1; //CW方向に回転しつづける
		M1_IN2 = 0;
		M2_IN1 = 0;
		M2_IN2 = 0;
	
		COPCTL = 0;	
	}
}

/*--------------------------------------------------------------------------------*/
/*  function                                                                          */
/*--------------------------------------------------------------------------------*/

void Forward( void ){			//前進 2.5秒
	M1_IN1 = 1;
	M1_IN2 = 0;
	M2_IN1 = 1;
	M2_IN2 = 0;
		DELAY_SEC(250);
}