/**********************************************************************************
 *  Program Name:lintrce_test01
 *  Author      :
 *  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                                                          */        
/*--------------------------------------------------------------------------------*/


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

void main(void) {
	
	init();		//Initialization
	while(1){

		byte ir;

		AD_GETDATA(AD_CN3,&ir);
	
		if(ir>=120){

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

		}else{

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

		COPCTL = 0;	
	}
}


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