1 files changed, 38 insertions, 5 deletions
diff --git a/code/debug/motors/PWM/src/main.cpp b/code/debug/motors/PWM/src/main.cpp
index 7564056..53369e4 100644
--- a/code/debug/motors/PWM/src/main.cpp
+++ b/code/debug/motors/PWM/src/main.cpp
@@ -1,13 +1,46 @@
-#include "SoftPWM.h"
 #include <Arduino.h>
 
-int pwmPin = 3;
+int pwmPin = 3; //pin for PWM output
+int pwmacc = 1000; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
+int PWMval = 0; //value of the PWM, means you can enter value from 0 to the value of pwmacc
 
+
+void setup() {
+}
 void setup() {
-  SoftPWMBegin();
+  
+  Timer3.initialize(800);  // 800 microseconds or 1.25Hz
+  Timer3.attachInterrupt(updatePWM);
+}
+
+void updatePWM() {
+  static int counter = 0;
+  if PWMval < 0) {
+    PWMval = 0;
+  }
+  if (PWMval > pwmacc) {
+    PWMval = pwmacc;
+  }
+
+  if (counter < PWMval) {
+    digitalWrite(pwmPin, HIGH);
+  } else {
+    digitalWrite(pwmPin, LOW);
+  }
+
+  counter++;
+  if (counter >= pwmacc) {
+    counter = 0;
+  }
 }
 
 void loop() {
-  SoftPWMSetFadeTime(pwmPin, 2500, 2500);
-  delay(1000);
+  for i (0; i < pwmacc; i++) {
+    PWMval = i;
+    delay(10);
+  }
+  for i (pwmacc; i > 0; i--) {
+    PWMval = i;
+    delay(10);
+  }
 }
 \ No newline at end of file