#include <ez8.h>		//basic include file

void forward(int ontime, int offtime);			//	
void reverse(int ontime, int offtime);			// Motor speed is dependent on the ratio of ontime and offtime.
void left(int ontime, int offtime);				// ontime > offtime = greater speed
void rotateL(int ontime, int offtime);			// ontime < offtime = lesser speed
void right(int ontime, int offtime);			// 
void rotateR(int ontime, int offtime);			//

//Place Global Variables here

int d;			//use by sub-routines

void main()
{
//	initialization
	PBDD=0x00;			// Always set Port B as output when using the motor controller
//	Define port direction depending on your needs

	while(1)	//Program always in a loop
	{
		//Program starts here
	}
}		

/*	PB truth table:				hex values:
	0000 = stop						0x00
	0010 = left						0x02
	1111 = reverse					0x0f
	1110 = rotateL					0x0e
	1000 = right					0x08
	1011 = rotateR					0x0b
	1010 = forward					0x0a
*/

void forward(int ontime, int offtime)
{
	PBOUT=0x0a;				// forward
	for(d=0;d<ontime;d++){}	// this is a delay loop which duration is dependent to the given value of ontime
	PBOUT=0;				//	stop
	for(d=0;d<offtime;d++){}// this is a delay loop which duration is dependent to the given value of offtime
}

void reverse(int ontime, int offtime)
{
	PBOUT=0x0f;				// reverse
	for(d=0;d<ontime;d++){}	// this is a delay loop which duration is dependent to the given value of ontime
	PBOUT=0;				//	stop
	for(d=0;d<offtime;d++){}// this is a delay loop which duration is dependent to the given value of offtime
}

void left(int ontime, int offtime)
{
	PBOUT=0x02;				// rotateL
	for(d=0;d<ontime;d++){}	// this is a delay loop which duration is dependent to the given value of ontime
	PBOUT=0;				//	stop
	for(d=0;d<offtime;d++){}// this is a delay loop which duration is dependent to the given value of offtime
}

void rotateL(int ontime, int offtime)
{
	PBOUT=0x0e;				// rotateL
	for(d=0;d<ontime;d++){}	// this is a delay loop which duration is dependent to the given value of ontime
	PBOUT=0;				//	stop
	for(d=0;d<offtime;d++){}// this is a delay loop which duration is dependent to the given value of offtime
}

void right(int ontime, int offtime)
{
	PBOUT=0x08;				// rotateR
	for(d=0;d<ontime;d++){}	// this is a delay loop which duration is dependent to the given value of ontime
	PBOUT=0;				//	stop
	for(d=0;d<offtime;d++){}// this is a delay loop which duration is dependent to the given value of offtime
}

void rotateR(int ontime, int offtime)
{
	PBOUT=0x0b;				// rotateR
	for(d=0;d<ontime;d++){}	// this is a delay loop which duration is dependent to the given value of ontime
	PBOUT=0;				//	stop
	for(d=0;d<offtime;d++){}// this is a delay loop which duration is dependent to the given value of offtime
}