#include "motors.h"

void FWD_LEFT_WHEEL(int pwm_control_l) {
    SetDCOC1PWM(pwm_control_l);
    SetDCOC2PWM(0);
}

void REV_LEFT_WHEEL(int pwm_control_l) {
    SetDCOC1PWM(0);
    SetDCOC2PWM(pwm_control_l);
}

void FWD_RIGHT_WHEEL(int pwm_control) {
    SetDCOC4PWM(pwm_control); 
    SetDCOC3PWM(0); 
}

void REV_RIGHT_WHEEL(int pwm_control) {
    SetDCOC4PWM(0); 
    SetDCOC3PWM(pwm_control); 
}

void OFF_LEFT_WHEEL(void) {
    SetDCOC1PWM(0);
    SetDCOC2PWM(0);
}

void OFF_RIGHT_WHEEL(void) {
    SetDCOC4PWM(0); 
    SetDCOC3PWM(0);
}

void FWD_CAR(int pwm_control, int pwm_control_l) {
    FWD_LEFT_WHEEL(pwm_control_l);
    FWD_RIGHT_WHEEL(pwm_control);
}

void REV_CAR(int pwm_control, int pwm_control_l) {
    REV_LEFT_WHEEL(pwm_control_l);
    REV_RIGHT_WHEEL(pwm_control);
}

void STOP_CAR(void) {
    OFF_LEFT_WHEEL();
    OFF_RIGHT_WHEEL();
}

void TURN_RIGHT(int pwm_control, int pwm_control_l) {
    REV_RIGHT_WHEEL(pwm_control);
    FWD_LEFT_WHEEL(pwm_control_l);
}

void TURN_LEFT(int pwm_control, int pwm_control_l) {
	FWD_RIGHT_WHEEL(pwm_control);
    REV_LEFT_WHEEL(pwm_control_l);
}