Controlling multiple DC motors using ATMEGA16

[abes137]

I am controlling speed and direction of 2 DC motors using ATMEGA16 (Rhino Robot Control Board). One motor should rotates at 25 rpm in constant direction while the other rotates at 15 rpm rotating clockwise for 2 seconds and anticlockwise for 10 seconds. But both motors are rotating clockwise and anticlockwise. When I comment the code for the second motor, everything is fine. I have to control one more DC motor to be rotated at 25-100 rpm in constant direction. Here is the code I developed based on sample codes.


#include <stdlib.h>
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <compat/deprecated.h>
#include <avr/interrupt.h>

void LED1ON(void) {sbi(PORTC,7);}
void LED1OFF(void){cbi(PORTC,7);}
void TOGGLELED1(void) {if(bit_is_set(PORTC,7))cbi(PORTC,7); else sbi(PORTC,7);}

void LED2ON(void) {sbi(PORTC,6);}
void LED2OFF(void) {cbi(PORTC,6);}
void TOGGLELED2(void) {if(bit_is_set(PORTC,6))cbi(PORTC,6); else sbi(PORTC,6);}

char SWITCH1ON(void) {return(bit_is_clear(PIND,6));}
char SWITCH1OFF(void) {return(bit_is_set(PIND,6));}

#define LPWM OCR1A
#define RPWM OCR1B

int main(void)
{
sbi(DDRC,6);
sbi(DDRC,7);
sbi(PORTD,6);
sei();

LED1ON();

TCCR1A = _BV(WGM10) | _BV(COM1A1) | _BV(COM1B1); // enable 8 bit PWM, select inverted PWM
TCCR1B = _BV(CS11) | _BV(WGM12);
LPWM=0;
RPWM=0;
sbi(PORTC,2);
sbi(PORTC,3);
sbi(DDRD,4);
sbi(DDRD,5);
sbi(DDRC,2);
sbi(DDRC,3);

while(1)
{
{
cbi(PORTC,2);
LPWM=0;
RPWM=0;
}
{ //Forward 100% speed

cbi(PORTC,3);
LPWM=0;
RPWM=0;
}
_delay_ms(2000);


{ //Backward 100% speed
cbi(PORTC,3);
LPWM=255;
RPWM=255;
}
_delay_ms(10000);


/* { //Neutral (MOtor free flow)
cbi(PORTC,2);
cbi(PORTC,3);
LPWM=128;
RPWM=128;
}
_delay_ms(5000);*/

/* { //Braking mode
sbi(PORTC,2);
sbi(PORTC,3);
LPWM=0;
RPWM=0;
}
_delay_ms(1000);*/
}
//M1 – Left motor where M1-1 – Left motor Positive terminal, M1-2 Left motor Negative terminal
//M2 – Right Motor where M2-1 – Right motor Negative terminal, M2-2 – Right motor Positive terminal
}

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