/*
This code will cause a TekBot connected to a mega32 board to 'dance' in a cool
pattern. No pins are used as input, and four Port B pins are used for output.

PORT MAP
Port B, Pin 5 -> Output -> Right Motor Enable
Port B, Pin 4 -> Output -> Right Motor Direction
Port B, Pin 6 -> Output -> Left Motor Enable
Port B, Pin 7 -> Output -> Left Motor Direction
*/
#define F_CPU 16000000
#include <avr/io.h>
#include <util/delay.h>
#include <stdio.h>

int main(void)
{
      DDRB = 0b11110000;      // configure Port B pins for input/output
      PORTB = 0b11110000;     // set initial value for Port B outputs
                              // (initially, disable both motors)

      while (1) { // loop forever

            PORTB = 0b10010000;     // make TekBot move forward
            _delay_ms(500);         // wait for 500 ms
            PORTB = 0b00000000;     // move backward
            _delay_ms(500);         // wait for 500 ms
            PORTB = 0b00010000;     // turn left
            _delay_ms(1000);        // wait for 1 s
            PORTB = 0b10000000;     // turn right
            _delay_ms(2000);        // wait for 2 s
            PORTB = 0b00010000;     // turn left
            _delay_ms(1000);        // wait for 1 s
      }
}