/*
 * Kontroll_Mjukvara.c
 *
 * Created: 2016-04-13 14:41:04
 *  Author: digpi02
 */ 


#include <avr/io.h>
// #include <util/delay.h>


#define RIGHTFORWARD 0b00000001
#define RIGHTBACK 0b00000010
#define LEFTFORWARD 0b00000100
#define LEFTBACK 0b00001000
#define BOTHFORWARD	0b00000101
#define BOTHBACK 0b00001010


void Reset(){
	PORTB = 0b00000000;
}


void start(void){
	DDRB = 0b00000000;
	DDRD= 0b11111111;
	}
	

void USART_Init(void){
	//Set baud rate 4800 bps - Max 62.5 kbps 
	//CPU Clock rate 2 mhz (1mhz/(16*9600)
	//ÄR U2x = 0 ?? 
	UBRRH=0;
	UBRRL=51;
	
	//Transmiting enabled
	// UCSRB ska bit 0 sättas till 1 
	UCSRB=0b00001000;
	UCSRC=0b00000110;

}

void USART_Transmit(char rxt){
	//obs
	while(!(UCSRA&(1<<UDRE)));
	UDR=rxt;
} 

void buttonSignal(){
	if(PINB==0b00000001||PINB==0b00010001){  //0b00010010){
		USART_Transmit('W');
		}
	if(PINB==0b00000010||PINB==0b00010010){ //0b00000001){
		USART_Transmit('S');
	}
	if(PINB==0b00000100||PINB==0b00010100){//0b00011000){
		USART_Transmit('Q');
	}
	if(PINB==0b00001000||PINB==0b00011000){ //0b00010100){
		USART_Transmit('A');
	}
	if(PINB==0b00000101||PINB==0b00010101){//0b00011010){
		USART_Transmit('E');
	}
	if(PINB==0b00001010||PINB==0b00011010){//0b00010101
		USART_Transmit('D');
	}
	if(PINB==0b00000110||PINB==0b00010110){
		USART_Transmit('R'); //QS
	}
	if (PINB==0b00001001||PINB==0b00011001){
		USART_Transmit('F'); //AW
	}else{
		USART_Transmit('O');
		/*Reset();*/
				}
	
}
int main(void){
	start();
	USART_Init();
	while(1){
		buttonSignal();
		Reset();

		 }
    }