//storage variables
boolean toggle0 = 0;
boolean toggle1 = 0;
boolean toggle2 = 0;
#include <SoftwareSerial.h>
#define rxPin 255       // Not used, so set to invalid pin #
#define txPin 14         // Connect BPI/BPK's SER input to this pin.
#define inverted 1     // In setup, 1=inverted, 0=noninverted
boolean dir=1;
int temp_c=1;
int count_to_8=1;
int countTmr0=0;
int countTmr1=0;
int countTmr2=0;
void setup() {
 
  Serial.begin(9600);    // Set the data rate
 
 DDRB=255;

  cli();//stop interrupts

  //set timer0 interrupt at 2kHz
  TCCR0A = 0;   // set entire TCCR2A register to 0
  TCCR0B = 0;   // same for TCCR2B
  TCNT0  = 0;   //initialize counter value to 0
  // set compare match register for 2khz increments
  OCR0A = 31;   // = (16*10^6) / (2000*64) - 1 (must be <256)
  // turn on CTC mode
  TCCR0A |= (1 << WGM01);
  // Set CS11 and CS10 bits for 64 prescaler
  TCCR0B |= (1 << CS12) | (1 << CS10);
  // enable timer compare interrupt
  TIMSK0 |= (1 << OCIE0A);

  //set timer1 interrupt at 1Hz
  TCCR1A = 0;// set entire TCCR1A register to 0
  TCCR1B = 0;// same for TCCR1B
  TCNT1  = 0;//initialize counter value to 0
  // set compare match register for 1hz increments
  OCR1A =1500;// = (16*10^6) / (1*1024) - 1 (must be <65536)
  // turn on CTC mode
  TCCR1B |= (1 << WGM12);
  // Set CS12 and CS10 bits for 1024 prescaler
  TCCR1B |= (1 << CS12) | (1 << CS10);
  // enable timer compare interrupt
  TIMSK1 |= (1 << OCIE1A);

  //set timer2 interrupt at 8kHz
  TCCR2A = 0;// set entire TCCR2A register to 0
  TCCR2B = 0;// same for TCCR2B
  TCNT2  = 0;//initialize counter value to 0
  // set compare match register for 8khz increments
  OCR2A = 49;// = (16*10^6) / (8000*8) - 1 (must be <256)
  // turn on CTC mode
  TCCR2A |= (1 << WGM21);
  // Set CS11 bit for 8 prescaler
  TCCR2B |= (1 << CS11);
  // enable timer compare interrupt
  TIMSK2 |= (1 << OCIE2A);


  sei();//allow interrupts

}//end setup

ISR(TIMER0_COMPA_vect) { //timer0 interrupt 2kHz toggles pin 8
  //generates pulse wave of frequency 2kHz/2 = 1kHz (takes two cycles for full wave- toggle high then toggle low)
  
  if(countTmr0 >= 100){ 
  if (toggle0){ 
    toggle0 = 0;
    //PORTB=PORTB ^00000001;
    PORTB=PORTB^1<<0;
   
    } 
  else{
    toggle0 = 1;
    //PORTB=PORTB ^00000001;
    PORTB=PORTB^1<<0;    
  }
countTmr0=0;
}
countTmr0=countTmr0+1;
}

ISR(TIMER1_COMPA_vect) { //timer1 interrupt 1Hz creates a toggles pin 36 bit 2 of port c
  //generates pulse wave of frequency 1Hz/2 = 0.5kHz (takes two cycles for full wave- toggle high then toggle low)

//Serial.println(temp_c, BIN);
 if (dir==1){/*if moving right*/

  
    if (temp_c==1){ //* hex 1 = to 000000001 binary* all the way to the right.
    dir =0;         //change direction to going left
                  }
    } 
 
   
 else 
   if (temp_c==0x80) {//
      dir = 1;   
   }
    
  if(dir==0){
 temp_c=temp_c<<1;}
  else 
    temp_c=temp_c>>1;
   PORTD= temp_c;
    Serial.println (PORTD, BIN);  
 
}
 
ISR(TIMER2_COMPA_vect) {   //generates pulse wave of frequency 8kHz/2 = 4kHz (takes two cycles for full wave- toggle high then toggle low)
  
  if(countTmr2 >= 10000){ 
  if (toggle2) {  
    toggle2 = 0;
    PORTB=PORTB^1<<1;
   // Serial.println(PORTB, BIN);
     
    }
  else {
    toggle2 = 1;
     PORTB=PORTB^1<<1;
    
     //Serial.print(PORTB, BIN);
  }
countTmr2=0;
}
countTmr2=countTmr2+1;
}
void loop() { 

}        
  
// notes  N = N | 1 << K    OR    N |= 1 << K    
//where K is the bit that is to be set
//PORTB=PORTB^1<<1; in this case we are toggling (xoring) pin 1 toggles pin 1 
//PORTB=PORTB ^00000001; toggles pin 0