// AVR Timer CTC Interrupts Calculator
// v. 8
// http://www.arduinoslovakia.eu/application/timer-calculator
// Microcontroller: ATmega2560
// Created: 2024-04-21T11:45:45.170Z


#define PWM_X 11
#define PWM_Y 5
#define DIR_PIN_X 2
#define DIR_PIN_Y 3
#define LED_X 13
#define LED_Y 12

volatile bool DIR_X = 0;
volatile bool DIR_Y = 0;

volatile int counter_X = 0;
volatile int counter_Y = 0;

void setupTimer1() {
  noInterrupts();
  // Clear registers
  TCCR1A = 0;
  TCCR1B = 0;
  TCNT1 = 0;

  // 10 Hz (16000000/((6249+1)*256))
  OCR1A = 6249;

  TCCR1A |= (1 << COM1A0);
  // CTC
  TCCR1B |= (1 << WGM12);
  // Prescaler 256
  TCCR1B |= (1 << CS12);
  // Output Compare Match A Interrupt Enable
  TIMSK1 |= (1 << OCIE1A);
  interrupts();
}

void setupTimer3() {
  noInterrupts();
  // Clear registers
  TCCR3A = 0;
  TCCR3B = 0;
  TCNT3 = 0;

  // 10 Hz (16000000/((6249+1)*256))
  OCR3A = 6249;

  //TCCR3A |= (1 << COM3A0);
  // CTC
  TCCR3B |= (1 << WGM32);
  // Prescaler 256
  TCCR3B |= (1 << CS32);
  // Output Compare Match A Interrupt Enable
  TIMSK3 |= (1 << OCIE3A);
  interrupts();
}

void setup() {
  pinMode(4, INPUT_PULLUP);

  pinMode(2, OUTPUT);
  pinMode(3, OUTPUT);
  pinMode(PWM_Y, OUTPUT);
  pinMode(PWM_X, OUTPUT);
  pinMode(LED_X, OUTPUT);
  pinMode(LED_Y, OUTPUT);

  setupTimer1();
  setupTimer3();
}




void loop() {

  if(digitalRead(4)==0)
{
  TCCR3A |= (1 << COM3A0);
}


}

ISR(TIMER1_COMPA_vect) {
  digitalWrite(LED_X, digitalRead(LED_X) ^ 1);
  if(DIR_X== 0)
  {
  counter_X++;
  }
  
  if(DIR_X== 1)
  {
  counter_X--;
  }

  if (counter_X == 30)
  {
    DIR_X=1;
    digitalWrite(DIR_PIN_X, DIR_X);
  }

  if (counter_X == 00)
  {
    DIR_X=0;
    digitalWrite(DIR_PIN_X, DIR_X);
  }



}

ISR(TIMER3_COMPA_vect) {

 if(DIR_Y== 0)
  {
  counter_Y++;
  }
  
  if(DIR_Y== 1)
  {
  counter_Y--;
  }

  digitalWrite(LED_Y, digitalRead(LED_Y) ^ 1);
 

  if (counter_Y == 30)
  {DIR_Y=1;
    digitalWrite(DIR_PIN_Y, DIR_X);
  }

  if (counter_Y == 00)
  {DIR_Y=0;
    digitalWrite(DIR_PIN_Y, DIR_X);
  }

}