#include "Reg51.h"
#include "Main.h"
#include "Motor.h"

sbit SM_1A = P1^4;            	
sbit SM_2A = P1^5;    
sbit SM_XB = P1^6;  
sbit PWR_ON = P1^7;  

char Motor_Status = 3;

void Mortor_Init(void){

	 Motor_Status = 3;
	 Power_On();
	 Delay(20);
	 Motor_Rotate(5,FORWARD);
	 Power_Off();
}

void Power_On(void){

PWR_ON = 1;
Mortor_Power_On();
}

void Power_Off(void){
	
PWR_ON = 0;
Mortor_Power_Off();
}

void Mortor_Power_On(void){
	
SM_XB=0; // M1B=0 , M2B=0, Current = MAX
}

void Mortor_Power_Off(void){
	
SM_XB=1; // M1B=1 , M2B=1, Current = 0
PWR_ON = 0;
}

void Motor_Rotate(uchar Step,uchar Direction){	
	
uchar i;	
		
for (i=0;i<Step;i++)	
{
	if (Direction==FORWARD)	//forward	
	{
		if(Motor_Status>=3)
			{Motor_Status=0;}
		else
			{Motor_Status++;}
	}
	else				//backward
	{
		if(Motor_Status<=0)
				{Motor_Status=3;}
		else
				{Motor_Status--;}						
	}

	switch (Motor_Status)
	{
	case 0:
		SM_1A = 0;
		SM_2A = 0;
		// M1A=0 , M2A=0 , Step=1
		break;
	case 1:
		SM_1A = 1;
		SM_2A = 0;	
		// M1A=0 , M2A=1 , Step=2
		break;
	case 2:
		SM_1A = 1;
		SM_2A = 1;	
		// M1A=1 , M2A=1 , Step=3
		break;
	case 3:
		SM_1A = 0;
		SM_2A = 1;	
		// M1A=1 , M2A=0 , Step=4
		break;
	default:
		SM_1A = 0;
		SM_2A = 0;	
		// M1A=0 , M2A=0 , Step=1
		break;
	}

	Delay(2);

}		
	
}