/*****************************************************
Project : Servo Motor Controller
Author  : Reza Sepas Yar                      
Company : Pishro Noavaran Kavosh                            
Chip type           : ATmega16
Clock frequency     : 8.000000 MHz
*****************************************************/

#include <mega16.h>
#include <delay.h>
#define xtal 16000000

void main(void)
{

PORTD=0x00;
DDRD=0x20;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 2000.000 kHz
// Mode: Ph. & fr. cor. PWM top=ICR1
// OC1A output: Non-Inv.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
TCCR1A=0x80;
TCCR1B=0x12;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x4E;
ICR1L=0x20;
OCR1A=1000;

while (1)
    {
    
    for(OCR1A=1000;OCR1A<2000;OCR1A++)
        delay_ms(1);

    for(OCR1A=2000;OCR1A>1000;OCR1A--)
        delay_ms(1);
   
    };      
    
}