#include "avr.h"
#include "util.h"

void setMotorSpeed(MOTOR *motor, int speed) {
  if(speed > 0) {
    *motor->port &= ~motor->revMask;
    *motor->port |= motor->fwdMask;
  }
  else if(speed < 0) {
    *motor->port &= ~motor->fwdMask;
    *motor->port |= motor->revMask;
  }
  else *motor->port |= motor->fwdMask|motor->revMask;
  
  *motor->pwmPort = CLAMP(0, ABS(speed), 255);
}