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 #define F_CPU 16000000 //16MHz
 #include <avr/io.h>
 #include <util/delay.h>
 #include <avr/interrupt.h>
 #include <stdlib.h>

 #define PWM_PRESCALLER 64
 #define ICR_MAX (long double)F_CPU/PWM_PRESCALLER/50
 #define OCR_MIN (float)ICR_MAX/37.5 // /8.75
 #define OCR_MAX (float)ICR_MAX/8.7 // 37.5

volatile unsigned long adc_val=0;
volatile unsigned long counter=0;
unsigned long curr_adc=0;

ISR (ADC_vect)
{
adc_val += ADC;
counter++;
}

int main(void)
{
DDRD |= (1<<DDD6);
ICR1 = ICR_MAX;
OCR0A = OCR_MIN;
TCCR0A = (1 << COM1A1) | (1<<WGM00) | (1<<WGM01);
TCCR0B = (1<<WGM02) | (1<<CS01) | (1<<CS00);
ADMUX = (1 << REFS0);
ADCSRA = (1 << ADEN)|(1 << ADATE)|(1 << ADIE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);

sei();
ADCSRA |= (1<<ADSC);

while(1)
{
    if(counter >= 1000)
    {
        cli();
        unsigned long round_val = round(adc_val / counter);
        adc_val=0;
        counter=0;
        if(abs(round_val - curr_adc) > 1)
        {
            curr_adc = round_val; 
        }
    long double ocr = OCR_MIN + ((long double)curr_adc * (OCR_MAX - OCR_MIN)/1024);

OCR0A = (int)round(ocr);
sei();
    }
} 

}

#define F_CPU 16000000 //16MHz
#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>
#include <stdlib.h>

#define PWM_PRESCALLER 64
#define ICR_MAX (long double)F_CPU/PWM_PRESCALLER/50
#define OCR_MIN (float)ICR_MAX/37.5 // /8.75
#define OCR_MAX (float)ICR_MAX/8.7 // 37.5

volatile unsigned long adc_val=0;
volatile unsigned long counter=0;
unsigned long curr_adc=0;

ISR (ADC_vect)
{
adc_val += ADC;
counter++;
}

int main(void)
{
    DDRD |= (1<<DDD6);
    ICR1 = ICR_MAX;
    OCR0A = OCR_MIN;
    TCCR0A = (1 << COM1A1) | (1<<WGM00) | (1<<WGM01);
    TCCR0B = (1<<WGM02) | (1<<CS01) | (1<<CS00);
    ADMUX = (1 << REFS0);
    ADCSRA = (1 << ADEN)|(1 << ADATE)|(1 << ADIE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);
    
    sei();
    ADCSRA |= (1<<ADSC);
    
    while(1)
    {
        if(counter >= 1000)
        {
            cli();
            unsigned long round_val = round(adc_val / counter);
            adc_val=0;
            counter=0;
            if(abs(round_val - curr_adc) > 1)
            {
                curr_adc = round_val; 
            }
            long double ocr = OCR_MIN + ((long double)curr_adc * (OCR_MAX - OCR_MIN)/1024);
            
            OCR0A = (int)round(ocr);
            sei();
        }
    } 
}

I found a working code that uses pin9 (PB1) on my Arduino for controlling a Servo, but in my project, an ultrasonic sensor is already using that pin/timer. I want to convert the code to use pin6 (PD6), changed the registers according to the atmega's datasheet, but it doesn't work. Need help :/

The code should allow me to turn a servo using a potentiometer.

 #define F_CPU 16000000 //16MHz
 
 #include <avr/io.h>
 
 #include <util/delay.h>
 
 #include <avr/interrupt.h>
 
 #include <stdlib.h>
 #define PWM_PRESCALLER 64
 
 #define ICR_MAX (long double)F_CPU/PWM_PRESCALLER/50
 
 #define OCR_MIN (float)ICR_MAX/37.5 // /8.75
 
 #define OCR_MAX (float)ICR_MAX/8.7 // 37.5
volatile unsigned long adc_val=0;
 
volatile unsigned long counter=0;
 
unsigned long curr_adc=0;
 
 

ISR (ADC_vect)
 
{
 
adc_val += ADC;
 
counter++;
 
}

int main(void)
 
{
 
 

DDRD |= (1<<DDD6);
 
ICR1 = ICR_MAX;
 
OCR0A = OCR_MIN;
 
TCCR0A = (1 << COM1A1) | (1<<WGM00) | (1<<WGM01);
 
TCCR0B = (1<<WGM02) | (1<<CS01) | (1<<CS00);
 
ADMUX = (1 << REFS0);
 
ADCSRA = (1 << ADEN)|(1 << ADATE)|(1 << ADIE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);

sei();
 
ADCSRA |= (1<<ADSC);

 

 

while(1)
 
{
 
if(counter >= 1000)
 
{
 
cli();
 
unsigned long round_val = round(adc_val / counter);
 
adc_val=0;
 
counter=0;
 
if(abs(round_val - curr_adc) > 1)
 
{
 
curr_adc = round_val;
 
}
 
long double ocr = OCR_MIN + ((long double)curr_adc * (OCR_MAX - OCR_MIN)/1024);

 

OCR0A = (int)round(ocr);
 
sei();
 
}

}
 
}

I found a working code that uses pin9 (PB1) on my Arduino for controlling a Servo, but in my project, an ultrasonic sensor is already using that pin/timer. I want to convert the code to use pin6 (PD6), changed the registers according to the atmega's datasheet, but it doesn't work. Need help :/

The code should allow me to turn a servo using a potentiometer.

 #define F_CPU 16000000 //16MHz
 #include <avr/io.h>
 #include <util/delay.h>
 #include <avr/interrupt.h>
 #include <stdlib.h> 

 #define PWM_PRESCALLER 64
 #define ICR_MAX (long double)F_CPU/PWM_PRESCALLER/50
 #define OCR_MIN (float)ICR_MAX/37.5 // /8.75
 #define OCR_MAX (float)ICR_MAX/8.7 // 37.5 

volatile unsigned long adc_val=0;
volatile unsigned long counter=0;
unsigned long curr_adc=0;

ISR (ADC_vect)
{
adc_val += ADC;
counter++;
}

int main(void)
{
DDRD |= (1<<DDD6);
ICR1 = ICR_MAX;
OCR0A = OCR_MIN;
TCCR0A = (1 << COM1A1) | (1<<WGM00) | (1<<WGM01);
TCCR0B = (1<<WGM02) | (1<<CS01) | (1<<CS00);
ADMUX = (1 << REFS0);
ADCSRA = (1 << ADEN)|(1 << ADATE)|(1 << ADIE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);

sei();
ADCSRA |= (1<<ADSC);

while(1)
{
    if(counter >= 1000)
    {
        cli();
        unsigned long round_val = round(adc_val / counter);
        adc_val=0;
        counter=0;
        if(abs(round_val - curr_adc) > 1)
        {
            curr_adc = round_val; 
        }
    long double ocr = OCR_MIN + ((long double)curr_adc * (OCR_MAX - OCR_MIN)/1024);

OCR0A = (int)round(ocr);
sei();
    }
} 

}

#define F_CPU 16000000 //16MHz

#include <avr/io.h>

#include <util/delay.h>

#include <avr/interrupt.h>

#include <stdlib.h> #define PWM_PRESCALLER 64

#define ICR_MAX (long double)F_CPU/PWM_PRESCALLER/50

#define OCR_MIN (float)ICR_MAX/37.5 // /8.75

#define OCR_MAX (float)ICR_MAX/8.7 // 37.5 volatile unsigned long adc_val=0;

volatile unsigned long counter=0;

unsigned long curr_adc=0;

ISR (ADC_vect)

{

adc_val += ADC;

counter++;

}

int main(void)

{

DDRD |= (1<<DDD6);

ICR1 = ICR_MAX;

OCR0A = OCR_MIN;

TCCR0A = (1 << COM1A1) | (1<<WGM00) | (1<<WGM01);

TCCR0B = (1<<WGM02) | (1<<CS01) | (1<<CS00);

ADMUX = (1 << REFS0);

ADCSRA = (1 << ADEN)|(1 << ADATE)|(1 << ADIE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);

sei();

ADCSRA |= (1<<ADSC);

while(1)

{

if(counter >= 1000)

{

cli();

unsigned long round_val = round(adc_val / counter);

adc_val=0;

counter=0;

if(abs(round_val - curr_adc) > 1)

{

curr_adc = round_val;

}

long double ocr = OCR_MIN + ((long double)curr_adc * (OCR_MAX - OCR_MIN)/1024);

OCR0A = (int)round(ocr);

sei();

}

}

}

 #define F_CPU 16000000 //16MHz

 #include <avr/io.h>

 #include <util/delay.h>

 #include <avr/interrupt.h>

 #include <stdlib.h>
 #define PWM_PRESCALLER 64

 #define ICR_MAX (long double)F_CPU/PWM_PRESCALLER/50

 #define OCR_MIN (float)ICR_MAX/37.5 // /8.75

 #define OCR_MAX (float)ICR_MAX/8.7 // 37.5
volatile unsigned long adc_val=0;

volatile unsigned long counter=0;

unsigned long curr_adc=0;

 

ISR (ADC_vect)

{

adc_val += ADC;

counter++;

}

int main(void)

{

 

DDRD |= (1<<DDD6);

ICR1 = ICR_MAX;

OCR0A = OCR_MIN;

TCCR0A = (1 << COM1A1) | (1<<WGM00) | (1<<WGM01);

TCCR0B = (1<<WGM02) | (1<<CS01) | (1<<CS00);

ADMUX = (1 << REFS0);

ADCSRA = (1 << ADEN)|(1 << ADATE)|(1 << ADIE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);

sei();

ADCSRA |= (1<<ADSC);

 

 

while(1)

{

if(counter >= 1000)

{

cli();

unsigned long round_val = round(adc_val / counter);

adc_val=0;

counter=0;

if(abs(round_val - curr_adc) > 1)

{

curr_adc = round_val;

}

long double ocr = OCR_MIN + ((long double)curr_adc * (OCR_MAX - OCR_MIN)/1024);

 

OCR0A = (int)round(ocr);

sei();

}

}

}