Const PWMmode8bit  As Byte = bx0000_0001
    Const PWMmode9bit  As Byte = bx0000_0010
    Const PWMmode10bit As Byte = bx0000_0011
    Const PWMmodeOff   As Byte = bx0000_0000
    Const MaskOC1A As Byte = bx1000_0000
    Const MaskOC1B As Byte = bx0010_0000

sub InitMotors()
    Register.TCCR1A = PWMmode8bit					'configure PWM hardware
    Register.TCCR1B = 3							'clk / 64
    Register.OCR1AH = 0
    Register.OCR1AL = 0
    Register.OCR1BH = 0
    Register.OCR1BL = 0
    Call PutPin(26, bxOutputLow)
    Call PutPin(27, bxOutputLow)
    Register.TCCR1A = Register.TCCR1A Or MaskOC1A      'start pwm
    Register.TCCR1A = Register.TCCR1A Or MaskOC1B
end sub

sub StartMotors()
    Register.OCR1AH = 0
    Register.OCR1AL = 64	                			'64=1.1ms  
    Register.OCR1BH = 0
    Register.OCR1BL = 120               				'120=2.0ms
end sub

sub StopMotors()
    Register.OCR1AH = 0
    Register.OCR1AL = 0
    Register.OCR1BH = 0
    Register.OCR1BL = 0
end sub
	
sub Backwards()
    Register.OCR1AH = 0
    Register.OCR1AL = 120
    Register.OCR1BH = 0
    Register.OCR1BL = 64
end sub

sub TurnLeft()
    Register.OCR1AH = 0
    Register.OCR1AL = 64
    Register.OCR1BH = 0
    Register.OCR1BL = 64
end sub

sub TurnRight()
    Register.OCR1AH = 0
    Register.OCR1AL = 120
    Register.OCR1BH = 0
    Register.OCR1BL = 120
end sub