#include <avr/io.h>
#include <avr/interrupt.h>

//function definition
void setMotorSpeed(unsigned char motorSpeed1, unsigned char motorSpeed2,unsigned char motorSpeed3, unsigned char motorSpeed4);

int main(void){
sei();
//setting PWM-Ports as output
DDRB|=(1<<PB7)|(1<<PB6)|(1<<PB5);
DDRE|=(1<<PE3);
// PWM,Phase correct,8-Bit mode
TCCR1A|=(1<<WGM10);
TCCR3A|=(1<<WGM30);
//no-inverting PWM
TCCR1A|=(1<<COM1A1)|(1<<COM1B1)|(1<<COM1C1);
TCCR3A|=(1<<COM3A1);
// Timer running on MCU clock/8
TCCR1B|=(1<<CS11);
TCCR3B|=(1<<CS31);
//set Motor Speed
setMotorSpeed(200,100,160,220);
while(1);
return 0;
}


void setMotorSpeed(unsigned char motorSpeed1, unsigned char motorSpeed2,unsigned char motorSpeed3, unsigned char motorSpeed4){

unsigned char sreg;
//store global interrupt flag
sreg=SREG;
//turn off interrupts
cli();
OCR1A=motorSpeed1;
OCR1B=motorSpeed2;
OCR1C=motorSpeed3;
OCR3A=motorSpeed4;
SREG=sreg;
}