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The hardware files in this directory correspond to the Atmel ATmega8L
microcontroller on the motor accessory board from UC Berkeley.

HPLAccelC.nc
-- Configuration component for continuously sampling the x and y axis of
   the ADXL202e accelerometer on the motor board.

HPLAccelM.nc
-- Implementation of above component.  Provides the accel interface.

HPLADCC.nc
-- Pretty much the same as the mica version.  Some registry names have changed.

HPLEEPROM.nc
-- Provides access to the 512 bytes off EEPROM on the ATmega8L.
-- Address 0 contains the calibration byte required to run the internal clock
   at 2MHz.  Unfortunately, I have noticed that if you try to set the fuse
   bits for a higher clock rate (4MHz and 8MHz are possible) the clock is
   so inaccurate, that you can not program the device using the Mica Programmer
   anymore.  After a good deal of web research, it appears that if you use
   a parallel programming technique, this will still be possible but I have
   not actually tried this.
-- Addresses 10-12 hold constants relating to the Servo component.
   10: Kp constant for the PI servo control loop.
   11: Ki constant for the PI servo control loop.
   12: The reference value for "straight".
   If not written to in advance, these addresses are initialized in the 
   HPLMZServoM.nc component.

HPLI2CM.nc
-- Not yet adapted for the ATmega8L.

HPLInit.nc
-- same as mica.

HPLInterrupt.nc
-- same as mica.

HPLMotor1.nc
-- Uses PWM channel in a phase-correct, 8-bit fashion to create the PWM
   signal to control the speed and direction of the motors.  The frequency
   is set at approximately 500Hz and may be raised or lowered as the user
   deems necessary.

HPLMotor2.nc
-- Uses PWM channel in a phase-correct, 8-bit fashion to create the PWM
   signal to control the speed and direction of the motors.  The frequency
   is set at approximately 500Hz and may be raised or lowered as the user
   deems necessary.

HPLUARTC.nc
-- same as mica (with some register changes).

HPLUARTM.nc
-- same as mica (with some register changes).

I2CC.nc
-- Not yet implemented on ATmega8L.

Main.nc
-- same as mica.

MZServo.nc
-- Top level configuration of servo component.

MZServoM.nc
-- Uses a PI control loop to sense the current servo position, and drive the
   servo motor to that position.

RealMain.nc
-- same as mica except it calibrates the clock at the beginning by reading
   value out of EEPROM address 0.

hardware.h
-- Defines pins for use on motor board.  Feel free to modify names in your
   implementation.