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void pwm_set( int16_t l, int16_t r){if (r < 0){PORTD &= !_PD6;PORTD |= _PD7;r = (-1) * r;} else {PORTD &= !_PD7;PORTD |= _PD6;}if (l < 0){PORTD &= !_PD2;PORTD |= _PD3;l = (-1) * l;} else {PORTD &= !_PD3;PORTD |= _PD2;}OCR1A = l & PWM_MASK;OCR1B = r & PWM_MASK;}void pwm_init(){TCCR1A = _COM1A1 | _COM1B1 | _COM1A0 | _COM1B0 | _WGM10 | _WGM11;// timerin 10bit pwm inv.TCCR1B = _WGM12 | _CS10; // kein prescale clk(i/o)DDRD |= _PD2 | _PD3 | _PD4 | _PD5 | _PD6 | _PD7; // outputs für motorensetzen}
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