Omnibot(Krajči,Dluhý)

Prepojenie riadiacich pinov ATmega 162V s L293d radičmi

OC3B-1A(1)
PA1-2A(1)
OC3A-4A(1)
PA5-3A(1)

OC1A-1A(2) 
PA4-2A(2)
OC1B-4A(2)
PA3-3A(2)

timer1 a 3 pobezi na 2kHz, prescaler 8, TOP=499

TCCR1A/TCCR3A 0b10100010 TCCR1B/TCCR3B 0b00011010

ICR1/ICR3 = 499 OCR1A, OCR1B, OCR3A, OCR3B = 0..499 => motor speed