Omnibot(Krajči,Dluhý)

Čo to z technického hľadiska

Prepojenie riadiacich pinov ATmega 162V s L293d radičmi

OC3B-1A(1)
PA0-2A(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

M1 = v reali 4
M2 = v reali 1
M3 = v reali 3
M4 = v reali 2