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UBRR0L=0x67;
}
void init()
{
DDRC = 0xff;
DDRD = 0x00;
DDRG=0xff;
lcd_init(16);
lcd_clear();
}
void main()
{
init_pwm();
init_uart();
init();
while(1)
{
lcd_clear();
lcd_gotoxy(0,0);
sprintf(sbuf,"%d %d %d",(int)speed_pos, (int)(speed_x*100), (int)(speed_y*100));
lcd_puts(sbuf);
lcd_gotoxy(0,1);
sprintf(sbuf,"%x %x %c",OCR0, OCR2, data0);
lcd_puts(sbuf);

button();

if(speed_x < 0)
{
OCR0 = 0xff/(-speed_x+1);
X_DIR = 0;
}
else if(speed_x > 0)
{
OCR0 = 0xff/(speed_x+1);
X_DIR = 1;
}

if(speed_y < 0)
{
OCR2 = 0xff/(-speed_y+1);
Y_DIR = 0;
}
else if(speed_y > 0)
{

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