Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/sensor_matrix.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/sensor_matrix.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/sensor_matrix.h	(nonexistent)
@@ -1,101 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- *
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file sensor_matrix.h
- * @brief Definitions for sensor matrices
- *
- * Contains functions and declarations for using sensor matrices.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef SENSOR_MATRIX_H
-#define SENSOR_MATRIX_H
-
-
-/**
- * @defgroup sensormatrix Sensor Matrix
- * @brief the robot sensor matrix
- *
- * These functions and structures are used for localization
- * to determine the relative directions of robots.
- *
- * @{
- **/
-
-#define MAXIMUM_XBEE_ID		0x10
-#define READING_UNKNOWN		0xFF
-
-/**
- * @struct SensorMatrix
- *
- * A sensor matrix.
- **/
-//TODO: the order of member variables in this struct should be changed in case the compile packs the struct
-// In order to achieve the best packing, the variables should be listed in order of decreasing memory size.
-// Thus, pointers should be first, followed by int, followed by char.
-typedef struct
-{
-	/**
-	 * The number of robots in the token ring.
-	 **/
-	int numJoined;
-	/**
-	 * The element representing a robot is true if that robot
-	 * is in the token ring and false otherwise.
-	 **/
-	unsigned char joined[MAXIMUM_XBEE_ID];
-
-	// on the bayboard, we don't include the matrix to save memory.
-#ifndef BAYBOARD
-	/**
-	 * The matrix. Each row represents the readings of one
-	 * robot.
-	 **/
-	unsigned char matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID];
-#endif
-} SensorMatrix;
-
-/**@brief Create a sensor matrix **/
-void sensor_matrix_create(void);
-/**@brief Set a reading in a sensor matrix **/
-void sensor_matrix_set_reading(int observer, int robot, int reading);
-/**@brief Get a reading in a sensor matrix **/
-int sensor_matrix_get_reading(int observer, int robot);
-/**@brief Set whether the robot is in the token ring **/
-void sensor_matrix_set_in_ring(int robot, int in);
-/**@brief Get whether the robot is in the sensor ring **/
-int sensor_matrix_get_in_ring(int robot);
-/**@brief Get the number of robots which have joined the token ring **/
-int sensor_matrix_get_joined(void);
-/**@brief Get the maximum size of the sensor matrix **/
-int sensor_matrix_get_size(void);
-
-/** @} **/ //end defgroup
-
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wireless.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wireless.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wireless.h	(nonexistent)
@@ -1,164 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- *
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file wireless.h
- * @brief Contains definitions for the wireless library.
- *
- * Contains functions for the wireless library.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef WIRELESS_H
-#define WIRELESS_H
-
-//Note: If this is raised above 16, we will need to do
-//something about frame numbers for TX Status packets.
-/**
- * The maximum number of packet groups.
- **/
-//TODO: a PacketGroupHandler is at least 10 bytes (I don't know if function pointers are 2 bytes
-// or 4 bytes).  That means that in the c file, your array of packet groups is at least 160 bytes.
-// Normally that might be fine (the robot's avr chips have 4k SRAM), but austin's chip only has
-// 1k SRAM, so if this number can be reduced or if the size of the struct could be reduced, that would be a plus.
-#define WL_MAX_PACKET_GROUPS 16
-
-/**
- * @defgroup wireless Wireless
- * @brief Wireless definitions.
- *
- * Contains functions and definitions for dealing with wireless functionality.<br><br>
- *
- * The wireless library provides a modular method for dealing with
- * wireless packets, by allowing packet groups to be registered.
- * A packet group is a collection of packets which share a packet
- * group code. Each packet in the group also has a type. A packet
- * group code and type are sent with each packet. When a packet
- * with a group code registered in the wireless library is
- * received, the corresponding event handler is called. The
- * event handler uses the packet type and other information
- * stored in the packet to respond.<br><br>
- *
- * This architecture allows different wireless functionality to be
- * defined and handled separately, making it simpler and more
- * efficient to take advantage of the XBee's wireless functionality.
- *
- * @{
- **/
-
-/**
- * @struct PacketGroupHandler
- * A PacketGroupHandler represents a packet group, and is used to
- * register a packet group with the wireless library. It contains
- * handlers for various events which can occur related to a packet
- * group.
- **/
-//TODO: the order of member variables in this struct should be changed in case the compile packs the struct
-// In order to achieve the best packing, the variables should be listed in order of decreasing memory size.
-// Thus, pointers should be first, followed by int, followed by char.
-typedef struct
-{
-	/**
-	 * The group code for this packet group. This number
-	 * must be unique. The maximum number of packet groups
-	 * is defined by WL_MAX_PACKET_GROUPS.
-	 **/
-  //TODO: if this number must be less than or equal to WL_MAX_PACKET_GROUPS, don't you only need
-  // one byte for it and it can be made an unsigned char?
-	unsigned int groupCode;
-
-	/**
-	 * Called every half second (not in interrupt,
-	 * but in wl_do).
-	 **/
-	void (*timeout_handler) (void);
-
-	/**
-	 * Called when a transmit status packet is received
-	 * from the XBee where the first four bits of the frame
-	 * are  the group code.
-	 *
-	 * @param frame the last four bits of the frame
-	 * @param received is true if we received an ack, 0 if
-	 * we did not.
-	 **/
-	void (*handle_response) (int frame, int received);
-
-	/**
-	 * Called when we receive a packet from this group.
-	 *
-	 * @param type the packet type
-	 * @param source the 16-bit address of the XBee this
-	 * packet was sent from
-	 * @param packet the packet received
-	 * @param length the length of the packet
-	 **/
-	void (*handle_receive) (char type, int source, unsigned char* packet, int length);
-
-	/**
-	 * Called for any cleanup when the network is turned off.
-	 **/
-	void (*unregister) (void);
-
-} PacketGroupHandler;
-
-/**@brief Initialize the wireless library **/
-int wl_init(void);
-/**@brief Uninitialize the wireless library **/
-void wl_terminate(void);
-/**@brief Perform wireless library functionality **/
-void wl_do(void);
-/**@brief Register a packet group with the wireless library **/
-void wl_register_packet_group(PacketGroupHandler* h);
-/**@brief Unregister a packet group with the wireless library **/
-void wl_unregister_packet_group(PacketGroupHandler* h);
-
-/**@brief Send a packet to a specific robot in any PAN **/
-int wl_send_robot_to_robot_global_packet(char group, char type, char* data, int len, int dest, char frame);
-/**@brief Send a packet to a specific robot in our PAN **/
-int wl_send_robot_to_robot_packet(char group, char type, char* data, int len, int dest, char frame);
-/**@brief Send a packet to all robots **/
-int wl_send_global_packet(char group, char type, char* data, int len, char frame);
-/**@brief Send a packet to all robots in our PAN **/
-void wl_send_pan_packet(char group, char type, char* data, int len, char frame);
-
-/**@brief Set the PAN we are using **/
-int wl_set_pan(int pan);
-/**@brief Get the PAN we are using **/
-int wl_get_pan(void);
-/**@brief Set the channel we are using **/
-int wl_set_channel(int channel);
-/**@brief Get the channel we are using **/
-int wl_get_channel(void);
-/**@brief Get the 16-bit address of the XBee module **/
-int wl_get_xbee_id(void);
-/**@brief Set the com port on a computer, undefined on the robot.**/
-void wl_set_com_port(char* port);
-
-/** @} **/ // end defgroup
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_token_ring.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_token_ring.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_token_ring.h	(nonexistent)
@@ -1,85 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file wl_token_ring.h
- * @brief Declarations for the token ring packet group
- * 
- * Contains declarations for the token ring packet group.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef WL_TOKEN_RING_H
-#define WL_TOKEN_RING_H
-
-/**
- * @defgroup tokenring Token Ring
- * @brief Wireless library token ring implementation
- *
- * This packet group is used to form a token ring, which
- * keeps track of the relative directions of the robots
- * from one another.
- *
- * @{
- **/
-
-/**@brief Register the token ring group with the wireless library.**/
-int wl_token_ring_register(void);
-/**@brief Unregister the token ring group with the wirelss library.**/
-void wl_token_ring_unregister(void);
-/**@brief Set the functions called to turn the bom on and off.**/
-void wl_token_ring_set_bom_functions(void (*on_function) (void), void (*off_function) (void),
-  int (*max_bom_function) (void));
-
-/**@brief Join the token ring **/
-int wl_token_ring_join(void);
-/**@brief Leave the token ring **/
-void wl_token_ring_leave(void);
-
-/**@brief Return the number of robots in the token ring **/
-int wl_token_get_robots_in_ring(void);
-/**@brief Return whether a given robot is in the token ring **/
-int wl_token_is_robot_in_ring(int robot);
-
-/**@brief Begin iterating through robots in the token ring **/
-void wl_token_iterator_begin(void);
-/**@brief Returns whether there are more robots to iterate through **/
-int wl_token_iterator_has_next(void);
-/**@brief Returns the ID of the next robot in the token ring **/
-int wl_token_iterator_next(void);
-
-/**@brief Return the latest BOM reading between two robots **/
-int wl_token_get_sensor_reading(int source, int dest);
-/**@brief Return the latest BOM reading between us and another robot **/
-int wl_token_get_my_sensor_reading(int dest);
-/**@brief Return the number of robots in the sensor matrix.*/
-int wl_token_get_num_robots(void);
-/**@brief Return the number of non-null elements in the sensor matrix*/
-int wl_token_get_matrix_size(void);
-
-/** @} **/ //end token ring group
-
-#endif
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/xbee.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/xbee.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/xbee.h	(nonexistent)
@@ -1,99 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file xbee.h
- * @brief Contains definitions for using the XBee
- *
- * Contains definitions for interfacing with the 
- * XBee module, from either a robot or a computer.
- * To use a robot, define ROBOT in wl_defs.h, and
- * to use a computer, don't define ROBOT.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef XBEE_H
-#define XBEE_H
-
-/**
- * The port to use the XBee from on the computer.
- * Also, a backup port if the other is used.
- **/
-#ifndef ROBOT
-#define XBEE_PORT_DEFAULT "/dev/ttyUSB1"
-#endif
-
-/**
- * @defgroup xbee XBee
- * @brief Interface with the XBee module
- *
- * Interface with the XBee module.
- *
- * @{
- **/
-
-/*Definitions*/
-/**@brief Unset PAN, uses XBee default **/
-#define XBEE_PAN_DEFAULT 0xFFFF
-/**@brief Unset channel, uses XBee default **/
-#define XBEE_CHANNEL_DEFAULT 0
-/**@brief Broadcast to all robots in the PAN **/
-#define XBEE_BROADCAST 0xFFFF
-/**@brief No special options **/
-#define XBEE_OPTIONS_NONE 0x00
-/**@brief Do not receive a TX_STATUS message from this packet **/
-#define XBEE_OPTIONS_DISABLE_RESPONSE 0x01
-/**@brief Send the packet to all PANS **/
-#define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04
-/**@brief A transmit status packet **/
-#define XBEE_TX_STATUS 0x89
-/**@brief A packet received from another XBee **/
-#define XBEE_RX 0x81
-
-/**@brief Initialize the XBee library **/
-int xbee_lib_init(void);
-/**@brief Uninitialize the XBee library **/
-void xbee_terminate(void);
-/**@brief Get a packet from the XBee **/
-int xbee_get_packet(unsigned char* packet);
-/**@brief Send a packet to the XBee **/
-int xbee_send_packet(char* packet, int len, int dest, char options, char frame);
-/**@brief Set the PAN ID for the XBee **/
-int xbee_set_pan_id(int id);
-/**@brief Get the XBee's PAN ID **/
-unsigned int xbee_get_pan_id(void);
-/**@brief Set the channel the XBee is currently using **/
-int xbee_set_channel(int channel);
-/**@brief Get the channel the XBee is currently using **/
-int xbee_get_channel(void);
-/**@brief Get the XBee's 16-bit address **/
-unsigned int xbee_get_address(void);
-/**@brief Set the com port on a computer, undefined on the robot**/
-void xbee_set_com_port(char* port);
-
-/**@}**/ //end defgroup
-
-#endif
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_basic.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_basic.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_basic.h	(nonexistent)
@@ -1,65 +0,0 @@
-/**
- * @file wl_basic.h
- * @brief High Level Wireless Packet Sending-Receiving Functions
- *
- * Abstracted wireless functionality for sending and receiving packets
- *
- * @author Christopher Mar, Colony Project, CMU Robotics Club
- **/
-
-/**
- * @defgroup wl_basic Wireless Basic
- * @brief Wireless abstraction for easily sending and receing packets.
- *
- * A high level abstraction of the wireless library.
- *
- * This will allow you to easily send and receive packets.
- *
- * @{
- **/
-
-#ifndef WL_BASIC_H
-#define WL_BASIC_H
-
-#include <wireless.h>
-
-/** @brief default wireless group for basic sending and receiving packets **/
-#define WL_BASIC_GROUP 8
-
-/** @brief PacketGroupHandler struct for Basic Group **/
-PacketGroupHandler wl_basic_group_handler;
-
-/**
- * @brief struct that contains relevant packet information
- **/
-struct PacketInfo {
-    char new_flag;
-    char type;
-    int source;
-    unsigned char* data;
-    int length;
-};
-
-/**
- * @brief current packet information, correct after wl_basic_do()
- **/
-struct PacketInfo current_packet;
-
-/** @brief init wireless for Basic Group **/
-int wl_basic_init( void (*handle_receive) (char type, int source, unsigned char* packet, int length) );
-/** @brief init wireless for Basic Group with default packet handling **/
-int wl_basic_init_default( void );
-/** @brief internal function to register a packet handler function **/
-void wl_basic_register_handler( void (*handle_receive) (char type, int source, unsigned char* packet, int length) );
-/** @brief send a packet to a single robot in Basic Group **/
-void wl_basic_send_robot_packet( char type, char* data, int len, int dest );
-/** @brief send a packet to all robots in Basic Group **/
-void wl_basic_send_global_packet( char type, char* data, int len );
-/** @brief internal default packet handler if none is specified on init **/
-void wl_basic_packet_receive_handler( char type, int source, unsigned char* packet, int length );
-/** @brief wrapper for wl_do() to return packet data buffer **/
-unsigned char* wl_basic_do_default( int *length );
-/** @} **/ // end defgroup
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_defs.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_defs.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_defs.h	(nonexistent)
@@ -1,97 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file wl_defs.h
- * @brief Definitions for Wireless
- *
- * Contains definitions for wireless packet groups, packet types,
- * debugging information, etc.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef WL_DEFS_H
-#define WL_DEFS_H
-
-//comment out this line if using a computer hooked up to an xbee
-//#define ROBOT
-
-//uncomment this line for debug information
-//#define WL_DEBUG
-
-// Packet Groups and Types
-
-// Error group
-#define WL_ERROR_GROUP 1
-
-#define WL_ERROR_STRING_TYPE 1
-
-// Token Ring group
-#define WL_TOKEN_RING_GROUP 2
-
-#define WL_TOKEN_PASS 1
-#define WL_TOKEN_SENSOR_MATRIX 2
-#define WL_TOKEN_BOM_ON 3
-#define WL_TOKEN_JOIN 4
-#define WL_TOKEN_JOIN_ACCEPT 5
-
-// timing constants
-#ifndef FIREFLY
-#define BOM_DELAY 100
-#else
-#define BOM_DELAY 200
-#endif
-
-#define DEATH_DELAY 4
-#define JOIN_DELAY 8
-
-#ifdef WL_DEBUG
-
-#ifdef ROBOT
-#include <serial.h>
-#endif
-
-#ifdef ROBOT
-#define WL_DEBUG_PRINT( s ) usb_puts( s )
-#else
-#define WL_DEBUG_PRINT( s ) printf( s )
-#endif
-
-#ifdef ROBOT
-#define WL_DEBUG_PRINT_INT( i ) usb_puti(i)
-#else
-#define WL_DEBUG_PRINT_INT( i ) printf("%i", i)
-#endif
-
-#else
-
-#define WL_DEBUG_PRINT( s )
-#define WL_DEBUG_PRINT_INT( i )
-
-#endif
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/queue.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/queue.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/queue.h	(nonexistent)
@@ -1,95 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file queue.h
- * @brief A queue implementation
- * 
- * Implements a queue, a first in, first out data structure.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef WIRELESS_QUEUE_H
-#define WIRELESS_QUEUE_H
-
-#ifndef ROBOT
-#include <pthread.h>
-#endif
-
-struct node_def;
-
-/**
- * @defgroup queue Queue
- * @brief A queue implementation
- * 
- * A queue implementation.
- *
- * @{
- **/
-
-/**
- * @struct Queue
- * Represents a queue, a first in, first out data structure.
- **/
-typedef struct
-{
-	/**
-	 * The head of the queue, the next item to be removed.
-	 **/
-	struct node_def* head;
-	/**
-	 * The tail of the queue, the last item added.
-	 **/
-	struct node_def* tail;
-	/**
-	 * The number of elements in the queue.
-	 **/
-	int size;
-	
-#ifndef ROBOT
-	pthread_mutex_t lock;
-#endif
-} Queue;
-
-/** @brief Create a new queue **/
-Queue* queue_create(void);
-/** @brief Destroy a queue **/
-void queue_destroy(Queue* q);
-/** @brief Add an element to a queue **/
-int queue_add(Queue* q, void* item);
-/** @brief Remove an element from a queue **/
-void* queue_remove(Queue* q);
-/** @brief Remove all instances of a given element from a queue **/
-void queue_remove_all(Queue* q, void* item);
-/** @brief Get the size of a queue **/
-int queue_size(Queue* q);
-/** @brief Check if the queue is empty **/
-int queue_is_empty(Queue* q);
-
-/** @} **/
-
-
-#endif
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_error_group.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_error_group.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libwireless/wl_error_group.h	(nonexistent)
@@ -1,66 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * @file wl_error_group.h
- * @brief Error Packets
- *
- * A packet group for sending error packets.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-#ifndef WL_ERROR_GROUP_H
-#define WL_ERROR_GROUP_H
-
-/**
- * @file wl_error_group.h
- * @brief A packet group for error messages.
- *
- * A packet group for sending and receiving error
- * messages.
- *
- * @author Brian Coltin, Colony Project, CMU Robotics Club
- **/
-
-/**
- * @defgroup wlerror Error Packets
- * @brief Functions for sending and receiving error packets
- * 
- * Functions for sending and receiving error packets.
- * 
- * @{
- **/
-
-/**@brief Register this packet group with the wireless library **/
-void wl_error_register(void);
-/**@brief Unregister this packet group with the wireless library **/
-void wl_error_unregister(void);
-/**@brief Send a string in an error packet **/
-void wl_error_send_string(char* str);
-
-/** @} **/ // end defgroup
-
-#endif
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/motor.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/motor.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/motor.h	(nonexistent)
@@ -1,70 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file motor.h
- * @brief Contains definitions for controlling the motors
- *
- * Contains definitions and functions for controlling
- * the motors.
- *
- * @author Colony Project, CMU Robotics Club
- * Based on Tom Lauwer's Firefly Library
- **/
-
-#ifndef _MOTOR_H
-#define _MOTOR_H
-
-#include <avr/io.h>
-/**
- * @addtogroup motors
- * @{
- **/
-
-/** @brief make the motors go forwards **/
-#define FORWARD 1
-/** @brief make the motors go backwards **/
-#define BACKWARD 0
-
-/** @brief Initialize the motors **/
-void motors_init(void);
-/** @brief Set speed and direction of motor1 
- *  @deprecated use the left motor function instead. it's more intuitive and easier to read.**/
-void motor1_set(int direction, int speed);
-/** @brief Set speed and direction of motor2 
- *  @deprecated use the right motor function instead. it's more intuitive and easier to read.**/
-void motor2_set(int direction, int speed);
-/** @brief Set speed and direction of left motor **/
-void motor_l_set(int direction, int speed);
-/** @brief Set speed and direction of right motor **/
-void motor_r_set(int direction, int speed);
-/** @brief Turn the motors off **/
-void motors_off(void);
-
-/**@}**/ // end addtogroup
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/analog.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/analog.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/analog.h	(nonexistent)
@@ -1,138 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-/**
- * 
- * @file analog.h
- * @brief Contains functions and definitions for using the ADC
- * 
- * Contains definitions and function prototypes for using the
- * ADC to detect analog signals on pins AN0 - AN7.
- * AN6 and AN7 are used for the wheel and battery.
-	
- * The pins labeled E6 and E7 are external interrupt pins and are not related 
- * to analog.
-	
- * @author Colony Project, CMU Robotics Club, based on firefly
- * originally taken from fwr analog file (author: Tom Lauwers)
- * loop code written by Kevin Woo and James Kong
- */
-
-#ifndef _ANALOG_H
-#define _ANALOG_H
-
-#include <inttypes.h>
-
-/**
- * @addtogroup analog
- * @{
- **/
-
-/** @brief Analog port 0 **/
-#define AN0 0x00
-/** @brief Analog port 1 **/
-#define AN1 0x01
-/** @brief Analog port 2 **/
-#define AN2 0x02
-/** @brief Analog port 3 **/
-#define AN3 0x03
-/** @brief Analog port 4 **/
-#define AN4 0x04
-/** @brief Analog port 5 **/
-#define AN5 0x05
-/** @brief Analog port 6 **/
-#define AN6 0x06
-/** @brief Analog port 7 **/
-#define AN7 0x07
-/** @brief Analog port 8 **/
-#define AN8 0x08
-/** @brief Analog port 9 **/
-#define AN9 0x09
-/** @brief Analog port 10 **/
-#define AN10 0x0A
-/** @brief Analog port 11 **/
-#define AN11 0x0B
-/** @brief Analog port 12 **/
-#define AN12 0x0C
-/** @brief Analog port 13 **/
-#define AN13 0x0D
-/** @brief Analog port 14 **/
-#define AN14 0x0E
-/** @brief Analog port 15 **/
-#define AN15 0x0F
-
-/** @brief BOM_PORT analog port for BOM **/
-#define BOM_PORT AN0
-/** @brief EXT_MUX analog port **/
-#define EXT_MUX AN7
-/** @brief Analog port for the wheel **/
-#define WHEEL_PORT AN10
-/** @brief Analog port for the battery voltage detector **/
-#define BATT_PORT  AN11
-
-/** @brief Analog loop status. ADC conversion running. **/
-#define ADC_LOOP_RUNNING 1
-/** @brief Analog loop status.  No ADC conversion running.**/
-#define ADC_LOOP_STOPPED 0
-
-/** @brief Analog init parameter. Start the analog loop. **/
-#define ADC_START 1
-/** @brief Analog init parameter. Don't start the analog loop. **/
-#define ADC_STOP  0
-
-#define ADMUX_OPT 0x60
-
-/** @brief Struct to hold the value of a particular analog port **/
-typedef struct {
-  uint8_t adc8;
-  uint16_t adc10;
-} adc_t;
-
-
-/** @brief Initialize analog ports. Will start running a loop
-    if start_conversion is ADC_START.**/
-void analog_init(int start_conversion);
-/** @brief starts the analog loop. Doesn't do anything if the loop is already running. **/
-void analog_start_loop(void);
-/** @brief Stops the analog loop. Doesn't do anything if the loop is already stopped. **/
-void analog_stop_loop(void);
-/** @brief Returns the status of the analog loop. **/
-int analog_loop_status(void);
-/** @brief Returns an 8-bit analog value from the look up table. Use this instead of analog_get8. **/
-unsigned int analog8(int which);
-/** @brief Returns an 10-bit analog value from the look up table. Use this instead of analog_get10. **/
-unsigned int analog10(int which);
-/** @brief Read the position of the wheel. **/
-int wheel(void);
-/** @brief Read an 8-bit number from an analog port. Loop must be stopped for this to work. **/
-unsigned int analog_get8(int which);
-/** @brief Read a 10-bit number from an analog port. Loop must be stopped for this to work. **/
-unsigned int analog_get10(int which);
-
-
-/**@}**/ //end group
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/encoders.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/encoders.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/encoders.h	(nonexistent)
@@ -1,86 +0,0 @@
-/**
- * 
- * @file encoders.h
- * @brief Contains functions for reading encoder values.
- *
- * Contains high and low level functions for reading encoders
- * including reading out total distance covered, and 
- * eventually velocity.
- *	
- * @author Colony Project, CMU Robotics Club
-*/
-
-/**
- * @addtogroup encoders
- * @{
- **/
-
-#ifndef __ENCODERS_H__
-#define __ENCODERS_H__
-
-
-#ifndef LEFT
-	/** @brief Left wheel **/
-	#define LEFT 0
-#endif
-#ifndef RIGHT
-	/** @brief Right wheel **/
-	#define RIGHT 1
-#endif
-
-/** @brief Max value of valid encoder reading. **/
-#define ENCODER_MAX 1024
-
-/** @brief Magnet misaligned - likely distance from encoder problem. **/
-#define ENCODER_MAGNET_FAILURE 1025
-/** @brief Encoder misaligned - likely on XY plane. **/
-#define ENCODER_MISALIGNED 1027
-/** @brief Not enough time has passed - encoders not initialized in hardware. **/
-#define ENCODER_DATA_NOT_READY 1026
-
-/** @brief delay_ms argument after a full read is complete **/
-#define ENCODER_DELAY 20
-
-//Data invalid flags (hardware failure):
-#define OCF _BV(4)
-#define COF _BV(3)
-
-//Data invalid alarm (May be invalid):
-#define LIN _BV(2)
-
-#define MagINCn _BV(1)
-#define MagDECn _BV(0)
-
-/** @brief Buffer size **/
-#define BUFFER_SIZE 46
-
-#define ERR_VEL 1024
-
-/** @brief Initialize encoders. **/
-void encoders_init(void);
-/** @brief Read instantaneous encoder value. **/
-int encoder_read(char encoder);
-
-/** @brief Get total distance traveled.
- *  @note  Simply calls encoder_get_dx.
- **/
-int encoder_get_x(char encoder);
-
-/** @brief Get instantaneous velocity. **/
-int encoder_get_v(char encoder);
-
-/** @brief Get total distance traveled. **/
-int encoder_get_dx(char encoder);
-/** @brief Reset distance counter. **/
-void encoder_rst_dx(char encoder);
-/** @brief Get time count: The number of encoder reads that have occurred. **/
-int encoder_get_tc(void);
-/** @brief Reset the time count. **/
-void encoder_rst_tc(void);
-
-/** @brief Waits for the next n encoder reading, then returns. **/
-void encoder_wait( int nReadings );
-
-/**@}**/ //end group
-
-#endif
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/lcd.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/lcd.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/lcd.h	(nonexistent)
@@ -1,61 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file lcd.h
- * @brief Contains definitions for dealing with the LCD screen.
- * 
- * Contains definitions and functions for dealing with the 
- * LCD screen.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _LCD_H_
-#define _LCD_H_
-
-/**
- * @addtogroup lcd
- * @{
- **/
-
-/** @brief Initialize the LCD screen **/
-void lcd_init(void);
-/** @brief Clear the LCD screen **/
-void lcd_clear_screen( void );
-/** @brief Print a char to the LCD screen **/
-void lcd_putc(char c);
-/** @brief Print a string to the LCD screen **/
-void lcd_puts(char *s);
-/** @brief Print an int to the LCD screen **/
-void lcd_puti(int value);
-/** @brief Set the current cursor position **/
-void lcd_gotoxy(int x, int y);
-
-/** @} **/
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/odometry.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/odometry.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/odometry.h	(nonexistent)
@@ -1,56 +0,0 @@
-
-/**
- * @file odometry.h
- * @brief Code for estimating the robots pose.
- * 
- * Offers simple position and orientation information.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef __ODOMETRY_C__
-#define __ODOMETRY_C__
-
-/**
- * @addtogroup odometry 
- * @{
- **/
-
-//Odometry resolution, *64 microseconds.
-#define ODOMETRY_CLK 255u 
-#define TIME_SCALE 64
-
-//Wheel = 2.613 in.  
-//Circumference = 208.508133 mm
-//Distance per encoder click (circumference / 1024)  = 203.621224 um.
-//Robot width = 5.3745 in. = 136.5123 mm
-
-#define ROBOT_WIDTH_UM 137000  //um
-#define CLICK_DISTANCE_UM 204 //um
-
-#define DISTANCE_SCALE 2.10526316 //Magic constant.
-#define ANGLE_SCALE 1.12823207 //Magic constant.
-
-/** @brief Retrieve the robots estimated x position*/
-long odometry_dx(void);
-
-/** @brief Retrieve the robots estimated y position*/
-long odometry_dy(void);
-
-/** @brief Retrieve the robots estimated orientation*/
-double odometry_angle(void);
-
-/** @brief Initialize odometry. MUST be called before 
- * the other functions work.**/
-void odometry_init(void);
-
-/** @brief Reset position and orientation to the origin facing
- * the x axis.*/
-void odometry_reset(void);
-
-/** @brief Report estimated velocity [mm/s].*/
-long odometry_velocity(void);
-
-/**@}**/ //end group
-
-#endif
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/move.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/move.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/move.h	(nonexistent)
@@ -1,75 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file move.h
- * @brief Contains definitions for controlling robot motion
- * 
- * This file offers higher-level functions for robot motion.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _MOVE_H_
-#define _MOVE_H_
-
-/**
- * @addtogroup move
- * @{
- **/
-
-/** @brief Move forwards **/
-#define FWD 0
-/** @brief Move backwards **/
-#define BCK 1
-
-/** @brief A slow speed **/
-#define SLOW_SPD 96
-/** @brief Half of the full speed **/
-#define HALF_SPD 128
-/** @brief A normal speed **/
-#define NRML_SPD 160
-/** @brief A fast speed **/
-#define FAST_SPD 192
-/** @brief The maximum speed **/
-#define FULL_SPD 255
-
-/** @brief A slow turning speed **/
-#define SLOW_TURN 64
-/** @brief A medium turning speed **/
-#define NRML_TURN 96
-/** @brief A high turning speed **/
-#define FAST_TURN 128
-
-/** @brief Move the robot at the specified velocity **/
-void move(int velocity, int omega);
-/** @brief Move the robot while avoiding obstacles **/
-void move_avoid(int velocity, int omega, int strength);
-
-/** @} **/
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/battery.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/battery.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/battery.h	(nonexistent)
@@ -1,64 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file battery.h
- * @brief Definitions for checking battery voltage.
- * 
- * Contains definitions for checking the voltage of the 
- * battery.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _BATTERY_H_
-#define _BATTERY_H_
-
-/**
- * @addtogroup battery
- * @{
- **/
-
-/** @brief Normal battery voltage. (6 V) **/
-#define BATTERY_NORMALV 154
-/** @brief Charging battery voltage. (7 V) **/
-#define BATTERY_CHARINGV 179
-/** @brief Low battery voltage. ( < 6 V) **/
-#define BATTERY_LOWV 152
-
-/** @brief Read the battery voltage. **/
-int battery8(void);
-/** @brief Read the battery voltage in deciVolts. **/
-int battery(void);
-/** @brief Check if the battery is low. **/
-char battery_low(void);
-/** @brief Get an average battery voltage reading. **/
-int battery8_avg(int n_samples);
-
-/** @} **/ //end addtogroup
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/dio.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/dio.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/dio.h	(nonexistent)
@@ -1,348 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file dio.h
- * @brief Definitions for digital input / output
- *
- * This file contains definitions and functions for dealing
- * with digital input and output.
- *
- * @author Colony Project, CMU Robotics Club
- * Based on Tom Lauwer's Firefly Library
- **/
-
-#ifndef _DIO_H
-#define _DIO_H
-
-/*
-  these are ALL the pins
-  don't use unless you know what you're doing
-*/
-
-/*
-  DIO pins on new dragonfly boards are shown below:
-  -----------------------------------------------
-  | _PIN_E6 | _PIN_E7 | _PIN_D2 | _PIN_D3 | VCC |
-  -----------------------------------------------
-  | _PIN_E2 | _PIN_E3 | _PIN_E4 | _PIN_E5 | GND |
-  -----------------------------------------------
-*/
-
-/** @brief Port A **/
-#define _PORT_A 1
-/** @brief Port B **/
-#define _PORT_B 2
-/** @brief Port C **/
-#define _PORT_C 3
-/** @brief Port D **/
-#define _PORT_D 4
-/** @brief Port E **/
-#define _PORT_E 5
-/** @brief Port F **/
-#define _PORT_F 6
-/** @brief Port G **/
-#define _PORT_G 7
-
-/** @brief Pin A0 **/
-#define _PIN_A0 8
-/** @brief Pin A1 **/
-#define _PIN_A1 9
-/** @brief Pin A2 **/
-#define _PIN_A2 10
-/** @brief Pin A3 **/
-#define _PIN_A3 11
-/** @brief Pin A4 **/
-#define _PIN_A4 12
-/** @brief Pin A5 **/
-#define _PIN_A5 13
-/** @brief Pin A6 **/
-#define _PIN_A6 14 
-/** @brief Pin A7 **/
-#define _PIN_A7 15
-
-/** @brief Pin B0 **/
-#define _PIN_B0 16
-/** @brief Pin B1 **/
-#define _PIN_B1 17
-/** @brief Pin B2 **/
-#define _PIN_B2 18
-/** @brief Pin B3 **/
-#define _PIN_B3 19
-/** @brief Pin B4 **/
-#define _PIN_B4 20
-/** @brief Pin B5 **/
-#define _PIN_B5 21
-/** @brief Pin B6 **/
-#define _PIN_B6 22
-/** @brief Pin B7 **/
-#define _PIN_B7 23
-
-/** @brief Pin C0 **/
-#define _PIN_C0 24
-/** @brief Pin C1 **/
-#define _PIN_C1 25
-/** @brief Pin C2 **/
-#define _PIN_C2 26
-/** @brief Pin C3 **/
-#define _PIN_C3 27
-/** @brief Pin C4 **/
-#define _PIN_C4 28
-/** @brief Pin C5 **/
-#define _PIN_C5 29
-/** @brief Pin C6 **/
-#define _PIN_C6 30
-/** @brief Pin C7 **/
-#define _PIN_C7 31
-
-/** @brief Pin D0 **/
-#define _PIN_D0 32  // pin DIO6 on new dragonfly boards
-/** @brief Pin D1 **/
-#define _PIN_D1 33  // pin DIO7
-/** @brief Pin D2 **/
-#define _PIN_D2 34
-/** @brief Pin D3 **/
-#define _PIN_D3 35
-/** @brief Pin D4 **/
-#define _PIN_D4 36
-/** @brief Pin D5 **/
-#define _PIN_D5 37
-/** @brief Pin D6 **/
-#define _PIN_D6 38
-/** @brief Pin D7 **/
-#define _PIN_D7 39
-
-/** @brief Pin E0 **/
-#define _PIN_E0 40
-/** @brief Pin E1 **/
-#define _PIN_E1 41
-/** @brief Pin E2 **/
-#define _PIN_E2 42  // pin DIO0
-/** @brief Pin E3 **/
-#define _PIN_E3 43  // pin DIO1
-/** @brief Pin E4 **/
-#define _PIN_E4 44  // pin DIO2
-/** @brief Pin E5 **/
-#define _PIN_E5 45  // pin DIO3
-/** @brief Pin E6 **/
-#define _PIN_E6 46  // pin DIO4
-/** @brief Pin E7 **/
-#define _PIN_E7 47  // pin DIO5
-
-/** @brief Pin F0 **/
-#define _PIN_F0 48
-/** @brief Pin F1 **/
-#define _PIN_F1 49
-/** @brief Pin F2 **/
-#define _PIN_F2 50
-/** @brief Pin F3 **/
-#define _PIN_F3 51
-/** @brief Pin F4 **/
-#define _PIN_F4 52
-/** @brief Pin F5 **/
-#define _PIN_F5 53
-/** @brief Pin F6 **/
-#define _PIN_F6 54
-/** @brief Pin F7 **/
-#define _PIN_F7 55
-
-/** @brief Pin G0 **/
-#define _PIN_G0 56
-/** @brief Pin WR **/
-#define _PIN_WR 56
-/** @brief Pin G1 **/
-#define _PIN_G1 57
-/** @brief Pin RD **/
-#define _PIN_RD 57
-/** @brief Pin G2 **/
-#define _PIN_G2 58
-/** @brief Pin ALE **/
-#define _PIN_ALE 58
-/** @brief Pin G3 **/
-#define _PIN_G3 59
-/** @brief Pin TOSC2 **/
-#define _PIN_TOSC2 59
-/** @brief Pin G4 **/
-#define _PIN_G4 60
-/** @brief Pin TOSC1 **/
-#define _PIN_TOSC1 60
-//#define _PIN_G5 61
-//#define _PIN_G6 62
-//#define _PIN_G7 63
-
-/*
-  These are the header pins (the ones you can connect things to)
-  Feel free to use these
-*/
-
-/**
- * @addtogroup dio
- * @{
- **/
-/** @brief Pin A0 **/
-#define PIN_A0 8
-/** @brief Pin A1 **/
-#define PIN_A1 9
-/** @brief Pin A2 **/
-#define PIN_A2 10
-/** @brief Pin A3 **/
-#define PIN_A3 11
-/** @brief Pin A4 **/
-#define PIN_A4 12
-/** @brief Pin A5 **/
-#define PIN_A5 13
-/** @brief Pin A6 **/
-#define PIN_A6 14 
-/** @brief Pin A7 **/
-#define PIN_A7 15
-
-/** @brief Pin SS **/
-#define PIN_SS 16
-/** @brief Pin SCK **/
-#define PIN_SCK 17
-/** @brief Pin MOSI **/
-#define PIN_MOSI 18
-/** @brief Pin MISO **/
-#define PIN_MISO 19
-/** @brief LCD Command Pin **/
-#define PIN_LCD_COMMAND 20
-
-/** @brief Pin C0 **/
-#define PIN_C0 24
-/** @brief Pin C1 **/
-#define PIN_C1 25
-/** @brief Pin C2 **/
-#define PIN_C2 26
-/** @brief Pin C3 **/
-#define PIN_C3 27
-/** @brief Pin C4 **/
-#define PIN_C4 28
-/** @brief Pin C5 **/
-#define PIN_C5 29
-/** @brief Pin C6 **/
-#define PIN_C6 30
-/** @brief Pin C7 **/
-#define PIN_C7 31
-
-/** @brief Pin SCL **/
-#define PIN_SCL 32
-/** @brief Pin SDA **/
-#define PIN_SDA 33
-
-/** @brief Pin RX0 **/
-#define PIN_RX0 40
-/** @brief Pin TX0 **/
-#define PIN_TX0 41
-/** @brief LCD Reset Pin **/
-#define PIN_LCD_RESET 42
-/** @brief Pin E6 **/
-#define PIN_E6 46
-/** @brief Pin EXT_DIO1 **/
-#define PIN_EXT_DIO1 46
-/** @brief Pin E7 **/
-#define PIN_E7 47
-/** @brief Pin EXT_DIO2 **/
-#define PIN_EXT_DIO2 48
-
-/** @brief Pin AN0 **/
-#define PIN_AN0 48
-/** @brief Pin ADC0 **/
-#define PIN_ADC0 48
-/** @brief Pin AN1 **/
-#define PIN_AN1 49
-/** @brief Pin ADC1 **/
-#define PIN_ADC1 49
-/** @brief Pin AN2 **/
-#define PIN_AN2 50
-/** @brief Pin ADC2 **/
-#define PIN_ADC2 50
-/** @brief Pin AN3 **/
-#define PIN_AN3 51
-/** @brief Pin ADC3 **/
-#define PIN_ADC3 51
-/** @brief Pin AN4 **/
-#define PIN_AN4 52
-/** @brief Pin ADC4 **/
-#define PIN_ADC4 52
-/** @brief Pin AN5 **/
-#define PIN_AN5 53
-/** @brief Pin ADC5 **/
-#define PIN_ADC5 53
-/** @brief Pin AN6 **/
-#define PIN_AN6 54
-/** @brief Pin ADC6 **/
-#define PIN_ADC6 54
-/** @brief Pin AN7 **/
-#define PIN_AN7 55
-/** @brief Pin ADC7 **/
-#define PIN_ADC7 55
-
-/** @brief Wheel Pin **/
-#define PIN_WHEEL 54
-/** @brief Battery Voltage Monitor Pin **/
-#define PIN_BATT 55
-
-/** @brief button1 Pin **/
-#define PIN_BTN1 56
-/** @brief button2 Pin **/
-#define PIN_BTN2 57
-
-/** @brief LED1 Pin **/
-#define PIN_LED1 58
-
-/* Buttons */
-/** @brief Button Pin **/
-#define PIN_BTN PING
-/** @brief button2 Pin **/
-#define BTN2 PING1
-/** @brief button1 Pin **/
-#define BTN1 PING0
-
-/** @brief Read a portpin. **/
-int digital_input(int);
-/** @brief Output to a portpin. **/
-void digital_output(int bit, int val);
-/** @brief Pullup a portpin. **/
-void digital_pull_up(int);
-
-/** @brief Check if button1 is pressed. **/
-int button1_read( void );
-/** @brief Check if button1 is clicked. **/
-int button1_click( void );
-/** @brief Wait until button1 is pressed. **/
-void button1_wait( void );
-
-/** @brief Check if button2 is pressed. **/
-int button2_read( void );
-/** @brief Check if button2 is clicked. **/
-int button2_click( void );
-/** @brief Wait until button2 is pressed. **/
-void button2_wait( void );
-
-/** @} **/ // end addtogroup
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/dragonfly_lib.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/dragonfly_lib.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/dragonfly_lib.h	(nonexistent)
@@ -1,115 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file dragonfly_lib.h
- * @brief Contains other include files
- * 
- * Include this file for all the functionality of libdragonfly.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _DRAGONFLY_LIB_H_
-#define _DRAGONFLY_LIB_H_
-
-/**
- * @addtogroup dragonfly
- * @{
- **/
-
-// Configuration definitions
-/** @brief Initialize analog **/
-#define ANALOG 0x01
-/** @brief Initialize serial communications **/
-#define SERIAL 0x02
-/** @brief Initialize USB communications **/
-#define USB    0x02
-/** @brief Initialize communications **/
-#define COMM   0x02
-/** @brief Initialize the orb **/
-#define ORB    0x04
-/** @brief Initialize the motors **/
-#define MOTORS 0x08
-/** @brief Initialize I2C **/
-#define I2C    0x20
-/** @brief Initialize the buzzer **/
-#define BUZZER 0x40
-/** @brief Initialize the LCD screen **/
-#define LCD    0x80
-/** @brief Initialize the rangefinders **/
-#define RANGE  0x0100
-/** @brief Initialize the BOM **/
-#define BOM  0x0200
-/** @brief Initialize everything  **/
-#define ALL_ON 0x03FF
-
-/** @brief Initialize the board **/
-void dragonfly_init(int config);
-
-/** @} **/ //end addtogroup
-
-#include <inttypes.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <util/delay.h>
-#include <util/twi.h>
-
-// This file is included from the libdragonfly directory because it seems to be
-// missing from the AVR libc distribution.
-#include "atomic.h"
-
-#include <analog.h>
-#include <dio.h>
-#include <time.h>
-#include <lcd.h>
-#include <lights.h>
-#include <motor.h>
-#include <serial.h>
-#include <buzzer.h>
-#include <rangefinder.h>
-#include <bom.h>
-#include <move.h>
-#include <reset.h>
-#include <math.h>
-#include <eeprom.h>
-#include <stdbool.h>
-
-/** @brief shortcut for ATOMIC_BLOCK(ATOMIC_RESTORESTATE) **/
-#define SYNC ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
-
-/** @brief atomically grab a lock if it is free, return otherwise **/
-#define REQUIRE_LOCK_OR_RETURN(LOCK) do { SYNC { if (LOCK) return; LOCK=1; } } while (0)
-
-/** @brief atomically release a lock **/
-#define RELEASE_LOCK(LOCK) do { LOCK=0; } while (0)
-
-
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/atomic.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/atomic.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/atomic.h	(nonexistent)
@@ -1,309 +0,0 @@
-/* This file is in the dragonfly library directory because it seems to be
-   missing from the AVR libc distribution */
-   
-/* Copyright (c) 2007 Dean Camera
-   All rights reserved.
-
-   Redistribution and use in source and binary forms, with or without
-   modification, are permitted provided that the following conditions are met:
-
-   * Redistributions of source code must retain the above copyright
-     notice, this list of conditions and the following disclaimer.
-
-   * Redistributions in binary form must reproduce the above copyright
-     notice, this list of conditions and the following disclaimer in
-     the documentation and/or other materials provided with the
-     distribution.
-
-   * Neither the name of the copyright holders nor the names of
-     contributors may be used to endorse or promote products derived
-     from this software without specific prior written permission.
-
-  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-  POSSIBILITY OF SUCH DAMAGE.
-*/
-
-/* $Id: atomic.h,v 1.3 2007/12/20 14:17:56 joerg_wunsch Exp $ */
-
-#ifndef _UTIL_ATOMIC_H_
-#define _UTIL_ATOMIC_H_ 1
-
-#include <avr/io.h>
-#include <avr/interrupt.h>
-
-#if !defined(__DOXYGEN__)
-/* Internal helper functions. */
-static __inline__ uint8_t __iSeiRetVal(void)
-{
-    sei();
-    return 1;
-}
-
-static __inline__ uint8_t __iCliRetVal(void)
-{
-    cli();
-    return 1;
-}
-
-static __inline__ void __iSeiParam(const uint8_t *__s)
-{
-    sei();
-    __asm__ volatile ("" ::: "memory");
-    (void)__s;
-}
-
-static __inline__ void __iCliParam(const uint8_t *__s)
-{
-    cli();
-    __asm__ volatile ("" ::: "memory");
-    (void)__s;
-}
-
-static __inline__ void __iRestore(const  uint8_t *__s)
-{
-    SREG = *__s;
-    __asm__ volatile ("" ::: "memory");
-}
-#endif	/* !__DOXYGEN__ */
-
-/** \file */
-/** \defgroup util_atomic <util/atomic.h> Atomically and Non-Atomically Executed Code Blocks
-
-    \code
-    #include <util/atomic.h>
-    \endcode
-
-    \note The macros in this header file require the ISO/IEC 9899:1999
-    ("ISO C99") feature of for loop variables that are declared inside
-    the for loop itself.  For that reason, this header file can only
-    be used if the standard level of the compiler (option --std=) is
-    set to either \c c99 or \c gnu99.
-
-    The macros in this header file deal with code blocks that are
-    guaranteed to be excuted Atomically or Non-Atmomically.  The term
-    "Atomic" in this context refers to the unability of the respective
-    code to be interrupted.
-
-    These macros operate via automatic manipulation of the Global
-    Interrupt Status (I) bit of the SREG register. Exit paths from
-    both block types are all managed automatically without the need
-    for special considerations, i. e. the interrupt status will be
-    restored to the same value it has been when entering the
-    respective block.
-
-    A typical example that requires atomic access is a 16 (or more)
-    bit variable that is shared between the main execution path and an
-    ISR.  While declaring such a variable as volatile ensures that the
-    compiler will not optimize accesses to it away, it does not
-    guarantee atomic access to it.  Assuming the following example:
-
-    \code
-#include <inttypes.h>
-#include <avr/interrupt.h>
-#include <avr/io.h>
-
-volatile uint16_t ctr;
-
-ISR(TIMER1_OVF_vect)
-{
-  ctr--;
-}
-
-...
-int
-main(void)
-{
-   ...
-   ctr = 0x200;
-   start_timer();
-   while (ctr != 0)
-     // wait
-       ;
-   ...
-}
-    \endcode
-
-    There is a chance where the main context will exit its wait loop
-    when the variable \c ctr just reached the value 0xFF.  This happens
-    because the compiler cannot natively access a 16-bit variable
-    atomically in an 8-bit CPU.  So the variable is for example at
-    0x100, the compiler then tests the low byte for 0, which succeeds.
-    It then proceeds to test the high byte, but that moment the ISR
-    triggers, and the main context is interrupted.  The ISR will
-    decrement the variable from 0x100 to 0xFF, and the main context
-    proceeds.  It now tests the high byte of the variable which is
-    (now) also 0, so it concludes the variable has reached 0, and
-    terminates the loop.
-
-    Using the macros from this header file, the above code can be
-    rewritten like:
-
-    \code
-#include <inttypes.h>
-#include <avr/interrupt.h>
-#include <avr/io.h>
-#include <util/atomic.h>
-
-volatile uint16_t ctr;
-
-ISR(TIMER1_OVF_vect)
-{
-  ctr--;
-}
-
-...
-int
-main(void)
-{
-   ...
-   ctr = 0x200;
-   start_timer();
-   sei();
-   uint16_t ctr_copy;
-   do
-   {
-     ATOMIC_BLOCK(ATOMIC_FORCEON)
-     {
-       ctr_copy = ctr;
-     }
-   }
-   while (ctr_copy != 0);
-   ...
-}
-    \endcode
-
-    This will install the appropriate interrupt protection before
-    accessing variable \c ctr, so it is guaranteed to be consistently
-    tested.  If the global interrupt state were uncertain before
-    entering the ATOMIC_BLOCK, it should be executed with the
-    parameter ATOMIC_RESTORESTATE rather than ATOMIC_FORCEON.
-
-*/
-
-/** \def ATOMIC_BLOCK(type)
-    \ingroup util_atomic
-
-    Creates a block of code that is guaranteed to be executed
-    atomically. Upon entering the block the Global Interrupt Status
-    flag in SREG is disabled, and re-enabled upon exiting the block
-    from any exit path.
-
-    Two possible macro parameters are permitted, ATOMIC_RESTORESTATE
-    and ATOMIC_FORCEON.
-*/
-#if defined(__DOXYGEN__)
-#define ATOMIC_BLOCK(type)
-#else
-#define ATOMIC_BLOCK(type) for ( type, __ToDo = __iCliRetVal(); \
-	                       __ToDo ; __ToDo = 0 )
-#endif	/* __DOXYGEN__ */
-
-/** \def NONATOMIC_BLOCK(type)
-    \ingroup util_atomic
-
-    Creates a block of code that is executed non-atomically. Upon
-    entering the block the Global Interrupt Status flag in SREG is
-    enabled, and disabled upon exiting the block from any exit
-    path. This is useful when nested inside ATOMIC_BLOCK sections,
-    allowing for non-atomic execution of small blocks of code while
-    maintaining the atomic access of the other sections of the parent
-    ATOMIC_BLOCK.
-
-    Two possible macro parameters are permitted,
-    NONATOMIC_RESTORESTATE and NONATOMIC_FORCEOFF.
-*/
-#if defined(__DOXYGEN__)
-#define NONATOMIC_BLOCK(type)
-#else
-#define NONATOMIC_BLOCK(type) for ( type, __ToDo = __iSeiRetVal(); \
-	                          __ToDo ;  __ToDo = 0 )
-#endif	/* __DOXYGEN__ */
-
-/** \def ATOMIC_RESTORESTATE
-    \ingroup util_atomic
-
-    This is a possible parameter for ATOMIC_BLOCK. When used, it will
-    cause the ATOMIC_BLOCK to restore the previous state of the SREG
-    register, saved before the Global Interrupt Status flag bit was
-    disabled. The net effect of this is to make the ATOMIC_BLOCK's
-    contents guaranteed atomic, without changing the state of the
-    Global Interrupt Status flag when execution of the block
-    completes.
-*/
-#if defined(__DOXYGEN__)
-#define ATOMIC_RESTORESTATE
-#else
-#define ATOMIC_RESTORESTATE uint8_t sreg_save \
-	__attribute__((__cleanup__(__iRestore))) = SREG
-#endif	/* __DOXYGEN__ */
-
-/** \def ATOMIC_FORCEON
-    \ingroup util_atomic
-
-    This is a possible parameter for ATOMIC_BLOCK. When used, it will
-    cause the ATOMIC_BLOCK to force the state of the SREG register on
-    exit, enabling the Global Interrupt Status flag bit. This saves on
-    flash space as the previous value of the SREG register does not
-    need to be saved at the start of the block.
-
-    Care should be taken that ATOMIC_FORCEON is only used when it is
-    known that interrupts are enabled before the block's execution or
-    when the side effects of enabling global interrupts at the block's
-    completion are known and understood.
-*/
-#if defined(__DOXYGEN__)
-#define ATOMIC_FORCEON
-#else
-#define ATOMIC_FORCEON uint8_t sreg_save \
-	__attribute__((__cleanup__(__iSeiParam))) = 0
-#endif	/* __DOXYGEN__ */
-
-/** \def NONATOMIC_RESTORESTATE
-    \ingroup util_atomic
-
-    This is a possible parameter for NONATOMIC_BLOCK. When used, it
-    will cause the NONATOMIC_BLOCK to restore the previous state of
-    the SREG register, saved before the Global Interrupt Status flag
-    bit was enabled. The net effect of this is to make the
-    NONATOMIC_BLOCK's contents guaranteed non-atomic, without changing
-    the state of the Global Interrupt Status flag when execution of
-    the block completes.
-*/
-#if defined(__DOXYGEN__)
-#define NONATOMIC_RESTORESTATE
-#else
-#define NONATOMIC_RESTORESTATE uint8_t sreg_save \
-	__attribute__((__cleanup__(__iRestore))) = SREG
-#endif	/* __DOXYGEN__ */
-
-/** \def NONATOMIC_FORCEOFF
-    \ingroup util_atomic
-
-    This is a possible parameter for NONATOMIC_BLOCK. When used, it
-    will cause the NONATOMIC_BLOCK to force the state of the SREG
-    register on exit, disabling the Global Interrupt Status flag
-    bit. This saves on flash space as the previous value of the SREG
-    register does not need to be saved at the start of the block.
-
-    Care should be taken that NONATOMIC_FORCEOFF is only used when it
-    is known that interrupts are disabled before the block's execution
-    or when the side effects of disabling global interrupts at the
-    block's completion are known and understood.
-*/
-#if defined(__DOXYGEN__)
-#define NONATOMIC_FORCEOFF
-#else
-#define NONATOMIC_FORCEOFF uint8_t sreg_save \
-	__attribute__((__cleanup__(__iCliParam))) = 0
-#endif	/* __DOXYGEN__ */
-
-#endif
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/i2c.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/i2c.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/i2c.h	(nonexistent)
@@ -1,57 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/** @file i2c.h
- *  @brief Header file for I2C
- *
- *  Contains functions for I2C.
- *
- *  @author Kevin Woo and Suresh Nidhiry, Colony Project, CMU Robotics Club
- **/
-
-
-#ifndef _I2C_H_
-#define _I2C_H_
-
-#include <stddef.h>
-
-/** @brief Address of slave receive handler function **/
-typedef void (*fun_srecv_t)(char);
-
-/** @brief Address of master receive handler function**/
-typedef int (*fun_mrecv_t)(char);
-
-/** @brief Address of slave send handler function**/
-typedef char (*fun_send_t)(void);
-
-int i2c_init(char addr, fun_mrecv_t master_recv, fun_srecv_t slave_recv, fun_send_t slave_send);
-int i2c_send(char dest, char* data, size_t bytes);
-int i2c_request(char dest);
-
-void i2c_packet_rec (char i2c_byte);
-void i2c_packet_sniff(char data);
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/bom.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/bom.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/bom.h	(nonexistent)
@@ -1,86 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file bom.h
- * @brief Definitions for using the BOM
- * 
- * This file contains definitions for using the Bearing and 
- * Orientation Module (BOM).
- *
- * @author Colony Project, CMU Robotics Club
- *
- **/
-
-#ifndef _BOM_H
-#define _BOM_H
-
-/**
- * @addtogroup bom
- * @{
- **/
- 
-/** @brief Include all elements in the 16-bit bitfield **/
-#define BOM_ALL 0xFFFF
-
-/** @brief Original BOM - No Range, No Individual LED control **/
-#define BOM10     0
-
-/** @brief BOM 1.5 - No Range, Individual LED control **/
-#define BOM15   1
-
-/** @brief RBOM - Range, Individual LED control **/
-#define RBOM    2
-
-
-/** @brief Initialize the bom according to bom type **/
-void bom_init(char type);
-
-/** @brief Refresh bom_val[] with new values from analog8.  analog_init and bom_init must be called for this to work. **/
-void bom_refresh(int bit_field);
-
-/** @brief Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values. **/
-int bom_get(int which);
-
-/** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/
-int bom_get_max(void);
-
-/** @brief Enables the selected bom leds on a BOM1.5 **/
-void bom_set_leds(int bit_field);
-
-/** @brief (DEPRECATED) Gets and compares all bom values.  Returns the index to the highest value element since last refresh. **/
-int get_max_bom(void);
-
-/** @brief Turns on all BOM leds, or turns on enabled leds on a BOM1.5. **/
-void bom_on(void);
-
-/** @brief Turns off all bom leds. **/
-void bom_off(void);
-
-/** @} **/
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/serial.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/serial.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/serial.h	(nonexistent)
@@ -1,146 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file serial.h
- * @brief Contains declarations for serial input and output
- *
- * Contains definitions for serial input and output.
- *
- * @author Colony Project, CMU Robotics Club
- * Based on Tom Lauwer's Firefly Library
- *
- **/
-
-/*
-  serial.h - Contains definitions and function prototypes for the RS232 serial port
-  author(s): pkv
-  
-  Directions:
-  Call the initialization function for the serial port you wish to use.  Then, use
-  either the provided functions or the stdio functions (fprintf, etc) to read and
-  write characters to the serial ports.
-  
-  UART Mapping:
-  usb_*() -> UART0
-  xbee_*() -> UART1
-  
-  Options: (Add the following defines to your code to configure this library)
-  #define USB_BAUD { 115200 | 9600 } <= pick ONE value from in here
-  #define XBEE_BAUD { 115200 | 9600 } <= pick ONE value from in here
-  #define USE_STDIO
-  
-  Note: If you enable USE_STDIO, the first init function that is called will 
-  automatically be linked to stdin, stdout, and stderr.  To use the baud rate 
-  commands, add something like the following to your code:
-  
-  #define FOO_BAUD 9600
-  
-  **UNLESS YOU KNOW WHAT YOU ARE DOING, PLEASE DO NOT CHANGE THIS FILE**
-  Many, many other people use this file in their code.  If you change it, you will
-  probably break all of their nice code.  You should not need to change anything in
-  here, except to accomodate new hardware.
-*/
-
-#ifndef _SERIAL_H
-#define _SERIAL_H
-
-#include <inttypes.h>
-#include <avr/pgmspace.h>
-
-/**
- * @defgroup usb USB Input / Output
- * @brief Functions for USB input / output
- *
- * Low level functions for USB input and output.
- *
- * @{
- **/
-
-// if no baud rate is defined for usb, default is set here
-#ifndef USB_BAUD
-/** @brief the USB baud rate **/
-#define USB_BAUD 115200
-#endif
-
-/** @brief Initialize the USB **/
-void usb_init(void);
-/** @brief Print a character to USB **/
-int usb_putc(char c);
-/** @brief Read a character from USB **/
-int usb_getc(void);
-/** @brief Read a character from USB without blocking **/
-int usb_getc_nb(char *c);
-/** @brief Print a string to USB **/
-int usb_puts(char *s);
-/** @brief Print a string from program space to USB **/
-void usb_puts_P (PGM_P s);
-/** @brief Print an integer to USB **/
-int usb_puti(int value);
-/** @brief Determine a hexadecimal digit **/
-uint8_t hex_digit (uint8_t value);
-/** @brief Print a fixed width hexadecimal representation to USB **/
-void usb_puth16 (uint16_t value);
-/** @brief Print a fixed width hexadecimal representation to USB **/
-void usb_puth8(uint8_t value);
-/** @brief Alias for usb_puth16 **/
-static inline void usb_puth (uint16_t value) { usb_puth16 (value); };
-
-
-/** @} **/ //end addtogroup
-
-/**
- * @defgroup xbee XBee Input / Output
- * @brief Functions for XBee input / output
- *
- * Low level functions for XBee input and output.
- *
- * @{
- **/
-
-// if no baud rate is defined for usb, default is set here
-
-// if no baud rate is defined for xbee, default is set here
-#ifndef XBEE_BAUD
-/** @brief the XBee baud rate **/
-#define XBEE_BAUD 9600
-#endif
-
-/** @brief Initialize the XBee **/
-void xbee_init(void);
-/** @brief Print a character to the XBee **/
-int xbee_putc(char c);
-/** @brief Read a character from the XBee **/
-int xbee_getc(void);
-/** @brief Read a character from the XBee without blocking **/
-int xbee_getc_nb(char *c);
-
-
-
-/** @} **/ //end addtogroup
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/buzzer.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/buzzer.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/buzzer.h	(nonexistent)
@@ -1,88 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file buzzer.h
- * @brief Contains definitions for using the buzzer.
- *
- * Contains definitions for using the buzzer built into
- * the colony robots.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _BUZZER_H_
-#define _BUZZER_H_
-
-/**
- * @addtogroup buzzer
- * @{
- **/
-
-//Musical note definitions
-//Source: http://www.answers.com/topic/piano-key-frequencies
-/** @brief Middle C **/
-#define	C4	260 //Middle C
-/** @brief C# **/
-#define	C4s	277 //C sharp
-/** @brief D **/
-#define	D4	294
-/** @brief D# **/
-#define	D4s	311
-/** @brief E **/
-#define	E4	330
-/** @brief F **/
-#define	F4	349
-/** @brief F# **/
-#define	F4s	370
-/** @brief G **/
-#define	G4	392
-/** @brief G# **/
-#define	G4s	415
-/** @brief A **/
-#define	A4	440
-/** @brief A# **/
-#define	A4s	466
-/** @brief B **/
-#define	B4	494
-/** @brief C **/
-#define	C5	523
-
-/** @brief Initialize the buzzer. **/
-void buzzer_init(void);
-/** @brief Set the value the buzzer plays. **/
-void buzzer_set_val(unsigned int buzz_value);
-/** @brief Set the frequency the buzzer plays. **/
-void buzzer_set_freq(unsigned int buzz_freq);
-/** @brief Play a frequency for a specified time. **/
-void buzzer_chirp(unsigned int ms, unsigned int buzz_freq);
-/** @brief Turn the buzzer off. **/
-void buzzer_off(void); 
-
-/** @} **/ //end addtogroup
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/reset.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/reset.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/reset.h	(nonexistent)
@@ -1,49 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * 
- * @file reset.h
- * @brief Contains function(s) for resetting the robots
- * 
- * @author Colony Project, CMU Robotics Club, James Kong
- */
-
-#ifndef _RESET_H_
-#define _RESET_H_
-
-/**
- * @addtogroup reset
- * @{
- **/
- 
-/** @brief Reset the robot **/
-void reset(void);
-
-/**@}**/ //end group
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/rangefinder.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/rangefinder.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/rangefinder.h	(nonexistent)
@@ -1,70 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file rangefinder.h
- * @brief Contains rangefinder declarations and functions
- * 
- * Contains functions and definitions for the use of
- * IR rangefinders.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _RANGEFINDER_H_
-#define _RANGEFINDER_H_
-
-/**
- * @addtogroup rangefinder
- * @{
- **/
-
-/** @brief IR Rangefinder 1 **/
-#define IR1 6
-/** @brief IR Rangefinder 2 **/
-#define IR2 5
-/** @brief IR Rangefinder 3 **/
-#define IR3 4
-/** @brief IR Rangefinder 4 **/
-#define IR4 3
-/** @brief IR Rangefinder 5 **/
-#define IR5 2
-/** @brief smallest meaningful rangefinder reading (logarithmic scale) **/
-#define MIN_IR_ADC8 20
-/** @brief largest meaningful rangefinder reading (logarithmic scale) **/
-#define MAX_IR_ADC8 133
-
-/** @brief Initialize the rangefinders **/
-void range_init(void);
-/** @brief Read the distance from a rangefinder **/
-int range_read_distance(int range_id);
-/** @brief Convert logarithmic-scale distance readings to a linear scale **/
-int linearize_distance(int value);
-
-/** @} **/ //end addtogroup
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/eeprom.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/eeprom.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/eeprom.h	(nonexistent)
@@ -1,49 +0,0 @@
-/**
- * @file eeprom.h
- * @brief handles eeprom storage for persistent data
- *
- * Contains functions and definitions for reading and writing to eeprom
- *
- * @author Colony Project, Brad Neuman
- */
- 
- #ifndef _EEPROM_H_
- #define _EEPROM_H_
- 
- #include <bom.h>
- 
- #define EEPROM_ROBOT_ID_ADDR 0x10
- #define EEPROM_BOM_TYPE_ADDR 0x14
- 
- /** @brief store a byte to eeproem
-  *  @return 0 if success, nonzero on failure
-  */
- int eeprom_put_byte(unsigned int addr, unsigned char byte);
- 
- /** @brief reads a byte from eeprom
-  *
-  *  Pass it thge address and a pointer to a byte where the byte at the
-  *  address will be stored
-  *
-  *  @return 0 if successful (byte is set to the eeprom value at addr), 
-  *  nonzero if there was a problem
-   */
- int eeprom_get_byte(unsigned int addr, unsigned char *byte);
- 
- /** @brief get stored robot ID
-  *
-  *  checks that EEPROM has been programed with an ID and returns it
-  *
-  *  @return the robot id, if it is stored. If it returns 0xFF it is probably invalid
-  */
- unsigned char get_robotid(void);
-  
-   /** @brief get stored robot ID
-  *
-  * checks that EEPROM has been programed with an BOM type and returns it
-  *
-  *  @return the robot bom type as defined in bom.h, if it is stored. If it returns 0xFF it is probably invalid
-  */
- unsigned char get_bom_type(void);
- 
- #endif
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/ring_buffer.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/ring_buffer.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/ring_buffer.h	(nonexistent)
@@ -1,142 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/** @file ring_buffer.h
- * @brief Ring Buffer
- *
- * Include macros to create a ring buffer. Originally written for 15-410.
- * Modified for use in ATMega128 serial driver
- *
- * @author Cornell Wright (cgwright)
- * @author Jason P. Winters (jpwinter)
- *
- **/
-
-#ifndef _RING_BUFFER_H
-#define _RING_BUFFER_H
-
-/** @brief Creates the struct for a new ring buffer. This just expands to a
- *	structure definition and thus should be invoked in the global context.
- *
- *	@param struct_name Name of the ring buffer struct.
- *
- *	@param size The size of the buffer to create.
- *
- *	@param type The type of object that the queue is to hold.
- *
- *	@param ... Name or names of the instance or instances of the ring buffer(s)
- *	to be created.
- */
-#define RING_BUFFER_NEW(struct_name, size, type, ...)	\
-	struct struct_name {	\
-		type queue[size];	\
-		uint8_t start;			\
-		uint8_t end;			\
-		uint8_t buffer_size;			\
-	} __VA_ARGS__
-
-
-/** @brief Initializes the ring buffer, setting its size to the correct value
- *
- *	@param buf The ring buffer to initialize.
- *
- *  @param size The size of the ring buffer (in array elements)
- */
-#define RING_BUFFER_INIT(buf, size) 			\
-	do {										\
-		(buf).buffer_size = size;				\
-	} while(0)
-
-
-/** @brief Sets the specified ring buffer to be empty.
- *
- *	@param buf The ring buffer to make empty.
- */
-#define RING_BUFFER_CLEAR(buf)	\
-	do {						\
-		(buf).start = 0;		\
-		(buf).end = 0;			\
-	} while (0)
-
-/** @brief Returns true if the ring buffer specified is empty.
- *
- *	@param buf The buffer to check emptiness of.
- */
-#define RING_BUFFER_EMPTY(buf) ((buf).start == (buf).end)
-
-
-/** @brief Returns true if the ring buffer specified is full.
- *
- *	@param buf The buffer to check fullness of.
- */
-#define RING_BUFFER_FULL(buf)	\
-		(((buf).end + 1) % (buf).buffer_size == (buf).start)
-
-
-/** @brief Adds val to ring buffer buf. Note that val must be of the type
- *	used in creating the ring buffer to prevent the compiler from spewing
- *	confusing errors. Also, this assumes that the ring buffer is not full.
- *
- *	@param buf The ring buffer to add to.
- *	@param val The value to add.
- */
-#define RING_BUFFER_ADD(buf, val)		\
-	do {								\
-		(buf).queue[(buf).end] = val;	\
-		(buf).end = ((buf).end + 1) % (buf).buffer_size;	\
-	} while (0)
-
-
-/** @brief Removes the value at the head of the ring buffer and puts it in
- *	val_ret. Note that val_ret must be the same type used in creating the ring
- *	buffer to prevent the compiler from spewing confusing errors. Also, this
- *	assumes that the ring buffer is not empty.
- *
- *	@param buf The ring buffer to remove from.
- *	@param val_ret Where to put the value removed from the head of the ring
- *	buffer.
- */
-#define RING_BUFFER_REMOVE(buf, val_ret)	\
-	do {	\
-		(val_ret) = (buf).queue[(buf).start];	\
-		(buf).start = ((buf).start + 1) % (buf).buffer_size;	\
-	} while (0)
-
-/** @brief Checks the value at the head of the ring buffer without removing it
- *  and puts it into val_ret. Note that val_ret must be the same type used in
- *  creating the ring buffer to prevent the compiler from spewing confusing
- *  errors. Also, this assumes that the ring buffer is not empty.
- *
- *  @param buf The ring buffer to check from
- *  @param val_ret where to put the value checked from the head of the ring
- */
- #define RING_BUFFER_PEEK(buf, val_ret)  \
-  do { \
-    (val_ret) = (buf).queue[(buf).start]; \
-  } while(0)
-
-#endif /* _RING_BUFFER_H */
-
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/lights.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/lights.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/lights.h	(nonexistent)
@@ -1,224 +0,0 @@
-// FIXME remove
-typedef unsigned char uint8_t;
-
-
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file lights.h
- * @brief Contains declarations for managing the orbs.
- *
- * Contains declarations for using the orbs and PWM.
- *
- * @author Colony Project, CMU Robotics Club
- * Based on Firefly Library, by Tom Lauwers and Steven Shamlian
- **/
-
-#ifndef _LIGHTS_H_
-#define _LIGHTS_H_
-
-/**
- * @addtogroup orbs
- * @{
- **/
-
-/**
- * Quick start: call orb_init_pwm or orb_init_binary, depending on which mode you want to use. Call orb*set or
- * orb*set_color to set the orbs.
- * 
- * The orbs have two modes of operation: PWM mode and binary mode. In PWM mode, a pwm signal is generated by a hardware
- * timer and the orbs can be set to a value of 0 through 255. In binary mode, the orbs can only be turned on or off and
- * a value of 0 means "off" and any other value means "on". The mode can be chosen on initialization and can be changed
- * at runtime using the orb_set_mode function.
- *
- * Operation (PWM mode): On timer overflow, all LEDs with a value>0 are turned on and the output compare value for the
- * first LED is loaded. On compare match, the corresponding LED is turned off and the next output compare value is
- * loaded. All masks are precomputed and sorted by time when setting the values.
- *
- * The data structure (pwm_t) containing the PWM times and masks is triple buffered. This is because the buffer the ISR
- * is reading from may only be modified on timer overflow before the next PWM sequence is started, because otherwise the
- * next OCR value might be sed to a value smaller than the current timer value, resulting in the remaining channels not
- * being turned off in that PWM period (flash to on). When using two buffers, the page flip can only occur on a timer
- * overflow for the same reason. So after writing a buffer and marking it for page flip, neither of the buffers could be
- * modified because the front buffer is read by the ISR and the back buffer could be switched at any time. So the
- * calling thread would have to be delayed by up to one full PWM period (8ms in the current implementation, but
- * 20ms-50ms would be a reasonable value to expect here). To avoid this, triple buffering is used.
- *
- * The code for applying the orbs is fairly optimized. See the apply_orbs function for some time measurements and
- * further nodes.
- *
- * The PWM frequency is 120Hz (8ms period time). The next lower frequency (determined by the prescaler) is 30 Hz which
- * is too slow (orbs flicker).
- *
- * The orbs code is thread safe, which means that the functions may be called from another interrupt handler. If there
- * are multiple concurrent calls to the orb*set* functions, one of them is ignored and the orbs are never left in an
- * inconsistent state. For example, if the orbs are set to green by the main thread and to red by an interrupt handler,
- * the resulting color will be either red or green, but never yellow.
- * Thread safety is achieved by grabbing a lock at the beginning of all functions that modify the orb code and releasing
- * the lock at the end. If the lock is already taken, the function just returns doing nothing.
- *
- * Some performance measurements:
- *   - Time for setting new orb values (PWM mode):       35us-72us (depending on the degree to which the array is
- *                                                                  already in the correct order)
- *   - Time for setting new orb values (binary mode):        5.5us
- *
- *   - Interrupt time (PWM mode only):                         8us (overflow)
- *                                                            10us (output compare)
- *                                                             6us (last output compare)
- *                                                            30us (output compare, all value equal)
- *
- *   - Maximum total interrupt time per period:               64us
- *   - Maximum CPU usage for interrupts (PWM mode only):     <0.8%
- *
- *   - Maximum contiguous synchronized block:                 30us (output compare interrupt, all values equal)
- *
- * There are some potential optimizations left. See the source code for more information.
- *
- * A note on robustness: if the output compare interrupt is disabled for too long, either due to a long ISR or a long
- * synchronized code block, the orbs will flicker to brighter values for being turned off too late. With software PWM,
- * there's nothing at all to be done about that. The problem can be alleviated by using a lower PWM frequency, but then
- * the orbs will start flickering all the time due to the low update frequency.
- * Some measurements: with 100us synchronized blocks, the flickering is accepptably low. Longer synchronized blocks
- * mean more flickering. At 1ms synchronized blocks, the flickering is quite bad, especially for low orb values. Note
- * that orb value 0 never flickers at all because the corresponding channels are not turned on at all.
- * Test code (note the _delay_us restrictions!)
- *   orb_set (1,1,1); while (1) { SYNC { for (uint8_t m=0; m<10; ++m) { _delay_us(10); } } }
- **/
-
-/** @} **/ //end addtogroup
-
-/**
- * @addtogroup orbs
- * @{
- **/
-
-// ***** Predefined colors *****
-/** @brief Red **/
-#define RED       0xE0
-/** @brief Orange **/
-#define ORANGE    0xE4
-/** @brief Yellow **/
-#define YELLOW    0xE8
-/** @brief Lime **/
-#define LIME      0x68
-/** @brief Green **/
-#define GREEN     0x1C
-/** @brief Cyan **/
-#define CYAN      0x1F
-/** @brief Blue **/
-#define BLUE      0x03
-/** @brief Pink **/
-#define PINK      0xA6 
-/** @brief Purple **/
-#define PURPLE    0x41
-/** @brief Magenta **/
-#define MAGENTA   0xE3
-/** @brief White **/
-#define WHITE     0xFE
-/** @brief Turn the orb off **/
-#define ORB_OFF   0x00
-
-
-
-// ***** Initialization *****
-
-/** @brief Enables the orbs in default mode **/
-void orb_init(void);
-
-/** @brief Enables the orbs in binary mode **/
-void orb_init_binary (void);
-
-/** @brief Enables the orbs in PWM mode **/
-void orb_init_pwm (void);
-
-
-
-// ***** Mode setting *****
-
-/** Specification of the orb mode **/
-typedef uint8_t orb_mode_t;
-
-/** @brief PWM mode **/
-#define orb_mode_pwm 0
-
-/** @brief Binary mode **/
-#define orb_mode_binary 1
-
-
-/** @brief Switches the orbs to the specified mode **/
-void orb_set_mode (orb_mode_t mode);
-
-/** @brief Disables the orb timer, but does not change the mode **/
-void orb_disable_timer (void);
-
-/** @brief Enables the orb timer, but does not change the mode **/
-void orb_enable_timer (void);
-
-
-
-// ***** Setting RGB colors *****
-
-/** @brief set the specified orb to a specified color
-* 	@deprecated This function indexes from 0 instead of 1 **/
-void orb_n_set (uint8_t num, uint8_t red, uint8_t green, uint8_t blue);
-
-/** @brief Set both orbs to a specified color **/
-void orb_set(uint8_t red, uint8_t green, uint8_t blue);
-
-/** @brief Set orb1 to a specified color **/
-void orb1_set(uint8_t red_led, uint8_t green_led, uint8_t blue_led); 
-
-/** @brief Set orb2 to a specified color **/
-void orb2_set(uint8_t red_led, uint8_t green_led, uint8_t blue_led);
-
-void orbs_set (uint8_t red1, uint8_t green1, uint8_t blue1, uint8_t red2, uint8_t green2, uint8_t blue2);
-
-
-
-// ***** Settings predefined colors *****
-
-/** @brief set the specified orb to the specified color
-* 	@deprecated This function indexes from 0 instead of 1 **/
-void orb_n_set_color(uint8_t num, uint8_t col);
-
-/** @brief Set orb1 to a specified color **/
-void orb1_set_color(uint8_t col);
-
-/** @brief Set orb2 to a specified color **/
-void orb2_set_color(uint8_t col);
-
-/** @brief set the orbs to specified colors **/
-void orbs_set_color(uint8_t col1, uint8_t col2);
-
-/** @brief Set both orbs to a specified color **/
-void orb_set_color(uint8_t col);
-
-
-
-/** @} **/ //end addtogroup
-
-#endif
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/spi.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/spi.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/spi.h	(nonexistent)
@@ -1,46 +0,0 @@
-/**
- * @file spi.h
- * @brief Definitions for SPI
- * @author Colony Project, CMU Robotics Club
- **/
-
-/**
- * @addtogroup spi
- * @{
- **/
-
-#ifndef __SPI_H__
-#define __SPI_H__
-
-#define DOUBLE_SCK 1
-#define SPR0_BIT 1
-
-#define MASTER 1
-#define SLAVE 0
-
-#define MOSI _BV(PB2)
-#define MISO _BV(PB3)
-#define SS   _BV(PB0)
-#define SCLK _BV(PB1)
-
-typedef void (*spi_fun_recv_t)(char);
-typedef void (*spi_fun_recv_complete_t)(void);
-
-/** 
-* @brief Initialize SPI
-* 
-* @param spi_fun_recv_t The function that handles SPI data, byte for byte.
-* @param spi_fun_recv_complete_t  Called on a completed transmission - typically for cleaning up.
-*/
-void spi_init (spi_fun_recv_t, spi_fun_recv_complete_t);
-
-/** 
-* @brief Initialize SPI transfer.
-* 
-* @param char The number of bytes to transfer.
-*/
-void spi_transfer (char);
-
-/**@}**/ //end group
-
-#endif
Index: trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/time.h
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/time.h	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/Library/include/libdragonfly/time.h	(nonexistent)
@@ -1,75 +0,0 @@
-/**
- * Copyright (c) 2007 Colony Project
- * 
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use,
- * copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the
- * Software is furnished to do so, subject to the following
- * conditions:
- * 
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
- * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
- * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
- * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
- * OTHER DEALINGS IN THE SOFTWARE.
- **/
-
-
-/**
- * @file time.h
- * @brief Contains time-related functions and definitions
- *
- * Contains functions and definitions for dealing with time,
- * namely delay_ms and the realtime clock.
- *
- * @author Colony Project, CMU Robotics Club
- **/
-
-#ifndef _TIME_H_
-#define _TIME_H_
-
-/*	Predefined times for prescale_opt in time.c.
-	To make you own, know that a pulse is 1/16th of a second. You cannot get less than this. To get more, you need
-	to know how many 16ths of a second are in the time you want. (Time_desired * 16 = prescaler_opt)
-*/
-/**
- * @addtogroup time
- * @{
- **/
-/** @brief A sixteenth of a second **/
-#define SIXTEENTH_SECOND 1
-/** @brief An eighth of a second **/
-#define EIGTH_SECOND 2
-/** @brief A quarter of a second **/
-#define QUARTER_SECOND 4
-/** @brief Half of a second **/
-#define HALF_SECOND	8
-/** @brief One second **/
-#define SECOND 16
-/** @brief Two seconds **/
-#define TWO_SECOND 32
-/** @brief Four seconds **/
-#define FOUR_SECOND 64
-
-/** @brief Delay execution for the specified time **/
-void delay_ms(int ms) ;
-/** @brief Enable the realtime clock **/
-void rtc_init(int prescale_opt, void (*rtc_func)(void));
-/** @brief Reset the counter of the realtime clock **/
-void rtc_reset(void);
-/** @brief Get the value of the realtime clock. **/
-int rtc_get(void);
-
-/** @} **/
-
-#endif
-
Index: trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.hex
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.hex	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.hex	(nonexistent)
@@ -1,696 +0,0 @@
-:100000000C94C7000C94E6000C94E6000C94E600F7
-:100010000C94E6000C94E6000C94E6000C94E600C8
-:100020000C94E6000C94E6000C94E6000C94E600B8
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-:100080000C94E6000C94E6000C94E6006E616E00A1
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-:1000C0009800000040420F000000A08601000000E0
-:1000D000102700000000E80300000000640000009A
-:1000E00000000A00000000000100000000002C7663
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-:10010000E5E3E453C63AE651997696E8E6C28426DA
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Index: trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.elf
===================================================================
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Index: trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.elf
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.elf	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.elf	(nonexistent)

Property changes on: trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.elf
___________________________________________________________________
Deleted: svn:mime-type
## -1 +0,0 ##
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\ No newline at end of property
Index: trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.sym
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.sym	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.sym	(nonexistent)
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Index: trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.eep
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.eep	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.eep	(nonexistent)
@@ -1 +0,0 @@
-:00000001FF
Index: trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.map
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.map	(revision 1508)
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-                0x000010d4                flash_red
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-                0x00001226                get_bom_type
-                0x000011aa                eeprom_get_byte
-                0x00001196                eeprom_put_byte
-                0x000011c0                get_robotid
- .text          0x000012a0      0x196 .././Library\libdragonfly.a(lcd.o)
-                0x000012e6                lcd_gotoxy
-                0x000012a0                lcd_putc
-                0x00001320                lcd_puti
-                0x000012cc                lcd_puts
-                0x000013c4                lcd_putbyte
-                0x000013cc                lcd_init
-                0x000012fe                lcd_clear_screen
- .text          0x00001436      0x87e .././Library\libdragonfly.a(lights.o)
-                0x000019a8                orb_set
-                0x0000196e                orb2_set
-                0x00001c4c                orb_disable_timer
-                0x00001cae                orb_init
-                0x00001c54                orb_set_mode
-                0x00001a9a                orb1_set_color
-                0x00001c40                orb_enable_timer
-                0x000018ee                orb_n_set
-                0x00001ca2                orb_init_pwm
-                0x00001934                orb1_set
-                0x00001b90                orbs_set_color
-                0x00001c96                orb_init_binary
-                0x00001520                __vector_15
-                0x000019ee                orbs_set
-                0x0000148e                __vector_16
-                0x00001b3e                orb_set_color
-                0x00001a3c                orb_n_set_color
-                0x00001aec                orb2_set_color
- .text          0x00001cb4       0x96 .././Library\libdragonfly.a(motor.o)
-                0x00001d3e                motor2_set
-                0x00001d44                motors_off
-                0x00001d08                motor_r_set
-                0x00001cd8                motor_l_set
-                0x00001cb4                motors_init
-                0x00001d38                motor1_set
- .text          0x00001d4a       0x3a .././Library\libdragonfly.a(rangefinder.o)
-                0x00001d76                range_init
-                0x00001d4a                linearize_distance
-                0x00001d6c                range_read_distance
- .text          0x00001d84      0x280 .././Library\libdragonfly.a(serial.o)
-                0x00001e36                hex_digit
-                0x00001dea                usb_getc
-                0x00001e1a                xbee_getc_nb
-                0x00001d84                usb_init
-                0x00001da0                xbee_init
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-                0x00001e66                usb_puti
-                0x00001f08                usb_puts_P
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-                0x00001dca                usb_putc
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-                0x00001f66                usb_puth8
-                0x00001e4e                usb_puts
- .text          0x00002004      0x100 .././Library\libdragonfly.a(time.o)
-                0x0000201c                rtc_init
-                0x00002066                rtc_reset
-                0x00002004                delay_ms
-                0x00002070                __vector_26
-                0x0000205c                rtc_get
- .text          0x00002104      0x2c0 .././Library\libdragonfly.a(analog.o)
-                0x000023bc                wheel
-                0x00002124                analog10
-                0x0000217a                set_adc_mux
-                0x0000220e                analog_init
-                0x0000219c                analog_get10
-                0x00002170                analog_loop_status
-                0x00002144                analog_start_loop
-                0x00002104                analog8
-                0x000021e2                analog_get8
-                0x00002270                __vector_21
-                0x00002162                analog_stop_loop
- .text          0x000023c4       0x66 .././Library\libdragonfly.a(buzzer.o)
-                0x000023c4                buzzer_init
-                0x000023d0                buzzer_set_freq
-                0x00002400                buzzer_off
-                0x0000240a                buzzer_chirp
-                0x000023c6                buzzer_set_val
- .text          0x0000242a        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o)
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-.data           0x00800100      0x300 load address 0x00002866
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-.bss            0x00800400       0x8c
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- .bss           0x00800400        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
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-Symbol                                            File
-__bad_interrupt                                   c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__bss_end                                         c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_clear_bss.o)
-__bss_start                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_clear_bss.o)
-__data_end                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__data_load_start                                 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__data_start                                      c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__divmodhi4                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o)
-                                                  .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(lcd.o)
-__divmodsi4                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodsi4.o)
-                                                  .././Library\libdragonfly.a(buzzer.o)
-__do_clear_bss                                    c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_clear_bss.o)
-                                                  .././Library\libdragonfly.a(buzzer.o)
-                                                  .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(time.o)
-                                                  .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(rangefinder.o)
-                                                  .././Library\libdragonfly.a(motor.o)
-                                                  .././Library\libdragonfly.a(lights.o)
-                                                  .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(eeprom.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  .././Library\libdragonfly.a(dio.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-__do_copy_data                                    c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-                                                  .././Library\libdragonfly.a(buzzer.o)
-                                                  .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(time.o)
-                                                  .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(rangefinder.o)
-                                                  .././Library\libdragonfly.a(motor.o)
-                                                  .././Library\libdragonfly.a(lights.o)
-                                                  .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(eeprom.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  .././Library\libdragonfly.a(dio.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-__epilogue_restores__                             c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_epilogue.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__ftoa_engine                                     c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(ftoa_engine.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__heap_end                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__init                                            c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__prologue_saves__                                c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_prologue.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__stack                                           c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__udivmodhi4                                      c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_udivmodhi4.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o)
-__udivmodsi4                                      c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_udivmodsi4.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodsi4.o)
-__ultoa_invert                                    c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(ultoa_invert.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__vector_1                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_10                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_11                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_12                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_13                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_14                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_15                                       .././Library\libdragonfly.a(lights.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_16                                       .././Library\libdragonfly.a(lights.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_17                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_18                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_19                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_2                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_20                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_21                                       .././Library\libdragonfly.a(analog.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_22                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_23                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_24                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_25                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_26                                       .././Library\libdragonfly.a(time.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_27                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_28                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_29                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_3                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_30                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_31                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_32                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_33                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_34                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_4                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_5                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_6                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_7                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_8                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_9                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_default                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vectors                                         c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-_div                                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o)
-_exit                                             c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_exit.o)
-adc_current_port                                  .././Library\libdragonfly.a(analog.o)
-adc_loop_status                                   .././Library\libdragonfly.a(analog.o)
-adc_sig_stop_loop                                 .././Library\libdragonfly.a(analog.o)
-an_val                                            .././Library\libdragonfly.a(analog.o)
-analog10                                          .././Library\libdragonfly.a(analog.o)
-analog8                                           .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(rangefinder.o)
-analog_get10                                      .././Library\libdragonfly.a(analog.o)
-analog_get8                                       .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-analog_init                                       .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-analog_loop_status                                .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-analog_start_loop                                 .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-analog_stop_loop                                  .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-bom_get                                           .././Library\libdragonfly.a(bom.o)
-bom_get_max                                       .././Library\libdragonfly.a(bom.o)
-bom_init                                          .././Library\libdragonfly.a(bom.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-bom_off                                           .././Library\libdragonfly.a(bom.o)
-bom_on                                            .././Library\libdragonfly.a(bom.o)
-                                                  beacon_robot.o
-bom_refresh                                       .././Library\libdragonfly.a(bom.o)
-bom_set_leds                                      .././Library\libdragonfly.a(bom.o)
-button1_click                                     .././Library\libdragonfly.a(dio.o)
-button1_read                                      .././Library\libdragonfly.a(dio.o)
-button1_wait                                      .././Library\libdragonfly.a(dio.o)
-button2_click                                     .././Library\libdragonfly.a(dio.o)
-button2_read                                      .././Library\libdragonfly.a(dio.o)
-button2_wait                                      .././Library\libdragonfly.a(dio.o)
-buzzer_chirp                                      .././Library\libdragonfly.a(buzzer.o)
-buzzer_init                                       .././Library\libdragonfly.a(buzzer.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-buzzer_off                                        .././Library\libdragonfly.a(buzzer.o)
-buzzer_set_freq                                   .././Library\libdragonfly.a(buzzer.o)
-buzzer_set_val                                    .././Library\libdragonfly.a(buzzer.o)
-current_pwm_channel                               .././Library\libdragonfly.a(lights.o)
-delay_ms                                          .././Library\libdragonfly.a(time.o)
-                                                  .././Library\libdragonfly.a(buzzer.o)
-                                                  .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  .././Library\libdragonfly.a(dio.o)
-                                                  beacon_robot.o
-digital_input                                     .././Library\libdragonfly.a(dio.o)
-digital_output                                    .././Library\libdragonfly.a(dio.o)
-                                                  .././Library\libdragonfly.a(rangefinder.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-digital_pull_up                                   .././Library\libdragonfly.a(dio.o)
-dragonfly_init                                    .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  beacon_robot.o
-eeprom_get_byte                                   .././Library\libdragonfly.a(eeprom.o)
-eeprom_put_byte                                   .././Library\libdragonfly.a(eeprom.o)
-enable_orb_pwm                                    .././Library\libdragonfly.a(lights.o)
-exit                                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_exit.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-flash_red                                         .././Library\libdragonfly.a(dragonfly_lib.o)
-fputc                                             c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(fputc.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-get_bom_type                                      .././Library\libdragonfly.a(eeprom.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-get_max_bom                                       .././Library\libdragonfly.a(bom.o)
-get_robotid                                       .././Library\libdragonfly.a(eeprom.o)
-hex_digit                                         .././Library\libdragonfly.a(serial.o)
-lcd_clear_screen                                  .././Library\libdragonfly.a(lcd.o)
-lcd_gotoxy                                        .././Library\libdragonfly.a(lcd.o)
-lcd_init                                          .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-lcd_putbyte                                       .././Library\libdragonfly.a(lcd.o)
-lcd_putc                                          .././Library\libdragonfly.a(lcd.o)
-lcd_puti                                          .././Library\libdragonfly.a(lcd.o)
-lcd_puts                                          .././Library\libdragonfly.a(lcd.o)
-linearize_distance                                .././Library\libdragonfly.a(rangefinder.o)
-main                                              beacon_robot.o
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-memcpy_P                                          c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(memcpy_P.o)
-                                                  .././Library\libdragonfly.a(serial.o)
-motor1_set                                        .././Library\libdragonfly.a(motor.o)
-motor2_set                                        .././Library\libdragonfly.a(motor.o)
-motor_l_set                                       .././Library\libdragonfly.a(motor.o)
-motor_r_set                                       .././Library\libdragonfly.a(motor.o)
-motors_init                                       .././Library\libdragonfly.a(motor.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-motors_off                                        .././Library\libdragonfly.a(motor.o)
-orb1_set                                          .././Library\libdragonfly.a(lights.o)
-orb1_set_color                                    .././Library\libdragonfly.a(lights.o)
-orb2_set                                          .././Library\libdragonfly.a(lights.o)
-orb2_set_color                                    .././Library\libdragonfly.a(lights.o)
-orb_disable_timer                                 .././Library\libdragonfly.a(lights.o)
-orb_enable_timer                                  .././Library\libdragonfly.a(lights.o)
-orb_init                                          .././Library\libdragonfly.a(lights.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-orb_init_binary                                   .././Library\libdragonfly.a(lights.o)
-orb_init_pwm                                      .././Library\libdragonfly.a(lights.o)
-orb_lock                                          .././Library\libdragonfly.a(lights.o)
-orb_mask                                          .././Library\libdragonfly.a(lights.o)
-orb_n_set                                         .././Library\libdragonfly.a(lights.o)
-orb_n_set_color                                   .././Library\libdragonfly.a(lights.o)
-orb_set                                           .././Library\libdragonfly.a(lights.o)
-orb_set_color                                     .././Library\libdragonfly.a(lights.o)
-orb_set_mode                                      .././Library\libdragonfly.a(lights.o)
-orb_values                                        .././Library\libdragonfly.a(lights.o)
-orbs_set                                          .././Library\libdragonfly.a(lights.o)
-orbs_set_color                                    .././Library\libdragonfly.a(lights.o)
-                                                  beacon_robot.o
-pwm_buffer                                        .././Library\libdragonfly.a(lights.o)
-pwm_free_buffer                                   .././Library\libdragonfly.a(lights.o)
-pwm_page_flip                                     .././Library\libdragonfly.a(lights.o)
-pwm_read_buffer                                   .././Library\libdragonfly.a(lights.o)
-pwm_write_buffer                                  .././Library\libdragonfly.a(lights.o)
-range_init                                        .././Library\libdragonfly.a(rangefinder.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-range_read_distance                               .././Library\libdragonfly.a(rangefinder.o)
-rtc_get                                           .././Library\libdragonfly.a(time.o)
-rtc_init                                          .././Library\libdragonfly.a(time.o)
-rtc_reset                                         .././Library\libdragonfly.a(time.o)
-set_adc_mux                                       .././Library\libdragonfly.a(analog.o)
-strnlen                                           c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(strnlen.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-strnlen_P                                         c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(strnlen_P.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-usb_fd                                            .././Library\libdragonfly.a(serial.o)
-usb_getc                                          .././Library\libdragonfly.a(serial.o)
-usb_getc_nb                                       .././Library\libdragonfly.a(serial.o)
-usb_init                                          .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-usb_putc                                          .././Library\libdragonfly.a(serial.o)
-usb_puth16                                        .././Library\libdragonfly.a(serial.o)
-usb_puth8                                         .././Library\libdragonfly.a(serial.o)
-usb_puti                                          .././Library\libdragonfly.a(serial.o)
-usb_puts                                          .././Library\libdragonfly.a(serial.o)
-usb_puts_P                                        .././Library\libdragonfly.a(serial.o)
-vfprintf                                          c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-wheel                                             .././Library\libdragonfly.a(analog.o)
-xbee_fd                                           .././Library\libdragonfly.a(serial.o)
-xbee_getc                                         .././Library\libdragonfly.a(serial.o)
-xbee_getc_nb                                      .././Library\libdragonfly.a(serial.o)
-xbee_init                                         .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-xbee_putc                                         .././Library\libdragonfly.a(serial.o)
Index: trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.lss
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.lss	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.lss	(nonexistent)
@@ -1,4907 +0,0 @@
-
-beacon_robot.elf:     file format elf32-avr
-
-Sections:
-Idx Name          Size      VMA       LMA       File off  Algn
-  0 .data         00000300  00800100  00002866  000028fa  2**0
-                  CONTENTS, ALLOC, LOAD, DATA
-  1 .text         00002866  00000000  00000000  00000094  2**1
-                  CONTENTS, ALLOC, LOAD, READONLY, CODE
-  2 .bss          0000008c  00800400  00800400  00002bfa  2**0
-                  ALLOC
-  3 .stab         000054b4  00000000  00000000  00002bfc  2**2
-                  CONTENTS, READONLY, DEBUGGING
-  4 .stabstr      00002168  00000000  00000000  000080b0  2**0
-                  CONTENTS, READONLY, DEBUGGING
-
-Disassembly of section .text:
-
-00000000 <__vectors>:
-       0:	0c 94 c7 00 	jmp	0x18e	; 0x18e <__ctors_end>
-       4:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-       8:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-       c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      10:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      14:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      18:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      1c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      20:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      24:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      28:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      2c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      30:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      34:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      38:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      3c:	0c 94 90 0a 	jmp	0x1520	; 0x1520 <__vector_15>
-      40:	0c 94 47 0a 	jmp	0x148e	; 0x148e <__vector_16>
-      44:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      48:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      4c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      50:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      54:	0c 94 38 11 	jmp	0x2270	; 0x2270 <__vector_21>
-      58:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      5c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      60:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      64:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      68:	0c 94 38 10 	jmp	0x2070	; 0x2070 <__vector_26>
-      6c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      70:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      74:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      78:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      7c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      80:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      84:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      88:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-
-0000008c <__c.1778>:
-      8c:	6e 61 6e 00                                         nan.
-
-00000090 <__c.1776>:
-      90:	69 6e 66 00 00 40 7a 10 f3 5a 00 a0 72 4e 18 09     inf..@z..Z..rN..
-      a0:	00 10 a5 d4 e8 00 00 e8 76 48 17 00 00 e4 0b 54     ........vH.....T
-      b0:	02 00 00 ca 9a 3b 00 00 00 e1 f5 05 00 00 80 96     .....;..........
-      c0:	98 00 00 00 40 42 0f 00 00 00 a0 86 01 00 00 00     ....@B..........
-      d0:	10 27 00 00 00 00 e8 03 00 00 00 00 64 00 00 00     .'..........d...
-      e0:	00 00 0a 00 00 00 00 00 01 00 00 00 00 00 2c 76     ..............,v
-      f0:	d8 88 dc 67 4f 08 23 df c1 df ae 59 e1 b1 b7 96     ...gO.#....Y....
-     100:	e5 e3 e4 53 c6 3a e6 51 99 76 96 e8 e6 c2 84 26     ...S.:.Q.v.....&
-     110:	eb 89 8c 9b 62 ed 40 7c 6f fc ef bc 9c 9f 40 f2     ....b.@|o.....@.
-     120:	ba a5 6f a5 f4 90 05 5a 2a f7 5c 93 6b 6c f9 67     ..o....Z*.\.kl.g
-     130:	6d c1 1b fc e0 e4 0d 47 fe f5 20 e6 b5 00 d0 ed     m......G.. .....
-     140:	90 2e 03 00 94 35 77 05 00 80 84 1e 08 00 00 20     .....5w........ 
-     150:	4e 0a 00 00 00 c8 0c 33 33 33 33 0f 98 6e 12 83     N......3333..n..
-     160:	11 41 ef 8d 21 14 89 3b e6 55 16 cf fe e6 db 18     .A..!..;.U......
-     170:	d1 84 4b 38 1b f7 7c 1d 90 1d a4 bb e4 24 20 32     ..K8..|......$ 2
-     180:	84 72 5e 22 81 00 c9 f1 24 ec a1 e5 3d 27           .r^"....$...='
-
-0000018e <__ctors_end>:
-     18e:	11 24       	eor	r1, r1
-     190:	1f be       	out	0x3f, r1	; 63
-     192:	cf ef       	ldi	r28, 0xFF	; 255
-     194:	d0 e1       	ldi	r29, 0x10	; 16
-     196:	de bf       	out	0x3e, r29	; 62
-     198:	cd bf       	out	0x3d, r28	; 61
-
-0000019a <__do_copy_data>:
-     19a:	14 e0       	ldi	r17, 0x04	; 4
-     19c:	a0 e0       	ldi	r26, 0x00	; 0
-     19e:	b1 e0       	ldi	r27, 0x01	; 1
-     1a0:	e6 e6       	ldi	r30, 0x66	; 102
-     1a2:	f8 e2       	ldi	r31, 0x28	; 40
-     1a4:	00 e0       	ldi	r16, 0x00	; 0
-     1a6:	0b bf       	out	0x3b, r16	; 59
-     1a8:	02 c0       	rjmp	.+4      	; 0x1ae <__do_copy_data+0x14>
-     1aa:	07 90       	elpm	r0, Z+
-     1ac:	0d 92       	st	X+, r0
-     1ae:	a0 30       	cpi	r26, 0x00	; 0
-     1b0:	b1 07       	cpc	r27, r17
-     1b2:	d9 f7       	brne	.-10     	; 0x1aa <__do_copy_data+0x10>
-
-000001b4 <__do_clear_bss>:
-     1b4:	14 e0       	ldi	r17, 0x04	; 4
-     1b6:	a0 e0       	ldi	r26, 0x00	; 0
-     1b8:	b4 e0       	ldi	r27, 0x04	; 4
-     1ba:	01 c0       	rjmp	.+2      	; 0x1be <.do_clear_bss_start>
-
-000001bc <.do_clear_bss_loop>:
-     1bc:	1d 92       	st	X+, r1
-
-000001be <.do_clear_bss_start>:
-     1be:	ac 38       	cpi	r26, 0x8C	; 140
-     1c0:	b1 07       	cpc	r27, r17
-     1c2:	e1 f7       	brne	.-8      	; 0x1bc <.do_clear_bss_loop>
-     1c4:	0e 94 e8 00 	call	0x1d0	; 0x1d0 <main>
-     1c8:	0c 94 31 14 	jmp	0x2862	; 0x2862 <_exit>
-
-000001cc <__bad_interrupt>:
-     1cc:	0c 94 00 00 	jmp	0	; 0x0 <__vectors>
-
-000001d0 <main>:
-     1d0:	8f ef       	ldi	r24, 0xFF	; 255
-     1d2:	93 e0       	ldi	r25, 0x03	; 3
-     1d4:	0e 94 89 08 	call	0x1112	; 0x1112 <dragonfly_init>
-     1d8:	0e 94 c0 04 	call	0x980	; 0x980 <bom_on>
-     1dc:	8c e1       	ldi	r24, 0x1C	; 28
-     1de:	63 e0       	ldi	r22, 0x03	; 3
-     1e0:	0e 94 c8 0d 	call	0x1b90	; 0x1b90 <orbs_set_color>
-     1e4:	88 ee       	ldi	r24, 0xE8	; 232
-     1e6:	93 e0       	ldi	r25, 0x03	; 3
-     1e8:	0e 94 02 10 	call	0x2004	; 0x2004 <delay_ms>
-     1ec:	83 e0       	ldi	r24, 0x03	; 3
-     1ee:	6c e1       	ldi	r22, 0x1C	; 28
-     1f0:	0e 94 c8 0d 	call	0x1b90	; 0x1b90 <orbs_set_color>
-     1f4:	88 ee       	ldi	r24, 0xE8	; 232
-     1f6:	93 e0       	ldi	r25, 0x03	; 3
-     1f8:	0e 94 02 10 	call	0x2004	; 0x2004 <delay_ms>
-     1fc:	ef cf       	rjmp	.-34     	; 0x1dc <main+0xc>
-
-000001fe <vfprintf>:
-     1fe:	a1 e1       	ldi	r26, 0x11	; 17
-     200:	b0 e0       	ldi	r27, 0x00	; 0
-     202:	e5 e0       	ldi	r30, 0x05	; 5
-     204:	f1 e0       	ldi	r31, 0x01	; 1
-     206:	0c 94 c4 13 	jmp	0x2788	; 0x2788 <__prologue_saves__>
-     20a:	3c 01       	movw	r6, r24
-     20c:	7f 87       	std	Y+15, r23	; 0x0f
-     20e:	6e 87       	std	Y+14, r22	; 0x0e
-     210:	6a 01       	movw	r12, r20
-     212:	fc 01       	movw	r30, r24
-     214:	17 82       	std	Z+7, r1	; 0x07
-     216:	16 82       	std	Z+6, r1	; 0x06
-     218:	83 81       	ldd	r24, Z+3	; 0x03
-     21a:	81 fd       	sbrc	r24, 1
-     21c:	03 c0       	rjmp	.+6      	; 0x224 <vfprintf+0x26>
-     21e:	6f ef       	ldi	r22, 0xFF	; 255
-     220:	7f ef       	ldi	r23, 0xFF	; 255
-     222:	71 c3       	rjmp	.+1762   	; 0x906 <vfprintf+0x708>
-     224:	9e 01       	movw	r18, r28
-     226:	2f 5f       	subi	r18, 0xFF	; 255
-     228:	3f 4f       	sbci	r19, 0xFF	; 255
-     22a:	39 8b       	std	Y+17, r19	; 0x11
-     22c:	28 8b       	std	Y+16, r18	; 0x10
-     22e:	f3 01       	movw	r30, r6
-     230:	23 81       	ldd	r18, Z+3	; 0x03
-     232:	ee 85       	ldd	r30, Y+14	; 0x0e
-     234:	ff 85       	ldd	r31, Y+15	; 0x0f
-     236:	23 fd       	sbrc	r18, 3
-     238:	85 91       	lpm	r24, Z+
-     23a:	23 ff       	sbrs	r18, 3
-     23c:	81 91       	ld	r24, Z+
-     23e:	ff 87       	std	Y+15, r31	; 0x0f
-     240:	ee 87       	std	Y+14, r30	; 0x0e
-     242:	88 23       	and	r24, r24
-     244:	09 f4       	brne	.+2      	; 0x248 <vfprintf+0x4a>
-     246:	5c c3       	rjmp	.+1720   	; 0x900 <vfprintf+0x702>
-     248:	85 32       	cpi	r24, 0x25	; 37
-     24a:	51 f4       	brne	.+20     	; 0x260 <vfprintf+0x62>
-     24c:	ee 85       	ldd	r30, Y+14	; 0x0e
-     24e:	ff 85       	ldd	r31, Y+15	; 0x0f
-     250:	23 fd       	sbrc	r18, 3
-     252:	85 91       	lpm	r24, Z+
-     254:	23 ff       	sbrs	r18, 3
-     256:	81 91       	ld	r24, Z+
-     258:	ff 87       	std	Y+15, r31	; 0x0f
-     25a:	ee 87       	std	Y+14, r30	; 0x0e
-     25c:	85 32       	cpi	r24, 0x25	; 37
-     25e:	29 f4       	brne	.+10     	; 0x26a <vfprintf+0x6c>
-     260:	90 e0       	ldi	r25, 0x00	; 0
-     262:	b3 01       	movw	r22, r6
-     264:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     268:	e2 cf       	rjmp	.-60     	; 0x22e <vfprintf+0x30>
-     26a:	98 2f       	mov	r25, r24
-     26c:	10 e0       	ldi	r17, 0x00	; 0
-     26e:	88 24       	eor	r8, r8
-     270:	99 24       	eor	r9, r9
-     272:	10 32       	cpi	r17, 0x20	; 32
-     274:	b0 f4       	brcc	.+44     	; 0x2a2 <vfprintf+0xa4>
-     276:	9b 32       	cpi	r25, 0x2B	; 43
-     278:	69 f0       	breq	.+26     	; 0x294 <vfprintf+0x96>
-     27a:	9c 32       	cpi	r25, 0x2C	; 44
-     27c:	28 f4       	brcc	.+10     	; 0x288 <vfprintf+0x8a>
-     27e:	90 32       	cpi	r25, 0x20	; 32
-     280:	51 f0       	breq	.+20     	; 0x296 <vfprintf+0x98>
-     282:	93 32       	cpi	r25, 0x23	; 35
-     284:	71 f4       	brne	.+28     	; 0x2a2 <vfprintf+0xa4>
-     286:	0b c0       	rjmp	.+22     	; 0x29e <vfprintf+0xa0>
-     288:	9d 32       	cpi	r25, 0x2D	; 45
-     28a:	39 f0       	breq	.+14     	; 0x29a <vfprintf+0x9c>
-     28c:	90 33       	cpi	r25, 0x30	; 48
-     28e:	49 f4       	brne	.+18     	; 0x2a2 <vfprintf+0xa4>
-     290:	11 60       	ori	r17, 0x01	; 1
-     292:	28 c0       	rjmp	.+80     	; 0x2e4 <vfprintf+0xe6>
-     294:	12 60       	ori	r17, 0x02	; 2
-     296:	14 60       	ori	r17, 0x04	; 4
-     298:	25 c0       	rjmp	.+74     	; 0x2e4 <vfprintf+0xe6>
-     29a:	18 60       	ori	r17, 0x08	; 8
-     29c:	23 c0       	rjmp	.+70     	; 0x2e4 <vfprintf+0xe6>
-     29e:	10 61       	ori	r17, 0x10	; 16
-     2a0:	21 c0       	rjmp	.+66     	; 0x2e4 <vfprintf+0xe6>
-     2a2:	17 fd       	sbrc	r17, 7
-     2a4:	2a c0       	rjmp	.+84     	; 0x2fa <vfprintf+0xfc>
-     2a6:	89 2f       	mov	r24, r25
-     2a8:	80 53       	subi	r24, 0x30	; 48
-     2aa:	8a 30       	cpi	r24, 0x0A	; 10
-     2ac:	78 f4       	brcc	.+30     	; 0x2cc <vfprintf+0xce>
-     2ae:	16 ff       	sbrs	r17, 6
-     2b0:	06 c0       	rjmp	.+12     	; 0x2be <vfprintf+0xc0>
-     2b2:	fa e0       	ldi	r31, 0x0A	; 10
-     2b4:	9f 9e       	mul	r9, r31
-     2b6:	90 2c       	mov	r9, r0
-     2b8:	11 24       	eor	r1, r1
-     2ba:	98 0e       	add	r9, r24
-     2bc:	13 c0       	rjmp	.+38     	; 0x2e4 <vfprintf+0xe6>
-     2be:	3a e0       	ldi	r19, 0x0A	; 10
-     2c0:	83 9e       	mul	r8, r19
-     2c2:	80 2c       	mov	r8, r0
-     2c4:	11 24       	eor	r1, r1
-     2c6:	88 0e       	add	r8, r24
-     2c8:	10 62       	ori	r17, 0x20	; 32
-     2ca:	0c c0       	rjmp	.+24     	; 0x2e4 <vfprintf+0xe6>
-     2cc:	9e 32       	cpi	r25, 0x2E	; 46
-     2ce:	21 f4       	brne	.+8      	; 0x2d8 <vfprintf+0xda>
-     2d0:	16 fd       	sbrc	r17, 6
-     2d2:	16 c3       	rjmp	.+1580   	; 0x900 <vfprintf+0x702>
-     2d4:	10 64       	ori	r17, 0x40	; 64
-     2d6:	06 c0       	rjmp	.+12     	; 0x2e4 <vfprintf+0xe6>
-     2d8:	9c 36       	cpi	r25, 0x6C	; 108
-     2da:	11 f4       	brne	.+4      	; 0x2e0 <vfprintf+0xe2>
-     2dc:	10 68       	ori	r17, 0x80	; 128
-     2de:	02 c0       	rjmp	.+4      	; 0x2e4 <vfprintf+0xe6>
-     2e0:	98 36       	cpi	r25, 0x68	; 104
-     2e2:	59 f4       	brne	.+22     	; 0x2fa <vfprintf+0xfc>
-     2e4:	ee 85       	ldd	r30, Y+14	; 0x0e
-     2e6:	ff 85       	ldd	r31, Y+15	; 0x0f
-     2e8:	23 fd       	sbrc	r18, 3
-     2ea:	95 91       	lpm	r25, Z+
-     2ec:	23 ff       	sbrs	r18, 3
-     2ee:	91 91       	ld	r25, Z+
-     2f0:	ff 87       	std	Y+15, r31	; 0x0f
-     2f2:	ee 87       	std	Y+14, r30	; 0x0e
-     2f4:	99 23       	and	r25, r25
-     2f6:	09 f0       	breq	.+2      	; 0x2fa <vfprintf+0xfc>
-     2f8:	bc cf       	rjmp	.-136    	; 0x272 <vfprintf+0x74>
-     2fa:	89 2f       	mov	r24, r25
-     2fc:	85 54       	subi	r24, 0x45	; 69
-     2fe:	83 30       	cpi	r24, 0x03	; 3
-     300:	20 f4       	brcc	.+8      	; 0x30a <vfprintf+0x10c>
-     302:	81 2f       	mov	r24, r17
-     304:	80 61       	ori	r24, 0x10	; 16
-     306:	90 5e       	subi	r25, 0xE0	; 224
-     308:	07 c0       	rjmp	.+14     	; 0x318 <vfprintf+0x11a>
-     30a:	89 2f       	mov	r24, r25
-     30c:	85 56       	subi	r24, 0x65	; 101
-     30e:	83 30       	cpi	r24, 0x03	; 3
-     310:	08 f0       	brcs	.+2      	; 0x314 <vfprintf+0x116>
-     312:	a1 c1       	rjmp	.+834    	; 0x656 <vfprintf+0x458>
-     314:	81 2f       	mov	r24, r17
-     316:	8f 7e       	andi	r24, 0xEF	; 239
-     318:	86 fd       	sbrc	r24, 6
-     31a:	02 c0       	rjmp	.+4      	; 0x320 <vfprintf+0x122>
-     31c:	76 e0       	ldi	r23, 0x06	; 6
-     31e:	97 2e       	mov	r9, r23
-     320:	6f e3       	ldi	r22, 0x3F	; 63
-     322:	f6 2e       	mov	r15, r22
-     324:	f8 22       	and	r15, r24
-     326:	95 36       	cpi	r25, 0x65	; 101
-     328:	19 f4       	brne	.+6      	; 0x330 <vfprintf+0x132>
-     32a:	f0 e4       	ldi	r31, 0x40	; 64
-     32c:	ff 2a       	or	r15, r31
-     32e:	07 c0       	rjmp	.+14     	; 0x33e <vfprintf+0x140>
-     330:	96 36       	cpi	r25, 0x66	; 102
-     332:	19 f4       	brne	.+6      	; 0x33a <vfprintf+0x13c>
-     334:	20 e8       	ldi	r18, 0x80	; 128
-     336:	f2 2a       	or	r15, r18
-     338:	02 c0       	rjmp	.+4      	; 0x33e <vfprintf+0x140>
-     33a:	91 10       	cpse	r9, r1
-     33c:	9a 94       	dec	r9
-     33e:	f7 fe       	sbrs	r15, 7
-     340:	0b c0       	rjmp	.+22     	; 0x358 <vfprintf+0x15a>
-     342:	3b e3       	ldi	r19, 0x3B	; 59
-     344:	39 15       	cp	r19, r9
-     346:	20 f4       	brcc	.+8      	; 0x350 <vfprintf+0x152>
-     348:	27 e0       	ldi	r18, 0x07	; 7
-     34a:	5c e3       	ldi	r21, 0x3C	; 60
-     34c:	b5 2e       	mov	r11, r21
-     34e:	0e c0       	rjmp	.+28     	; 0x36c <vfprintf+0x16e>
-     350:	b9 2c       	mov	r11, r9
-     352:	b3 94       	inc	r11
-     354:	27 e0       	ldi	r18, 0x07	; 7
-     356:	0a c0       	rjmp	.+20     	; 0x36c <vfprintf+0x16e>
-     358:	47 e0       	ldi	r20, 0x07	; 7
-     35a:	49 15       	cp	r20, r9
-     35c:	28 f4       	brcc	.+10     	; 0x368 <vfprintf+0x16a>
-     35e:	27 e0       	ldi	r18, 0x07	; 7
-     360:	bb 24       	eor	r11, r11
-     362:	47 e0       	ldi	r20, 0x07	; 7
-     364:	94 2e       	mov	r9, r20
-     366:	02 c0       	rjmp	.+4      	; 0x36c <vfprintf+0x16e>
-     368:	29 2d       	mov	r18, r9
-     36a:	bb 24       	eor	r11, r11
-     36c:	c6 01       	movw	r24, r12
-     36e:	04 96       	adiw	r24, 0x04	; 4
-     370:	9d 87       	std	Y+13, r25	; 0x0d
-     372:	8c 87       	std	Y+12, r24	; 0x0c
-     374:	f6 01       	movw	r30, r12
-     376:	60 81       	ld	r22, Z
-     378:	71 81       	ldd	r23, Z+1	; 0x01
-     37a:	82 81       	ldd	r24, Z+2	; 0x02
-     37c:	93 81       	ldd	r25, Z+3	; 0x03
-     37e:	ae 01       	movw	r20, r28
-     380:	4f 5f       	subi	r20, 0xFF	; 255
-     382:	5f 4f       	sbci	r21, 0xFF	; 255
-     384:	0b 2d       	mov	r16, r11
-     386:	0e 94 15 12 	call	0x242a	; 0x242a <__ftoa_engine>
-     38a:	6c 01       	movw	r12, r24
-     38c:	09 81       	ldd	r16, Y+1	; 0x01
-     38e:	20 2e       	mov	r2, r16
-     390:	33 24       	eor	r3, r3
-     392:	00 ff       	sbrs	r16, 0
-     394:	04 c0       	rjmp	.+8      	; 0x39e <vfprintf+0x1a0>
-     396:	03 fd       	sbrc	r16, 3
-     398:	02 c0       	rjmp	.+4      	; 0x39e <vfprintf+0x1a0>
-     39a:	1d e2       	ldi	r17, 0x2D	; 45
-     39c:	09 c0       	rjmp	.+18     	; 0x3b0 <vfprintf+0x1b2>
-     39e:	f1 fe       	sbrs	r15, 1
-     3a0:	02 c0       	rjmp	.+4      	; 0x3a6 <vfprintf+0x1a8>
-     3a2:	1b e2       	ldi	r17, 0x2B	; 43
-     3a4:	05 c0       	rjmp	.+10     	; 0x3b0 <vfprintf+0x1b2>
-     3a6:	f2 fc       	sbrc	r15, 2
-     3a8:	02 c0       	rjmp	.+4      	; 0x3ae <vfprintf+0x1b0>
-     3aa:	10 e0       	ldi	r17, 0x00	; 0
-     3ac:	01 c0       	rjmp	.+2      	; 0x3b0 <vfprintf+0x1b2>
-     3ae:	10 e2       	ldi	r17, 0x20	; 32
-     3b0:	c1 01       	movw	r24, r2
-     3b2:	8c 70       	andi	r24, 0x0C	; 12
-     3b4:	90 70       	andi	r25, 0x00	; 0
-     3b6:	89 2b       	or	r24, r25
-     3b8:	b9 f1       	breq	.+110    	; 0x428 <vfprintf+0x22a>
-     3ba:	11 23       	and	r17, r17
-     3bc:	11 f4       	brne	.+4      	; 0x3c2 <vfprintf+0x1c4>
-     3be:	83 e0       	ldi	r24, 0x03	; 3
-     3c0:	01 c0       	rjmp	.+2      	; 0x3c4 <vfprintf+0x1c6>
-     3c2:	84 e0       	ldi	r24, 0x04	; 4
-     3c4:	88 15       	cp	r24, r8
-     3c6:	10 f0       	brcs	.+4      	; 0x3cc <vfprintf+0x1ce>
-     3c8:	88 24       	eor	r8, r8
-     3ca:	0a c0       	rjmp	.+20     	; 0x3e0 <vfprintf+0x1e2>
-     3cc:	88 1a       	sub	r8, r24
-     3ce:	f3 fc       	sbrc	r15, 3
-     3d0:	07 c0       	rjmp	.+14     	; 0x3e0 <vfprintf+0x1e2>
-     3d2:	80 e2       	ldi	r24, 0x20	; 32
-     3d4:	90 e0       	ldi	r25, 0x00	; 0
-     3d6:	b3 01       	movw	r22, r6
-     3d8:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     3dc:	8a 94       	dec	r8
-     3de:	c9 f7       	brne	.-14     	; 0x3d2 <vfprintf+0x1d4>
-     3e0:	11 23       	and	r17, r17
-     3e2:	29 f0       	breq	.+10     	; 0x3ee <vfprintf+0x1f0>
-     3e4:	81 2f       	mov	r24, r17
-     3e6:	90 e0       	ldi	r25, 0x00	; 0
-     3e8:	b3 01       	movw	r22, r6
-     3ea:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     3ee:	23 fe       	sbrs	r2, 3
-     3f0:	03 c0       	rjmp	.+6      	; 0x3f8 <vfprintf+0x1fa>
-     3f2:	0c e8       	ldi	r16, 0x8C	; 140
-     3f4:	10 e0       	ldi	r17, 0x00	; 0
-     3f6:	0e c0       	rjmp	.+28     	; 0x414 <vfprintf+0x216>
-     3f8:	00 e9       	ldi	r16, 0x90	; 144
-     3fa:	10 e0       	ldi	r17, 0x00	; 0
-     3fc:	0b c0       	rjmp	.+22     	; 0x414 <vfprintf+0x216>
-     3fe:	e1 14       	cp	r14, r1
-     400:	f1 04       	cpc	r15, r1
-     402:	09 f0       	breq	.+2      	; 0x406 <vfprintf+0x208>
-     404:	80 52       	subi	r24, 0x20	; 32
-     406:	90 e0       	ldi	r25, 0x00	; 0
-     408:	b3 01       	movw	r22, r6
-     40a:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     40e:	0f 5f       	subi	r16, 0xFF	; 255
-     410:	1f 4f       	sbci	r17, 0xFF	; 255
-     412:	05 c0       	rjmp	.+10     	; 0x41e <vfprintf+0x220>
-     414:	ef 2c       	mov	r14, r15
-     416:	ff 24       	eor	r15, r15
-     418:	f0 e1       	ldi	r31, 0x10	; 16
-     41a:	ef 22       	and	r14, r31
-     41c:	ff 24       	eor	r15, r15
-     41e:	f8 01       	movw	r30, r16
-     420:	84 91       	lpm	r24, Z+
-     422:	88 23       	and	r24, r24
-     424:	61 f7       	brne	.-40     	; 0x3fe <vfprintf+0x200>
-     426:	14 c1       	rjmp	.+552    	; 0x650 <vfprintf+0x452>
-     428:	f7 fe       	sbrs	r15, 7
-     42a:	12 c0       	rjmp	.+36     	; 0x450 <vfprintf+0x252>
-     42c:	bc 0c       	add	r11, r12
-     42e:	24 fe       	sbrs	r2, 4
-     430:	04 c0       	rjmp	.+8      	; 0x43a <vfprintf+0x23c>
-     432:	8a 81       	ldd	r24, Y+2	; 0x02
-     434:	81 33       	cpi	r24, 0x31	; 49
-     436:	09 f4       	brne	.+2      	; 0x43a <vfprintf+0x23c>
-     438:	ba 94       	dec	r11
-     43a:	1b 14       	cp	r1, r11
-     43c:	1c f0       	brlt	.+6      	; 0x444 <vfprintf+0x246>
-     43e:	bb 24       	eor	r11, r11
-     440:	b3 94       	inc	r11
-     442:	2d c0       	rjmp	.+90     	; 0x49e <vfprintf+0x2a0>
-     444:	f8 e0       	ldi	r31, 0x08	; 8
-     446:	fb 15       	cp	r31, r11
-     448:	50 f5       	brcc	.+84     	; 0x49e <vfprintf+0x2a0>
-     44a:	38 e0       	ldi	r19, 0x08	; 8
-     44c:	b3 2e       	mov	r11, r19
-     44e:	27 c0       	rjmp	.+78     	; 0x49e <vfprintf+0x2a0>
-     450:	f6 fc       	sbrc	r15, 6
-     452:	25 c0       	rjmp	.+74     	; 0x49e <vfprintf+0x2a0>
-     454:	89 2d       	mov	r24, r9
-     456:	90 e0       	ldi	r25, 0x00	; 0
-     458:	8c 15       	cp	r24, r12
-     45a:	9d 05       	cpc	r25, r13
-     45c:	4c f0       	brlt	.+18     	; 0x470 <vfprintf+0x272>
-     45e:	2c ef       	ldi	r18, 0xFC	; 252
-     460:	c2 16       	cp	r12, r18
-     462:	2f ef       	ldi	r18, 0xFF	; 255
-     464:	d2 06       	cpc	r13, r18
-     466:	24 f0       	brlt	.+8      	; 0x470 <vfprintf+0x272>
-     468:	30 e8       	ldi	r19, 0x80	; 128
-     46a:	f3 2a       	or	r15, r19
-     46c:	01 c0       	rjmp	.+2      	; 0x470 <vfprintf+0x272>
-     46e:	9a 94       	dec	r9
-     470:	99 20       	and	r9, r9
-     472:	49 f0       	breq	.+18     	; 0x486 <vfprintf+0x288>
-     474:	e2 e0       	ldi	r30, 0x02	; 2
-     476:	f0 e0       	ldi	r31, 0x00	; 0
-     478:	ec 0f       	add	r30, r28
-     47a:	fd 1f       	adc	r31, r29
-     47c:	e9 0d       	add	r30, r9
-     47e:	f1 1d       	adc	r31, r1
-     480:	80 81       	ld	r24, Z
-     482:	80 33       	cpi	r24, 0x30	; 48
-     484:	a1 f3       	breq	.-24     	; 0x46e <vfprintf+0x270>
-     486:	f7 fe       	sbrs	r15, 7
-     488:	0a c0       	rjmp	.+20     	; 0x49e <vfprintf+0x2a0>
-     48a:	b9 2c       	mov	r11, r9
-     48c:	b3 94       	inc	r11
-     48e:	89 2d       	mov	r24, r9
-     490:	90 e0       	ldi	r25, 0x00	; 0
-     492:	c8 16       	cp	r12, r24
-     494:	d9 06       	cpc	r13, r25
-     496:	14 f0       	brlt	.+4      	; 0x49c <vfprintf+0x29e>
-     498:	99 24       	eor	r9, r9
-     49a:	01 c0       	rjmp	.+2      	; 0x49e <vfprintf+0x2a0>
-     49c:	9c 18       	sub	r9, r12
-     49e:	f7 fc       	sbrc	r15, 7
-     4a0:	03 c0       	rjmp	.+6      	; 0x4a8 <vfprintf+0x2aa>
-     4a2:	25 e0       	ldi	r18, 0x05	; 5
-     4a4:	30 e0       	ldi	r19, 0x00	; 0
-     4a6:	09 c0       	rjmp	.+18     	; 0x4ba <vfprintf+0x2bc>
-     4a8:	1c 14       	cp	r1, r12
-     4aa:	1d 04       	cpc	r1, r13
-     4ac:	1c f0       	brlt	.+6      	; 0x4b4 <vfprintf+0x2b6>
-     4ae:	21 e0       	ldi	r18, 0x01	; 1
-     4b0:	30 e0       	ldi	r19, 0x00	; 0
-     4b2:	03 c0       	rjmp	.+6      	; 0x4ba <vfprintf+0x2bc>
-     4b4:	96 01       	movw	r18, r12
-     4b6:	2f 5f       	subi	r18, 0xFF	; 255
-     4b8:	3f 4f       	sbci	r19, 0xFF	; 255
-     4ba:	11 23       	and	r17, r17
-     4bc:	11 f0       	breq	.+4      	; 0x4c2 <vfprintf+0x2c4>
-     4be:	2f 5f       	subi	r18, 0xFF	; 255
-     4c0:	3f 4f       	sbci	r19, 0xFF	; 255
-     4c2:	99 20       	and	r9, r9
-     4c4:	29 f0       	breq	.+10     	; 0x4d0 <vfprintf+0x2d2>
-     4c6:	89 2d       	mov	r24, r9
-     4c8:	90 e0       	ldi	r25, 0x00	; 0
-     4ca:	01 96       	adiw	r24, 0x01	; 1
-     4cc:	28 0f       	add	r18, r24
-     4ce:	39 1f       	adc	r19, r25
-     4d0:	88 2d       	mov	r24, r8
-     4d2:	90 e0       	ldi	r25, 0x00	; 0
-     4d4:	28 17       	cp	r18, r24
-     4d6:	39 07       	cpc	r19, r25
-     4d8:	14 f0       	brlt	.+4      	; 0x4de <vfprintf+0x2e0>
-     4da:	88 24       	eor	r8, r8
-     4dc:	01 c0       	rjmp	.+2      	; 0x4e0 <vfprintf+0x2e2>
-     4de:	82 1a       	sub	r8, r18
-     4e0:	4f 2c       	mov	r4, r15
-     4e2:	55 24       	eor	r5, r5
-     4e4:	c2 01       	movw	r24, r4
-     4e6:	89 70       	andi	r24, 0x09	; 9
-     4e8:	90 70       	andi	r25, 0x00	; 0
-     4ea:	89 2b       	or	r24, r25
-     4ec:	39 f0       	breq	.+14     	; 0x4fc <vfprintf+0x2fe>
-     4ee:	08 c0       	rjmp	.+16     	; 0x500 <vfprintf+0x302>
-     4f0:	80 e2       	ldi	r24, 0x20	; 32
-     4f2:	90 e0       	ldi	r25, 0x00	; 0
-     4f4:	b3 01       	movw	r22, r6
-     4f6:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     4fa:	8a 94       	dec	r8
-     4fc:	88 20       	and	r8, r8
-     4fe:	c1 f7       	brne	.-16     	; 0x4f0 <vfprintf+0x2f2>
-     500:	11 23       	and	r17, r17
-     502:	29 f0       	breq	.+10     	; 0x50e <vfprintf+0x310>
-     504:	81 2f       	mov	r24, r17
-     506:	90 e0       	ldi	r25, 0x00	; 0
-     508:	b3 01       	movw	r22, r6
-     50a:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     50e:	43 fe       	sbrs	r4, 3
-     510:	07 c0       	rjmp	.+14     	; 0x520 <vfprintf+0x322>
-     512:	08 c0       	rjmp	.+16     	; 0x524 <vfprintf+0x326>
-     514:	80 e3       	ldi	r24, 0x30	; 48
-     516:	90 e0       	ldi	r25, 0x00	; 0
-     518:	b3 01       	movw	r22, r6
-     51a:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     51e:	8a 94       	dec	r8
-     520:	88 20       	and	r8, r8
-     522:	c1 f7       	brne	.-16     	; 0x514 <vfprintf+0x316>
-     524:	f7 fe       	sbrs	r15, 7
-     526:	46 c0       	rjmp	.+140    	; 0x5b4 <vfprintf+0x3b6>
-     528:	86 01       	movw	r16, r12
-     52a:	d7 fe       	sbrs	r13, 7
-     52c:	02 c0       	rjmp	.+4      	; 0x532 <vfprintf+0x334>
-     52e:	00 e0       	ldi	r16, 0x00	; 0
-     530:	10 e0       	ldi	r17, 0x00	; 0
-     532:	76 01       	movw	r14, r12
-     534:	08 94       	sec
-     536:	e1 1c       	adc	r14, r1
-     538:	f1 1c       	adc	r15, r1
-     53a:	e0 1a       	sub	r14, r16
-     53c:	f1 0a       	sbc	r15, r17
-     53e:	41 e0       	ldi	r20, 0x01	; 1
-     540:	50 e0       	ldi	r21, 0x00	; 0
-     542:	4c 0f       	add	r20, r28
-     544:	5d 1f       	adc	r21, r29
-     546:	e4 0e       	add	r14, r20
-     548:	f5 1e       	adc	r15, r21
-     54a:	26 01       	movw	r4, r12
-     54c:	4b 18       	sub	r4, r11
-     54e:	51 08       	sbc	r5, r1
-     550:	89 2d       	mov	r24, r9
-     552:	90 e0       	ldi	r25, 0x00	; 0
-     554:	aa 24       	eor	r10, r10
-     556:	bb 24       	eor	r11, r11
-     558:	a8 1a       	sub	r10, r24
-     55a:	b9 0a       	sbc	r11, r25
-     55c:	5f ef       	ldi	r21, 0xFF	; 255
-     55e:	0f 3f       	cpi	r16, 0xFF	; 255
-     560:	15 07       	cpc	r17, r21
-     562:	29 f4       	brne	.+10     	; 0x56e <vfprintf+0x370>
-     564:	8e e2       	ldi	r24, 0x2E	; 46
-     566:	90 e0       	ldi	r25, 0x00	; 0
-     568:	b3 01       	movw	r22, r6
-     56a:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     56e:	c0 16       	cp	r12, r16
-     570:	d1 06       	cpc	r13, r17
-     572:	34 f0       	brlt	.+12     	; 0x580 <vfprintf+0x382>
-     574:	40 16       	cp	r4, r16
-     576:	51 06       	cpc	r5, r17
-     578:	1c f4       	brge	.+6      	; 0x580 <vfprintf+0x382>
-     57a:	f7 01       	movw	r30, r14
-     57c:	80 81       	ld	r24, Z
-     57e:	01 c0       	rjmp	.+2      	; 0x582 <vfprintf+0x384>
-     580:	80 e3       	ldi	r24, 0x30	; 48
-     582:	01 50       	subi	r16, 0x01	; 1
-     584:	10 40       	sbci	r17, 0x00	; 0
-     586:	08 94       	sec
-     588:	e1 1c       	adc	r14, r1
-     58a:	f1 1c       	adc	r15, r1
-     58c:	0a 15       	cp	r16, r10
-     58e:	1b 05       	cpc	r17, r11
-     590:	2c f0       	brlt	.+10     	; 0x59c <vfprintf+0x39e>
-     592:	90 e0       	ldi	r25, 0x00	; 0
-     594:	b3 01       	movw	r22, r6
-     596:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     59a:	e0 cf       	rjmp	.-64     	; 0x55c <vfprintf+0x35e>
-     59c:	0c 15       	cp	r16, r12
-     59e:	1d 05       	cpc	r17, r13
-     5a0:	39 f4       	brne	.+14     	; 0x5b0 <vfprintf+0x3b2>
-     5a2:	9a 81       	ldd	r25, Y+2	; 0x02
-     5a4:	96 33       	cpi	r25, 0x36	; 54
-     5a6:	18 f4       	brcc	.+6      	; 0x5ae <vfprintf+0x3b0>
-     5a8:	95 33       	cpi	r25, 0x35	; 53
-     5aa:	11 f4       	brne	.+4      	; 0x5b0 <vfprintf+0x3b2>
-     5ac:	24 fe       	sbrs	r2, 4
-     5ae:	81 e3       	ldi	r24, 0x31	; 49
-     5b0:	90 e0       	ldi	r25, 0x00	; 0
-     5b2:	4b c0       	rjmp	.+150    	; 0x64a <vfprintf+0x44c>
-     5b4:	8a 81       	ldd	r24, Y+2	; 0x02
-     5b6:	81 33       	cpi	r24, 0x31	; 49
-     5b8:	09 f0       	breq	.+2      	; 0x5bc <vfprintf+0x3be>
-     5ba:	0f 7e       	andi	r16, 0xEF	; 239
-     5bc:	90 e0       	ldi	r25, 0x00	; 0
-     5be:	b3 01       	movw	r22, r6
-     5c0:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     5c4:	99 20       	and	r9, r9
-     5c6:	a1 f0       	breq	.+40     	; 0x5f0 <vfprintf+0x3f2>
-     5c8:	8e e2       	ldi	r24, 0x2E	; 46
-     5ca:	90 e0       	ldi	r25, 0x00	; 0
-     5cc:	b3 01       	movw	r22, r6
-     5ce:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     5d2:	12 e0       	ldi	r17, 0x02	; 2
-     5d4:	e1 e0       	ldi	r30, 0x01	; 1
-     5d6:	f0 e0       	ldi	r31, 0x00	; 0
-     5d8:	ec 0f       	add	r30, r28
-     5da:	fd 1f       	adc	r31, r29
-     5dc:	e1 0f       	add	r30, r17
-     5de:	f1 1d       	adc	r31, r1
-     5e0:	1f 5f       	subi	r17, 0xFF	; 255
-     5e2:	80 81       	ld	r24, Z
-     5e4:	90 e0       	ldi	r25, 0x00	; 0
-     5e6:	b3 01       	movw	r22, r6
-     5e8:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     5ec:	9a 94       	dec	r9
-     5ee:	91 f7       	brne	.-28     	; 0x5d4 <vfprintf+0x3d6>
-     5f0:	44 fc       	sbrc	r4, 4
-     5f2:	03 c0       	rjmp	.+6      	; 0x5fa <vfprintf+0x3fc>
-     5f4:	85 e6       	ldi	r24, 0x65	; 101
-     5f6:	90 e0       	ldi	r25, 0x00	; 0
-     5f8:	02 c0       	rjmp	.+4      	; 0x5fe <vfprintf+0x400>
-     5fa:	85 e4       	ldi	r24, 0x45	; 69
-     5fc:	90 e0       	ldi	r25, 0x00	; 0
-     5fe:	b3 01       	movw	r22, r6
-     600:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     604:	d7 fc       	sbrc	r13, 7
-     606:	05 c0       	rjmp	.+10     	; 0x612 <vfprintf+0x414>
-     608:	c1 14       	cp	r12, r1
-     60a:	d1 04       	cpc	r13, r1
-     60c:	41 f4       	brne	.+16     	; 0x61e <vfprintf+0x420>
-     60e:	04 ff       	sbrs	r16, 4
-     610:	06 c0       	rjmp	.+12     	; 0x61e <vfprintf+0x420>
-     612:	d0 94       	com	r13
-     614:	c1 94       	neg	r12
-     616:	d1 08       	sbc	r13, r1
-     618:	d3 94       	inc	r13
-     61a:	8d e2       	ldi	r24, 0x2D	; 45
-     61c:	01 c0       	rjmp	.+2      	; 0x620 <vfprintf+0x422>
-     61e:	8b e2       	ldi	r24, 0x2B	; 43
-     620:	90 e0       	ldi	r25, 0x00	; 0
-     622:	b3 01       	movw	r22, r6
-     624:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     628:	80 e3       	ldi	r24, 0x30	; 48
-     62a:	05 c0       	rjmp	.+10     	; 0x636 <vfprintf+0x438>
-     62c:	8f 5f       	subi	r24, 0xFF	; 255
-     62e:	26 ef       	ldi	r18, 0xF6	; 246
-     630:	3f ef       	ldi	r19, 0xFF	; 255
-     632:	c2 0e       	add	r12, r18
-     634:	d3 1e       	adc	r13, r19
-     636:	3a e0       	ldi	r19, 0x0A	; 10
-     638:	c3 16       	cp	r12, r19
-     63a:	d1 04       	cpc	r13, r1
-     63c:	bc f7       	brge	.-18     	; 0x62c <vfprintf+0x42e>
-     63e:	90 e0       	ldi	r25, 0x00	; 0
-     640:	b3 01       	movw	r22, r6
-     642:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     646:	c6 01       	movw	r24, r12
-     648:	c0 96       	adiw	r24, 0x30	; 48
-     64a:	b3 01       	movw	r22, r6
-     64c:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     650:	cc 84       	ldd	r12, Y+12	; 0x0c
-     652:	dd 84       	ldd	r13, Y+13	; 0x0d
-     654:	52 c1       	rjmp	.+676    	; 0x8fa <vfprintf+0x6fc>
-     656:	93 36       	cpi	r25, 0x63	; 99
-     658:	31 f0       	breq	.+12     	; 0x666 <vfprintf+0x468>
-     65a:	93 37       	cpi	r25, 0x73	; 115
-     65c:	99 f0       	breq	.+38     	; 0x684 <vfprintf+0x486>
-     65e:	93 35       	cpi	r25, 0x53	; 83
-     660:	09 f0       	breq	.+2      	; 0x664 <vfprintf+0x466>
-     662:	59 c0       	rjmp	.+178    	; 0x716 <vfprintf+0x518>
-     664:	23 c0       	rjmp	.+70     	; 0x6ac <vfprintf+0x4ae>
-     666:	f6 01       	movw	r30, r12
-     668:	80 81       	ld	r24, Z
-     66a:	89 83       	std	Y+1, r24	; 0x01
-     66c:	5e 01       	movw	r10, r28
-     66e:	08 94       	sec
-     670:	a1 1c       	adc	r10, r1
-     672:	b1 1c       	adc	r11, r1
-     674:	22 e0       	ldi	r18, 0x02	; 2
-     676:	30 e0       	ldi	r19, 0x00	; 0
-     678:	c2 0e       	add	r12, r18
-     67a:	d3 1e       	adc	r13, r19
-     67c:	21 e0       	ldi	r18, 0x01	; 1
-     67e:	e2 2e       	mov	r14, r18
-     680:	f1 2c       	mov	r15, r1
-     682:	12 c0       	rjmp	.+36     	; 0x6a8 <vfprintf+0x4aa>
-     684:	f6 01       	movw	r30, r12
-     686:	a0 80       	ld	r10, Z
-     688:	b1 80       	ldd	r11, Z+1	; 0x01
-     68a:	16 fd       	sbrc	r17, 6
-     68c:	03 c0       	rjmp	.+6      	; 0x694 <vfprintf+0x496>
-     68e:	6f ef       	ldi	r22, 0xFF	; 255
-     690:	7f ef       	ldi	r23, 0xFF	; 255
-     692:	02 c0       	rjmp	.+4      	; 0x698 <vfprintf+0x49a>
-     694:	69 2d       	mov	r22, r9
-     696:	70 e0       	ldi	r23, 0x00	; 0
-     698:	22 e0       	ldi	r18, 0x02	; 2
-     69a:	30 e0       	ldi	r19, 0x00	; 0
-     69c:	c2 0e       	add	r12, r18
-     69e:	d3 1e       	adc	r13, r19
-     6a0:	c5 01       	movw	r24, r10
-     6a2:	0e 94 01 13 	call	0x2602	; 0x2602 <strnlen>
-     6a6:	7c 01       	movw	r14, r24
-     6a8:	1f 77       	andi	r17, 0x7F	; 127
-     6aa:	13 c0       	rjmp	.+38     	; 0x6d2 <vfprintf+0x4d4>
-     6ac:	f6 01       	movw	r30, r12
-     6ae:	a0 80       	ld	r10, Z
-     6b0:	b1 80       	ldd	r11, Z+1	; 0x01
-     6b2:	16 fd       	sbrc	r17, 6
-     6b4:	03 c0       	rjmp	.+6      	; 0x6bc <vfprintf+0x4be>
-     6b6:	6f ef       	ldi	r22, 0xFF	; 255
-     6b8:	7f ef       	ldi	r23, 0xFF	; 255
-     6ba:	02 c0       	rjmp	.+4      	; 0x6c0 <vfprintf+0x4c2>
-     6bc:	69 2d       	mov	r22, r9
-     6be:	70 e0       	ldi	r23, 0x00	; 0
-     6c0:	22 e0       	ldi	r18, 0x02	; 2
-     6c2:	30 e0       	ldi	r19, 0x00	; 0
-     6c4:	c2 0e       	add	r12, r18
-     6c6:	d3 1e       	adc	r13, r19
-     6c8:	c5 01       	movw	r24, r10
-     6ca:	0e 94 f6 12 	call	0x25ec	; 0x25ec <strnlen_P>
-     6ce:	7c 01       	movw	r14, r24
-     6d0:	10 68       	ori	r17, 0x80	; 128
-     6d2:	13 ff       	sbrs	r17, 3
-     6d4:	07 c0       	rjmp	.+14     	; 0x6e4 <vfprintf+0x4e6>
-     6d6:	1b c0       	rjmp	.+54     	; 0x70e <vfprintf+0x510>
-     6d8:	80 e2       	ldi	r24, 0x20	; 32
-     6da:	90 e0       	ldi	r25, 0x00	; 0
-     6dc:	b3 01       	movw	r22, r6
-     6de:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     6e2:	8a 94       	dec	r8
-     6e4:	88 2d       	mov	r24, r8
-     6e6:	90 e0       	ldi	r25, 0x00	; 0
-     6e8:	e8 16       	cp	r14, r24
-     6ea:	f9 06       	cpc	r15, r25
-     6ec:	a8 f3       	brcs	.-22     	; 0x6d8 <vfprintf+0x4da>
-     6ee:	0f c0       	rjmp	.+30     	; 0x70e <vfprintf+0x510>
-     6f0:	f5 01       	movw	r30, r10
-     6f2:	17 fd       	sbrc	r17, 7
-     6f4:	85 91       	lpm	r24, Z+
-     6f6:	17 ff       	sbrs	r17, 7
-     6f8:	81 91       	ld	r24, Z+
-     6fa:	5f 01       	movw	r10, r30
-     6fc:	90 e0       	ldi	r25, 0x00	; 0
-     6fe:	b3 01       	movw	r22, r6
-     700:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     704:	81 10       	cpse	r8, r1
-     706:	8a 94       	dec	r8
-     708:	08 94       	sec
-     70a:	e1 08       	sbc	r14, r1
-     70c:	f1 08       	sbc	r15, r1
-     70e:	e1 14       	cp	r14, r1
-     710:	f1 04       	cpc	r15, r1
-     712:	71 f7       	brne	.-36     	; 0x6f0 <vfprintf+0x4f2>
-     714:	f2 c0       	rjmp	.+484    	; 0x8fa <vfprintf+0x6fc>
-     716:	94 36       	cpi	r25, 0x64	; 100
-     718:	11 f0       	breq	.+4      	; 0x71e <vfprintf+0x520>
-     71a:	99 36       	cpi	r25, 0x69	; 105
-     71c:	89 f5       	brne	.+98     	; 0x780 <vfprintf+0x582>
-     71e:	17 ff       	sbrs	r17, 7
-     720:	08 c0       	rjmp	.+16     	; 0x732 <vfprintf+0x534>
-     722:	f6 01       	movw	r30, r12
-     724:	20 81       	ld	r18, Z
-     726:	31 81       	ldd	r19, Z+1	; 0x01
-     728:	42 81       	ldd	r20, Z+2	; 0x02
-     72a:	53 81       	ldd	r21, Z+3	; 0x03
-     72c:	84 e0       	ldi	r24, 0x04	; 4
-     72e:	90 e0       	ldi	r25, 0x00	; 0
-     730:	0a c0       	rjmp	.+20     	; 0x746 <vfprintf+0x548>
-     732:	f6 01       	movw	r30, r12
-     734:	80 81       	ld	r24, Z
-     736:	91 81       	ldd	r25, Z+1	; 0x01
-     738:	9c 01       	movw	r18, r24
-     73a:	44 27       	eor	r20, r20
-     73c:	37 fd       	sbrc	r19, 7
-     73e:	40 95       	com	r20
-     740:	54 2f       	mov	r21, r20
-     742:	82 e0       	ldi	r24, 0x02	; 2
-     744:	90 e0       	ldi	r25, 0x00	; 0
-     746:	c8 0e       	add	r12, r24
-     748:	d9 1e       	adc	r13, r25
-     74a:	9f e6       	ldi	r25, 0x6F	; 111
-     74c:	f9 2e       	mov	r15, r25
-     74e:	f1 22       	and	r15, r17
-     750:	57 ff       	sbrs	r21, 7
-     752:	09 c0       	rjmp	.+18     	; 0x766 <vfprintf+0x568>
-     754:	50 95       	com	r21
-     756:	40 95       	com	r20
-     758:	30 95       	com	r19
-     75a:	21 95       	neg	r18
-     75c:	3f 4f       	sbci	r19, 0xFF	; 255
-     75e:	4f 4f       	sbci	r20, 0xFF	; 255
-     760:	5f 4f       	sbci	r21, 0xFF	; 255
-     762:	90 e8       	ldi	r25, 0x80	; 128
-     764:	f9 2a       	or	r15, r25
-     766:	ca 01       	movw	r24, r20
-     768:	b9 01       	movw	r22, r18
-     76a:	ae 01       	movw	r20, r28
-     76c:	4f 5f       	subi	r20, 0xFF	; 255
-     76e:	5f 4f       	sbci	r21, 0xFF	; 255
-     770:	2a e0       	ldi	r18, 0x0A	; 10
-     772:	30 e0       	ldi	r19, 0x00	; 0
-     774:	0e 94 38 13 	call	0x2670	; 0x2670 <__ultoa_invert>
-     778:	e8 2e       	mov	r14, r24
-     77a:	e8 89       	ldd	r30, Y+16	; 0x10
-     77c:	ee 1a       	sub	r14, r30
-     77e:	41 c0       	rjmp	.+130    	; 0x802 <vfprintf+0x604>
-     780:	95 37       	cpi	r25, 0x75	; 117
-     782:	21 f4       	brne	.+8      	; 0x78c <vfprintf+0x58e>
-     784:	1f 7e       	andi	r17, 0xEF	; 239
-     786:	2a e0       	ldi	r18, 0x0A	; 10
-     788:	30 e0       	ldi	r19, 0x00	; 0
-     78a:	1c c0       	rjmp	.+56     	; 0x7c4 <vfprintf+0x5c6>
-     78c:	19 7f       	andi	r17, 0xF9	; 249
-     78e:	9f 36       	cpi	r25, 0x6F	; 111
-     790:	61 f0       	breq	.+24     	; 0x7aa <vfprintf+0x5ac>
-     792:	90 37       	cpi	r25, 0x70	; 112
-     794:	20 f4       	brcc	.+8      	; 0x79e <vfprintf+0x5a0>
-     796:	98 35       	cpi	r25, 0x58	; 88
-     798:	09 f0       	breq	.+2      	; 0x79c <vfprintf+0x59e>
-     79a:	b2 c0       	rjmp	.+356    	; 0x900 <vfprintf+0x702>
-     79c:	0f c0       	rjmp	.+30     	; 0x7bc <vfprintf+0x5be>
-     79e:	90 37       	cpi	r25, 0x70	; 112
-     7a0:	39 f0       	breq	.+14     	; 0x7b0 <vfprintf+0x5b2>
-     7a2:	98 37       	cpi	r25, 0x78	; 120
-     7a4:	09 f0       	breq	.+2      	; 0x7a8 <vfprintf+0x5aa>
-     7a6:	ac c0       	rjmp	.+344    	; 0x900 <vfprintf+0x702>
-     7a8:	04 c0       	rjmp	.+8      	; 0x7b2 <vfprintf+0x5b4>
-     7aa:	28 e0       	ldi	r18, 0x08	; 8
-     7ac:	30 e0       	ldi	r19, 0x00	; 0
-     7ae:	0a c0       	rjmp	.+20     	; 0x7c4 <vfprintf+0x5c6>
-     7b0:	10 61       	ori	r17, 0x10	; 16
-     7b2:	14 fd       	sbrc	r17, 4
-     7b4:	14 60       	ori	r17, 0x04	; 4
-     7b6:	20 e1       	ldi	r18, 0x10	; 16
-     7b8:	30 e0       	ldi	r19, 0x00	; 0
-     7ba:	04 c0       	rjmp	.+8      	; 0x7c4 <vfprintf+0x5c6>
-     7bc:	14 fd       	sbrc	r17, 4
-     7be:	16 60       	ori	r17, 0x06	; 6
-     7c0:	20 e1       	ldi	r18, 0x10	; 16
-     7c2:	32 e0       	ldi	r19, 0x02	; 2
-     7c4:	17 ff       	sbrs	r17, 7
-     7c6:	08 c0       	rjmp	.+16     	; 0x7d8 <vfprintf+0x5da>
-     7c8:	f6 01       	movw	r30, r12
-     7ca:	60 81       	ld	r22, Z
-     7cc:	71 81       	ldd	r23, Z+1	; 0x01
-     7ce:	82 81       	ldd	r24, Z+2	; 0x02
-     7d0:	93 81       	ldd	r25, Z+3	; 0x03
-     7d2:	44 e0       	ldi	r20, 0x04	; 4
-     7d4:	50 e0       	ldi	r21, 0x00	; 0
-     7d6:	08 c0       	rjmp	.+16     	; 0x7e8 <vfprintf+0x5ea>
-     7d8:	f6 01       	movw	r30, r12
-     7da:	80 81       	ld	r24, Z
-     7dc:	91 81       	ldd	r25, Z+1	; 0x01
-     7de:	bc 01       	movw	r22, r24
-     7e0:	80 e0       	ldi	r24, 0x00	; 0
-     7e2:	90 e0       	ldi	r25, 0x00	; 0
-     7e4:	42 e0       	ldi	r20, 0x02	; 2
-     7e6:	50 e0       	ldi	r21, 0x00	; 0
-     7e8:	c4 0e       	add	r12, r20
-     7ea:	d5 1e       	adc	r13, r21
-     7ec:	ae 01       	movw	r20, r28
-     7ee:	4f 5f       	subi	r20, 0xFF	; 255
-     7f0:	5f 4f       	sbci	r21, 0xFF	; 255
-     7f2:	0e 94 38 13 	call	0x2670	; 0x2670 <__ultoa_invert>
-     7f6:	e8 2e       	mov	r14, r24
-     7f8:	58 89       	ldd	r21, Y+16	; 0x10
-     7fa:	e5 1a       	sub	r14, r21
-     7fc:	8f e7       	ldi	r24, 0x7F	; 127
-     7fe:	f8 2e       	mov	r15, r24
-     800:	f1 22       	and	r15, r17
-     802:	f6 fe       	sbrs	r15, 6
-     804:	0b c0       	rjmp	.+22     	; 0x81c <vfprintf+0x61e>
-     806:	8e ef       	ldi	r24, 0xFE	; 254
-     808:	f8 22       	and	r15, r24
-     80a:	e9 14       	cp	r14, r9
-     80c:	38 f4       	brcc	.+14     	; 0x81c <vfprintf+0x61e>
-     80e:	f4 fe       	sbrs	r15, 4
-     810:	07 c0       	rjmp	.+14     	; 0x820 <vfprintf+0x622>
-     812:	f2 fc       	sbrc	r15, 2
-     814:	05 c0       	rjmp	.+10     	; 0x820 <vfprintf+0x622>
-     816:	9f ee       	ldi	r25, 0xEF	; 239
-     818:	f9 22       	and	r15, r25
-     81a:	02 c0       	rjmp	.+4      	; 0x820 <vfprintf+0x622>
-     81c:	1e 2d       	mov	r17, r14
-     81e:	01 c0       	rjmp	.+2      	; 0x822 <vfprintf+0x624>
-     820:	19 2d       	mov	r17, r9
-     822:	f4 fe       	sbrs	r15, 4
-     824:	0d c0       	rjmp	.+26     	; 0x840 <vfprintf+0x642>
-     826:	fe 01       	movw	r30, r28
-     828:	ee 0d       	add	r30, r14
-     82a:	f1 1d       	adc	r31, r1
-     82c:	80 81       	ld	r24, Z
-     82e:	80 33       	cpi	r24, 0x30	; 48
-     830:	19 f4       	brne	.+6      	; 0x838 <vfprintf+0x63a>
-     832:	e9 ee       	ldi	r30, 0xE9	; 233
-     834:	fe 22       	and	r15, r30
-     836:	08 c0       	rjmp	.+16     	; 0x848 <vfprintf+0x64a>
-     838:	1f 5f       	subi	r17, 0xFF	; 255
-     83a:	f2 fe       	sbrs	r15, 2
-     83c:	05 c0       	rjmp	.+10     	; 0x848 <vfprintf+0x64a>
-     83e:	03 c0       	rjmp	.+6      	; 0x846 <vfprintf+0x648>
-     840:	8f 2d       	mov	r24, r15
-     842:	86 78       	andi	r24, 0x86	; 134
-     844:	09 f0       	breq	.+2      	; 0x848 <vfprintf+0x64a>
-     846:	1f 5f       	subi	r17, 0xFF	; 255
-     848:	0f 2d       	mov	r16, r15
-     84a:	f3 fc       	sbrc	r15, 3
-     84c:	14 c0       	rjmp	.+40     	; 0x876 <vfprintf+0x678>
-     84e:	f0 fe       	sbrs	r15, 0
-     850:	0f c0       	rjmp	.+30     	; 0x870 <vfprintf+0x672>
-     852:	18 15       	cp	r17, r8
-     854:	10 f0       	brcs	.+4      	; 0x85a <vfprintf+0x65c>
-     856:	9e 2c       	mov	r9, r14
-     858:	0b c0       	rjmp	.+22     	; 0x870 <vfprintf+0x672>
-     85a:	9e 2c       	mov	r9, r14
-     85c:	98 0c       	add	r9, r8
-     85e:	91 1a       	sub	r9, r17
-     860:	18 2d       	mov	r17, r8
-     862:	06 c0       	rjmp	.+12     	; 0x870 <vfprintf+0x672>
-     864:	80 e2       	ldi	r24, 0x20	; 32
-     866:	90 e0       	ldi	r25, 0x00	; 0
-     868:	b3 01       	movw	r22, r6
-     86a:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     86e:	1f 5f       	subi	r17, 0xFF	; 255
-     870:	18 15       	cp	r17, r8
-     872:	c0 f3       	brcs	.-16     	; 0x864 <vfprintf+0x666>
-     874:	04 c0       	rjmp	.+8      	; 0x87e <vfprintf+0x680>
-     876:	18 15       	cp	r17, r8
-     878:	10 f4       	brcc	.+4      	; 0x87e <vfprintf+0x680>
-     87a:	81 1a       	sub	r8, r17
-     87c:	01 c0       	rjmp	.+2      	; 0x880 <vfprintf+0x682>
-     87e:	88 24       	eor	r8, r8
-     880:	04 ff       	sbrs	r16, 4
-     882:	0f c0       	rjmp	.+30     	; 0x8a2 <vfprintf+0x6a4>
-     884:	80 e3       	ldi	r24, 0x30	; 48
-     886:	90 e0       	ldi	r25, 0x00	; 0
-     888:	b3 01       	movw	r22, r6
-     88a:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     88e:	02 ff       	sbrs	r16, 2
-     890:	1d c0       	rjmp	.+58     	; 0x8cc <vfprintf+0x6ce>
-     892:	01 fd       	sbrc	r16, 1
-     894:	03 c0       	rjmp	.+6      	; 0x89c <vfprintf+0x69e>
-     896:	88 e7       	ldi	r24, 0x78	; 120
-     898:	90 e0       	ldi	r25, 0x00	; 0
-     89a:	0e c0       	rjmp	.+28     	; 0x8b8 <vfprintf+0x6ba>
-     89c:	88 e5       	ldi	r24, 0x58	; 88
-     89e:	90 e0       	ldi	r25, 0x00	; 0
-     8a0:	0b c0       	rjmp	.+22     	; 0x8b8 <vfprintf+0x6ba>
-     8a2:	80 2f       	mov	r24, r16
-     8a4:	86 78       	andi	r24, 0x86	; 134
-     8a6:	91 f0       	breq	.+36     	; 0x8cc <vfprintf+0x6ce>
-     8a8:	01 ff       	sbrs	r16, 1
-     8aa:	02 c0       	rjmp	.+4      	; 0x8b0 <vfprintf+0x6b2>
-     8ac:	8b e2       	ldi	r24, 0x2B	; 43
-     8ae:	01 c0       	rjmp	.+2      	; 0x8b2 <vfprintf+0x6b4>
-     8b0:	80 e2       	ldi	r24, 0x20	; 32
-     8b2:	f7 fc       	sbrc	r15, 7
-     8b4:	8d e2       	ldi	r24, 0x2D	; 45
-     8b6:	90 e0       	ldi	r25, 0x00	; 0
-     8b8:	b3 01       	movw	r22, r6
-     8ba:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     8be:	06 c0       	rjmp	.+12     	; 0x8cc <vfprintf+0x6ce>
-     8c0:	80 e3       	ldi	r24, 0x30	; 48
-     8c2:	90 e0       	ldi	r25, 0x00	; 0
-     8c4:	b3 01       	movw	r22, r6
-     8c6:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     8ca:	9a 94       	dec	r9
-     8cc:	e9 14       	cp	r14, r9
-     8ce:	c0 f3       	brcs	.-16     	; 0x8c0 <vfprintf+0x6c2>
-     8d0:	ea 94       	dec	r14
-     8d2:	e1 e0       	ldi	r30, 0x01	; 1
-     8d4:	f0 e0       	ldi	r31, 0x00	; 0
-     8d6:	ec 0f       	add	r30, r28
-     8d8:	fd 1f       	adc	r31, r29
-     8da:	ee 0d       	add	r30, r14
-     8dc:	f1 1d       	adc	r31, r1
-     8de:	80 81       	ld	r24, Z
-     8e0:	90 e0       	ldi	r25, 0x00	; 0
-     8e2:	b3 01       	movw	r22, r6
-     8e4:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     8e8:	ee 20       	and	r14, r14
-     8ea:	91 f7       	brne	.-28     	; 0x8d0 <vfprintf+0x6d2>
-     8ec:	06 c0       	rjmp	.+12     	; 0x8fa <vfprintf+0x6fc>
-     8ee:	80 e2       	ldi	r24, 0x20	; 32
-     8f0:	90 e0       	ldi	r25, 0x00	; 0
-     8f2:	b3 01       	movw	r22, r6
-     8f4:	0e 94 0c 13 	call	0x2618	; 0x2618 <fputc>
-     8f8:	8a 94       	dec	r8
-     8fa:	88 20       	and	r8, r8
-     8fc:	c1 f7       	brne	.-16     	; 0x8ee <vfprintf+0x6f0>
-     8fe:	97 cc       	rjmp	.-1746   	; 0x22e <vfprintf+0x30>
-     900:	f3 01       	movw	r30, r6
-     902:	66 81       	ldd	r22, Z+6	; 0x06
-     904:	77 81       	ldd	r23, Z+7	; 0x07
-     906:	cb 01       	movw	r24, r22
-     908:	61 96       	adiw	r28, 0x11	; 17
-     90a:	e2 e1       	ldi	r30, 0x12	; 18
-     90c:	0c 94 e0 13 	jmp	0x27c0	; 0x27c0 <__epilogue_restores__>
-
-00000910 <bom_get>:
-     910:	fc 01       	movw	r30, r24
-     912:	ee 0f       	add	r30, r30
-     914:	ff 1f       	adc	r31, r31
-     916:	ef 5f       	subi	r30, 0xFF	; 255
-     918:	fb 4f       	sbci	r31, 0xFB	; 251
-     91a:	80 81       	ld	r24, Z
-     91c:	91 81       	ldd	r25, Z+1	; 0x01
-     91e:	08 95       	ret
-
-00000920 <bom_get_max>:
-     920:	e1 e0       	ldi	r30, 0x01	; 1
-     922:	f4 e0       	ldi	r31, 0x04	; 4
-     924:	40 e0       	ldi	r20, 0x00	; 0
-     926:	50 e0       	ldi	r21, 0x00	; 0
-     928:	6f ef       	ldi	r22, 0xFF	; 255
-     92a:	70 e0       	ldi	r23, 0x00	; 0
-     92c:	8f ef       	ldi	r24, 0xFF	; 255
-     92e:	9f ef       	ldi	r25, 0xFF	; 255
-     930:	20 81       	ld	r18, Z
-     932:	31 81       	ldd	r19, Z+1	; 0x01
-     934:	26 17       	cp	r18, r22
-     936:	37 07       	cpc	r19, r23
-     938:	10 f4       	brcc	.+4      	; 0x93e <bom_get_max+0x1e>
-     93a:	b9 01       	movw	r22, r18
-     93c:	ca 01       	movw	r24, r20
-     93e:	4f 5f       	subi	r20, 0xFF	; 255
-     940:	5f 4f       	sbci	r21, 0xFF	; 255
-     942:	32 96       	adiw	r30, 0x02	; 2
-     944:	40 31       	cpi	r20, 0x10	; 16
-     946:	51 05       	cpc	r21, r1
-     948:	99 f7       	brne	.-26     	; 0x930 <bom_get_max+0x10>
-     94a:	66 39       	cpi	r22, 0x96	; 150
-     94c:	71 05       	cpc	r23, r1
-     94e:	14 f0       	brlt	.+4      	; 0x954 <bom_get_max+0x34>
-     950:	8f ef       	ldi	r24, 0xFF	; 255
-     952:	9f ef       	ldi	r25, 0xFF	; 255
-     954:	08 95       	ret
-
-00000956 <bom_off>:
-     956:	80 91 00 04 	lds	r24, 0x0400
-     95a:	88 23       	and	r24, r24
-     95c:	19 f0       	breq	.+6      	; 0x964 <bom_off+0xe>
-     95e:	81 30       	cpi	r24, 0x01	; 1
-     960:	71 f4       	brne	.+28     	; 0x97e <bom_off+0x28>
-     962:	07 c0       	rjmp	.+14     	; 0x972 <bom_off+0x1c>
-     964:	60 e0       	ldi	r22, 0x00	; 0
-     966:	70 e0       	ldi	r23, 0x00	; 0
-     968:	8a e2       	ldi	r24, 0x2A	; 42
-     96a:	90 e0       	ldi	r25, 0x00	; 0
-     96c:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     970:	08 95       	ret
-     972:	60 e0       	ldi	r22, 0x00	; 0
-     974:	70 e0       	ldi	r23, 0x00	; 0
-     976:	8b e2       	ldi	r24, 0x2B	; 43
-     978:	90 e0       	ldi	r25, 0x00	; 0
-     97a:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     97e:	08 95       	ret
-
-00000980 <bom_on>:
-     980:	80 91 00 04 	lds	r24, 0x0400
-     984:	88 23       	and	r24, r24
-     986:	19 f0       	breq	.+6      	; 0x98e <bom_on+0xe>
-     988:	81 30       	cpi	r24, 0x01	; 1
-     98a:	71 f4       	brne	.+28     	; 0x9a8 <bom_on+0x28>
-     98c:	07 c0       	rjmp	.+14     	; 0x99c <bom_on+0x1c>
-     98e:	61 e0       	ldi	r22, 0x01	; 1
-     990:	70 e0       	ldi	r23, 0x00	; 0
-     992:	8a e2       	ldi	r24, 0x2A	; 42
-     994:	90 e0       	ldi	r25, 0x00	; 0
-     996:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     99a:	08 95       	ret
-     99c:	61 e0       	ldi	r22, 0x01	; 1
-     99e:	70 e0       	ldi	r23, 0x00	; 0
-     9a0:	8b e2       	ldi	r24, 0x2B	; 43
-     9a2:	90 e0       	ldi	r25, 0x00	; 0
-     9a4:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     9a8:	08 95       	ret
-
-000009aa <bom_set_leds>:
-     9aa:	ef 92       	push	r14
-     9ac:	ff 92       	push	r15
-     9ae:	0f 93       	push	r16
-     9b0:	1f 93       	push	r17
-     9b2:	cf 93       	push	r28
-     9b4:	df 93       	push	r29
-     9b6:	7c 01       	movw	r14, r24
-     9b8:	80 91 00 04 	lds	r24, 0x0400
-     9bc:	81 30       	cpi	r24, 0x01	; 1
-     9be:	e1 f4       	brne	.+56     	; 0x9f8 <bom_set_leds+0x4e>
-     9c0:	00 e1       	ldi	r16, 0x10	; 16
-     9c2:	10 e0       	ldi	r17, 0x00	; 0
-     9c4:	c0 e0       	ldi	r28, 0x00	; 0
-     9c6:	d0 e8       	ldi	r29, 0x80	; 128
-     9c8:	be 01       	movw	r22, r28
-     9ca:	6e 21       	and	r22, r14
-     9cc:	7f 21       	and	r23, r15
-     9ce:	88 e0       	ldi	r24, 0x08	; 8
-     9d0:	90 e0       	ldi	r25, 0x00	; 0
-     9d2:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     9d6:	61 e0       	ldi	r22, 0x01	; 1
-     9d8:	70 e0       	ldi	r23, 0x00	; 0
-     9da:	89 e0       	ldi	r24, 0x09	; 9
-     9dc:	90 e0       	ldi	r25, 0x00	; 0
-     9de:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     9e2:	60 e0       	ldi	r22, 0x00	; 0
-     9e4:	70 e0       	ldi	r23, 0x00	; 0
-     9e6:	89 e0       	ldi	r24, 0x09	; 9
-     9e8:	90 e0       	ldi	r25, 0x00	; 0
-     9ea:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     9ee:	d6 95       	lsr	r29
-     9f0:	c7 95       	ror	r28
-     9f2:	01 50       	subi	r16, 0x01	; 1
-     9f4:	10 40       	sbci	r17, 0x00	; 0
-     9f6:	41 f7       	brne	.-48     	; 0x9c8 <bom_set_leds+0x1e>
-     9f8:	df 91       	pop	r29
-     9fa:	cf 91       	pop	r28
-     9fc:	1f 91       	pop	r17
-     9fe:	0f 91       	pop	r16
-     a00:	ff 90       	pop	r15
-     a02:	ef 90       	pop	r14
-     a04:	08 95       	ret
-
-00000a06 <bom_init>:
-     a06:	80 93 00 04 	sts	0x0400, r24
-     a0a:	80 91 00 04 	lds	r24, 0x0400
-     a0e:	88 23       	and	r24, r24
-     a10:	21 f0       	breq	.+8      	; 0xa1a <bom_init+0x14>
-     a12:	81 30       	cpi	r24, 0x01	; 1
-     a14:	09 f0       	breq	.+2      	; 0xa18 <bom_init+0x12>
-     a16:	44 c0       	rjmp	.+136    	; 0xaa0 <bom_init+0x9a>
-     a18:	1d c0       	rjmp	.+58     	; 0xa54 <bom_init+0x4e>
-     a1a:	8c e2       	ldi	r24, 0x2C	; 44
-     a1c:	90 e0       	ldi	r25, 0x00	; 0
-     a1e:	90 93 22 04 	sts	0x0422, r25
-     a22:	80 93 21 04 	sts	0x0421, r24
-     a26:	8b e2       	ldi	r24, 0x2B	; 43
-     a28:	90 e0       	ldi	r25, 0x00	; 0
-     a2a:	90 93 24 04 	sts	0x0424, r25
-     a2e:	80 93 23 04 	sts	0x0423, r24
-     a32:	8f e2       	ldi	r24, 0x2F	; 47
-     a34:	90 e0       	ldi	r25, 0x00	; 0
-     a36:	90 93 26 04 	sts	0x0426, r25
-     a3a:	80 93 25 04 	sts	0x0425, r24
-     a3e:	8e e2       	ldi	r24, 0x2E	; 46
-     a40:	90 e0       	ldi	r25, 0x00	; 0
-     a42:	90 93 28 04 	sts	0x0428, r25
-     a46:	80 93 27 04 	sts	0x0427, r24
-     a4a:	10 92 2a 04 	sts	0x042A, r1
-     a4e:	10 92 29 04 	sts	0x0429, r1
-     a52:	08 95       	ret
-     a54:	60 e0       	ldi	r22, 0x00	; 0
-     a56:	70 e0       	ldi	r23, 0x00	; 0
-     a58:	8a e2       	ldi	r24, 0x2A	; 42
-     a5a:	90 e0       	ldi	r25, 0x00	; 0
-     a5c:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     a60:	8d e2       	ldi	r24, 0x2D	; 45
-     a62:	90 e0       	ldi	r25, 0x00	; 0
-     a64:	90 93 22 04 	sts	0x0422, r25
-     a68:	80 93 21 04 	sts	0x0421, r24
-     a6c:	8c e2       	ldi	r24, 0x2C	; 44
-     a6e:	90 e0       	ldi	r25, 0x00	; 0
-     a70:	90 93 24 04 	sts	0x0424, r25
-     a74:	80 93 23 04 	sts	0x0423, r24
-     a78:	8f e2       	ldi	r24, 0x2F	; 47
-     a7a:	90 e0       	ldi	r25, 0x00	; 0
-     a7c:	90 93 26 04 	sts	0x0426, r25
-     a80:	80 93 25 04 	sts	0x0425, r24
-     a84:	8e e2       	ldi	r24, 0x2E	; 46
-     a86:	90 e0       	ldi	r25, 0x00	; 0
-     a88:	90 93 28 04 	sts	0x0428, r25
-     a8c:	80 93 27 04 	sts	0x0427, r24
-     a90:	8f ef       	ldi	r24, 0xFF	; 255
-     a92:	9f ef       	ldi	r25, 0xFF	; 255
-     a94:	0e 94 d5 04 	call	0x9aa	; 0x9aa <bom_set_leds>
-     a98:	10 92 2a 04 	sts	0x042A, r1
-     a9c:	10 92 29 04 	sts	0x0429, r1
-     aa0:	08 95       	ret
-
-00000aa2 <bom_refresh>:
-     aa2:	af 92       	push	r10
-     aa4:	bf 92       	push	r11
-     aa6:	cf 92       	push	r12
-     aa8:	df 92       	push	r13
-     aaa:	ef 92       	push	r14
-     aac:	ff 92       	push	r15
-     aae:	0f 93       	push	r16
-     ab0:	1f 93       	push	r17
-     ab2:	cf 93       	push	r28
-     ab4:	df 93       	push	r29
-     ab6:	8c 01       	movw	r16, r24
-     ab8:	0e 94 b8 10 	call	0x2170	; 0x2170 <analog_loop_status>
-     abc:	01 97       	sbiw	r24, 0x01	; 1
-     abe:	19 f0       	breq	.+6      	; 0xac6 <bom_refresh+0x24>
-     ac0:	aa 24       	eor	r10, r10
-     ac2:	bb 24       	eor	r11, r11
-     ac4:	05 c0       	rjmp	.+10     	; 0xad0 <bom_refresh+0x2e>
-     ac6:	0e 94 b1 10 	call	0x2162	; 0x2162 <analog_stop_loop>
-     aca:	41 e0       	ldi	r20, 0x01	; 1
-     acc:	a4 2e       	mov	r10, r20
-     ace:	b1 2c       	mov	r11, r1
-     ad0:	31 e0       	ldi	r19, 0x01	; 1
-     ad2:	c3 2e       	mov	r12, r19
-     ad4:	34 e0       	ldi	r19, 0x04	; 4
-     ad6:	d3 2e       	mov	r13, r19
-     ad8:	ee 24       	eor	r14, r14
-     ada:	ff 24       	eor	r15, r15
-     adc:	00 ff       	sbrs	r16, 0
-     ade:	48 c0       	rjmp	.+144    	; 0xb70 <bom_refresh+0xce>
-     ae0:	ee 2d       	mov	r30, r14
-     ae2:	80 91 00 04 	lds	r24, 0x0400
-     ae6:	88 23       	and	r24, r24
-     ae8:	21 f4       	brne	.+8      	; 0xaf2 <bom_refresh+0x50>
-     aea:	f7 01       	movw	r30, r14
-     aec:	e0 50       	subi	r30, 0x00	; 0
-     aee:	ff 4f       	sbci	r31, 0xFF	; 255
-     af0:	e0 81       	ld	r30, Z
-     af2:	ce 2f       	mov	r28, r30
-     af4:	dd 27       	eor	r29, r29
-     af6:	80 91 27 04 	lds	r24, 0x0427
-     afa:	90 91 28 04 	lds	r25, 0x0428
-     afe:	c3 ff       	sbrs	r28, 3
-     b00:	03 c0       	rjmp	.+6      	; 0xb08 <bom_refresh+0x66>
-     b02:	61 e0       	ldi	r22, 0x01	; 1
-     b04:	70 e0       	ldi	r23, 0x00	; 0
-     b06:	02 c0       	rjmp	.+4      	; 0xb0c <bom_refresh+0x6a>
-     b08:	60 e0       	ldi	r22, 0x00	; 0
-     b0a:	70 e0       	ldi	r23, 0x00	; 0
-     b0c:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     b10:	80 91 25 04 	lds	r24, 0x0425
-     b14:	90 91 26 04 	lds	r25, 0x0426
-     b18:	c2 ff       	sbrs	r28, 2
-     b1a:	03 c0       	rjmp	.+6      	; 0xb22 <bom_refresh+0x80>
-     b1c:	61 e0       	ldi	r22, 0x01	; 1
-     b1e:	70 e0       	ldi	r23, 0x00	; 0
-     b20:	02 c0       	rjmp	.+4      	; 0xb26 <bom_refresh+0x84>
-     b22:	60 e0       	ldi	r22, 0x00	; 0
-     b24:	70 e0       	ldi	r23, 0x00	; 0
-     b26:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     b2a:	80 91 23 04 	lds	r24, 0x0423
-     b2e:	90 91 24 04 	lds	r25, 0x0424
-     b32:	c1 ff       	sbrs	r28, 1
-     b34:	03 c0       	rjmp	.+6      	; 0xb3c <bom_refresh+0x9a>
-     b36:	61 e0       	ldi	r22, 0x01	; 1
-     b38:	70 e0       	ldi	r23, 0x00	; 0
-     b3a:	02 c0       	rjmp	.+4      	; 0xb40 <bom_refresh+0x9e>
-     b3c:	60 e0       	ldi	r22, 0x00	; 0
-     b3e:	70 e0       	ldi	r23, 0x00	; 0
-     b40:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     b44:	80 91 21 04 	lds	r24, 0x0421
-     b48:	90 91 22 04 	lds	r25, 0x0422
-     b4c:	c0 ff       	sbrs	r28, 0
-     b4e:	03 c0       	rjmp	.+6      	; 0xb56 <bom_refresh+0xb4>
-     b50:	61 e0       	ldi	r22, 0x01	; 1
-     b52:	70 e0       	ldi	r23, 0x00	; 0
-     b54:	02 c0       	rjmp	.+4      	; 0xb5a <bom_refresh+0xb8>
-     b56:	60 e0       	ldi	r22, 0x00	; 0
-     b58:	70 e0       	ldi	r23, 0x00	; 0
-     b5a:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-     b5e:	80 91 29 04 	lds	r24, 0x0429
-     b62:	90 91 2a 04 	lds	r25, 0x042A
-     b66:	0e 94 f1 10 	call	0x21e2	; 0x21e2 <analog_get8>
-     b6a:	f6 01       	movw	r30, r12
-     b6c:	91 83       	std	Z+1, r25	; 0x01
-     b6e:	80 83       	st	Z, r24
-     b70:	08 94       	sec
-     b72:	e1 1c       	adc	r14, r1
-     b74:	f1 1c       	adc	r15, r1
-     b76:	82 e0       	ldi	r24, 0x02	; 2
-     b78:	90 e0       	ldi	r25, 0x00	; 0
-     b7a:	c8 0e       	add	r12, r24
-     b7c:	d9 1e       	adc	r13, r25
-     b7e:	90 e1       	ldi	r25, 0x10	; 16
-     b80:	e9 16       	cp	r14, r25
-     b82:	f1 04       	cpc	r15, r1
-     b84:	19 f0       	breq	.+6      	; 0xb8c <bom_refresh+0xea>
-     b86:	15 95       	asr	r17
-     b88:	07 95       	ror	r16
-     b8a:	a8 cf       	rjmp	.-176    	; 0xadc <bom_refresh+0x3a>
-     b8c:	ab 28       	or	r10, r11
-     b8e:	11 f0       	breq	.+4      	; 0xb94 <bom_refresh+0xf2>
-     b90:	0e 94 a2 10 	call	0x2144	; 0x2144 <analog_start_loop>
-     b94:	df 91       	pop	r29
-     b96:	cf 91       	pop	r28
-     b98:	1f 91       	pop	r17
-     b9a:	0f 91       	pop	r16
-     b9c:	ff 90       	pop	r15
-     b9e:	ef 90       	pop	r14
-     ba0:	df 90       	pop	r13
-     ba2:	cf 90       	pop	r12
-     ba4:	bf 90       	pop	r11
-     ba6:	af 90       	pop	r10
-     ba8:	08 95       	ret
-
-00000baa <get_max_bom>:
-     baa:	8f ef       	ldi	r24, 0xFF	; 255
-     bac:	9f ef       	ldi	r25, 0xFF	; 255
-     bae:	0e 94 51 05 	call	0xaa2	; 0xaa2 <bom_refresh>
-     bb2:	0e 94 90 04 	call	0x920	; 0x920 <bom_get_max>
-     bb6:	08 95       	ret
-
-00000bb8 <digital_input>:
-     bb8:	ac 01       	movw	r20, r24
-     bba:	47 70       	andi	r20, 0x07	; 7
-     bbc:	50 70       	andi	r21, 0x00	; 0
-     bbe:	9c 01       	movw	r18, r24
-     bc0:	83 e0       	ldi	r24, 0x03	; 3
-     bc2:	35 95       	asr	r19
-     bc4:	27 95       	ror	r18
-     bc6:	8a 95       	dec	r24
-     bc8:	e1 f7       	brne	.-8      	; 0xbc2 <digital_input+0xa>
-     bca:	24 30       	cpi	r18, 0x04	; 4
-     bcc:	31 05       	cpc	r19, r1
-     bce:	09 f4       	brne	.+2      	; 0xbd2 <digital_input+0x1a>
-     bd0:	44 c0       	rjmp	.+136    	; 0xc5a <digital_input+0xa2>
-     bd2:	25 30       	cpi	r18, 0x05	; 5
-     bd4:	31 05       	cpc	r19, r1
-     bd6:	54 f4       	brge	.+20     	; 0xbec <digital_input+0x34>
-     bd8:	22 30       	cpi	r18, 0x02	; 2
-     bda:	31 05       	cpc	r19, r1
-     bdc:	11 f1       	breq	.+68     	; 0xc22 <digital_input+0x6a>
-     bde:	23 30       	cpi	r18, 0x03	; 3
-     be0:	31 05       	cpc	r19, r1
-     be2:	6c f5       	brge	.+90     	; 0xc3e <digital_input+0x86>
-     be4:	21 30       	cpi	r18, 0x01	; 1
-     be6:	31 05       	cpc	r19, r1
-     be8:	61 f4       	brne	.+24     	; 0xc02 <digital_input+0x4a>
-     bea:	0e c0       	rjmp	.+28     	; 0xc08 <digital_input+0x50>
-     bec:	26 30       	cpi	r18, 0x06	; 6
-     bee:	31 05       	cpc	r19, r1
-     bf0:	09 f4       	brne	.+2      	; 0xbf4 <digital_input+0x3c>
-     bf2:	4f c0       	rjmp	.+158    	; 0xc92 <digital_input+0xda>
-     bf4:	26 30       	cpi	r18, 0x06	; 6
-     bf6:	31 05       	cpc	r19, r1
-     bf8:	f4 f1       	brlt	.+124    	; 0xc76 <digital_input+0xbe>
-     bfa:	27 30       	cpi	r18, 0x07	; 7
-     bfc:	31 05       	cpc	r19, r1
-     bfe:	09 f4       	brne	.+2      	; 0xc02 <digital_input+0x4a>
-     c00:	69 c0       	rjmp	.+210    	; 0xcd4 <digital_input+0x11c>
-     c02:	8f ef       	ldi	r24, 0xFF	; 255
-     c04:	9f ef       	ldi	r25, 0xFF	; 255
-     c06:	08 95       	ret
-     c08:	8a b3       	in	r24, 0x1a	; 26
-     c0a:	04 2e       	mov	r0, r20
-     c0c:	02 c0       	rjmp	.+4      	; 0xc12 <digital_input+0x5a>
-     c0e:	22 0f       	add	r18, r18
-     c10:	33 1f       	adc	r19, r19
-     c12:	0a 94       	dec	r0
-     c14:	e2 f7       	brpl	.-8      	; 0xc0e <digital_input+0x56>
-     c16:	92 2f       	mov	r25, r18
-     c18:	90 95       	com	r25
-     c1a:	98 23       	and	r25, r24
-     c1c:	9a bb       	out	0x1a, r25	; 26
-     c1e:	89 b3       	in	r24, 0x19	; 25
-     c20:	50 c0       	rjmp	.+160    	; 0xcc2 <digital_input+0x10a>
-     c22:	87 b3       	in	r24, 0x17	; 23
-     c24:	21 e0       	ldi	r18, 0x01	; 1
-     c26:	30 e0       	ldi	r19, 0x00	; 0
-     c28:	04 2e       	mov	r0, r20
-     c2a:	02 c0       	rjmp	.+4      	; 0xc30 <digital_input+0x78>
-     c2c:	22 0f       	add	r18, r18
-     c2e:	33 1f       	adc	r19, r19
-     c30:	0a 94       	dec	r0
-     c32:	e2 f7       	brpl	.-8      	; 0xc2c <digital_input+0x74>
-     c34:	20 95       	com	r18
-     c36:	28 23       	and	r18, r24
-     c38:	27 bb       	out	0x17, r18	; 23
-     c3a:	86 b3       	in	r24, 0x16	; 22
-     c3c:	42 c0       	rjmp	.+132    	; 0xcc2 <digital_input+0x10a>
-     c3e:	84 b3       	in	r24, 0x14	; 20
-     c40:	21 e0       	ldi	r18, 0x01	; 1
-     c42:	30 e0       	ldi	r19, 0x00	; 0
-     c44:	04 2e       	mov	r0, r20
-     c46:	02 c0       	rjmp	.+4      	; 0xc4c <digital_input+0x94>
-     c48:	22 0f       	add	r18, r18
-     c4a:	33 1f       	adc	r19, r19
-     c4c:	0a 94       	dec	r0
-     c4e:	e2 f7       	brpl	.-8      	; 0xc48 <digital_input+0x90>
-     c50:	20 95       	com	r18
-     c52:	28 23       	and	r18, r24
-     c54:	24 bb       	out	0x14, r18	; 20
-     c56:	83 b3       	in	r24, 0x13	; 19
-     c58:	34 c0       	rjmp	.+104    	; 0xcc2 <digital_input+0x10a>
-     c5a:	81 b3       	in	r24, 0x11	; 17
-     c5c:	21 e0       	ldi	r18, 0x01	; 1
-     c5e:	30 e0       	ldi	r19, 0x00	; 0
-     c60:	04 2e       	mov	r0, r20
-     c62:	02 c0       	rjmp	.+4      	; 0xc68 <digital_input+0xb0>
-     c64:	22 0f       	add	r18, r18
-     c66:	33 1f       	adc	r19, r19
-     c68:	0a 94       	dec	r0
-     c6a:	e2 f7       	brpl	.-8      	; 0xc64 <digital_input+0xac>
-     c6c:	20 95       	com	r18
-     c6e:	28 23       	and	r18, r24
-     c70:	21 bb       	out	0x11, r18	; 17
-     c72:	80 b3       	in	r24, 0x10	; 16
-     c74:	26 c0       	rjmp	.+76     	; 0xcc2 <digital_input+0x10a>
-     c76:	82 b1       	in	r24, 0x02	; 2
-     c78:	21 e0       	ldi	r18, 0x01	; 1
-     c7a:	30 e0       	ldi	r19, 0x00	; 0
-     c7c:	04 2e       	mov	r0, r20
-     c7e:	02 c0       	rjmp	.+4      	; 0xc84 <digital_input+0xcc>
-     c80:	22 0f       	add	r18, r18
-     c82:	33 1f       	adc	r19, r19
-     c84:	0a 94       	dec	r0
-     c86:	e2 f7       	brpl	.-8      	; 0xc80 <digital_input+0xc8>
-     c88:	20 95       	com	r18
-     c8a:	28 23       	and	r18, r24
-     c8c:	22 b9       	out	0x02, r18	; 2
-     c8e:	81 b1       	in	r24, 0x01	; 1
-     c90:	18 c0       	rjmp	.+48     	; 0xcc2 <digital_input+0x10a>
-     c92:	44 30       	cpi	r20, 0x04	; 4
-     c94:	51 05       	cpc	r21, r1
-     c96:	34 f0       	brlt	.+12     	; 0xca4 <digital_input+0xec>
-     c98:	84 b7       	in	r24, 0x34	; 52
-     c9a:	80 68       	ori	r24, 0x80	; 128
-     c9c:	84 bf       	out	0x34, r24	; 52
-     c9e:	84 b7       	in	r24, 0x34	; 52
-     ca0:	80 68       	ori	r24, 0x80	; 128
-     ca2:	84 bf       	out	0x34, r24	; 52
-     ca4:	80 91 61 00 	lds	r24, 0x0061
-     ca8:	21 e0       	ldi	r18, 0x01	; 1
-     caa:	30 e0       	ldi	r19, 0x00	; 0
-     cac:	04 2e       	mov	r0, r20
-     cae:	02 c0       	rjmp	.+4      	; 0xcb4 <digital_input+0xfc>
-     cb0:	22 0f       	add	r18, r18
-     cb2:	33 1f       	adc	r19, r19
-     cb4:	0a 94       	dec	r0
-     cb6:	e2 f7       	brpl	.-8      	; 0xcb0 <digital_input+0xf8>
-     cb8:	20 95       	com	r18
-     cba:	28 23       	and	r18, r24
-     cbc:	20 93 61 00 	sts	0x0061, r18
-     cc0:	80 b1       	in	r24, 0x00	; 0
-     cc2:	99 27       	eor	r25, r25
-     cc4:	02 c0       	rjmp	.+4      	; 0xcca <digital_input+0x112>
-     cc6:	95 95       	asr	r25
-     cc8:	87 95       	ror	r24
-     cca:	4a 95       	dec	r20
-     ccc:	e2 f7       	brpl	.-8      	; 0xcc6 <digital_input+0x10e>
-     cce:	81 70       	andi	r24, 0x01	; 1
-     cd0:	90 70       	andi	r25, 0x00	; 0
-     cd2:	08 95       	ret
-     cd4:	80 91 64 00 	lds	r24, 0x0064
-     cd8:	21 e0       	ldi	r18, 0x01	; 1
-     cda:	30 e0       	ldi	r19, 0x00	; 0
-     cdc:	04 2e       	mov	r0, r20
-     cde:	02 c0       	rjmp	.+4      	; 0xce4 <digital_input+0x12c>
-     ce0:	22 0f       	add	r18, r18
-     ce2:	33 1f       	adc	r19, r19
-     ce4:	0a 94       	dec	r0
-     ce6:	e2 f7       	brpl	.-8      	; 0xce0 <digital_input+0x128>
-     ce8:	20 95       	com	r18
-     cea:	28 23       	and	r18, r24
-     cec:	20 93 64 00 	sts	0x0064, r18
-     cf0:	80 91 63 00 	lds	r24, 0x0063
-     cf4:	99 27       	eor	r25, r25
-     cf6:	02 c0       	rjmp	.+4      	; 0xcfc <digital_input+0x144>
-     cf8:	95 95       	asr	r25
-     cfa:	87 95       	ror	r24
-     cfc:	4a 95       	dec	r20
-     cfe:	e2 f7       	brpl	.-8      	; 0xcf8 <digital_input+0x140>
-     d00:	81 70       	andi	r24, 0x01	; 1
-     d02:	90 70       	andi	r25, 0x00	; 0
-     d04:	08 95       	ret
-
-00000d06 <digital_pull_up>:
-     d06:	ac 01       	movw	r20, r24
-     d08:	47 70       	andi	r20, 0x07	; 7
-     d0a:	50 70       	andi	r21, 0x00	; 0
-     d0c:	9c 01       	movw	r18, r24
-     d0e:	93 e0       	ldi	r25, 0x03	; 3
-     d10:	35 95       	asr	r19
-     d12:	27 95       	ror	r18
-     d14:	9a 95       	dec	r25
-     d16:	e1 f7       	brne	.-8      	; 0xd10 <digital_pull_up+0xa>
-     d18:	24 30       	cpi	r18, 0x04	; 4
-     d1a:	31 05       	cpc	r19, r1
-     d1c:	c9 f1       	breq	.+114    	; 0xd90 <digital_pull_up+0x8a>
-     d1e:	25 30       	cpi	r18, 0x05	; 5
-     d20:	31 05       	cpc	r19, r1
-     d22:	5c f4       	brge	.+22     	; 0xd3a <digital_pull_up+0x34>
-     d24:	22 30       	cpi	r18, 0x02	; 2
-     d26:	31 05       	cpc	r19, r1
-     d28:	e9 f0       	breq	.+58     	; 0xd64 <digital_pull_up+0x5e>
-     d2a:	23 30       	cpi	r18, 0x03	; 3
-     d2c:	31 05       	cpc	r19, r1
-     d2e:	2c f5       	brge	.+74     	; 0xd7a <digital_pull_up+0x74>
-     d30:	21 30       	cpi	r18, 0x01	; 1
-     d32:	31 05       	cpc	r19, r1
-     d34:	09 f0       	breq	.+2      	; 0xd38 <digital_pull_up+0x32>
-     d36:	5b c0       	rjmp	.+182    	; 0xdee <digital_pull_up+0xe8>
-     d38:	0c c0       	rjmp	.+24     	; 0xd52 <digital_pull_up+0x4c>
-     d3a:	26 30       	cpi	r18, 0x06	; 6
-     d3c:	31 05       	cpc	r19, r1
-     d3e:	09 f4       	brne	.+2      	; 0xd42 <digital_pull_up+0x3c>
-     d40:	3d c0       	rjmp	.+122    	; 0xdbc <digital_pull_up+0xb6>
-     d42:	26 30       	cpi	r18, 0x06	; 6
-     d44:	31 05       	cpc	r19, r1
-     d46:	7c f1       	brlt	.+94     	; 0xda6 <digital_pull_up+0xa0>
-     d48:	27 30       	cpi	r18, 0x07	; 7
-     d4a:	31 05       	cpc	r19, r1
-     d4c:	09 f0       	breq	.+2      	; 0xd50 <digital_pull_up+0x4a>
-     d4e:	4f c0       	rjmp	.+158    	; 0xdee <digital_pull_up+0xe8>
-     d50:	42 c0       	rjmp	.+132    	; 0xdd6 <digital_pull_up+0xd0>
-     d52:	8b b3       	in	r24, 0x1b	; 27
-     d54:	02 c0       	rjmp	.+4      	; 0xd5a <digital_pull_up+0x54>
-     d56:	22 0f       	add	r18, r18
-     d58:	33 1f       	adc	r19, r19
-     d5a:	4a 95       	dec	r20
-     d5c:	e2 f7       	brpl	.-8      	; 0xd56 <digital_pull_up+0x50>
-     d5e:	82 2b       	or	r24, r18
-     d60:	8b bb       	out	0x1b, r24	; 27
-     d62:	08 95       	ret
-     d64:	28 b3       	in	r18, 0x18	; 24
-     d66:	81 e0       	ldi	r24, 0x01	; 1
-     d68:	90 e0       	ldi	r25, 0x00	; 0
-     d6a:	02 c0       	rjmp	.+4      	; 0xd70 <digital_pull_up+0x6a>
-     d6c:	88 0f       	add	r24, r24
-     d6e:	99 1f       	adc	r25, r25
-     d70:	4a 95       	dec	r20
-     d72:	e2 f7       	brpl	.-8      	; 0xd6c <digital_pull_up+0x66>
-     d74:	28 2b       	or	r18, r24
-     d76:	28 bb       	out	0x18, r18	; 24
-     d78:	08 95       	ret
-     d7a:	25 b3       	in	r18, 0x15	; 21
-     d7c:	81 e0       	ldi	r24, 0x01	; 1
-     d7e:	90 e0       	ldi	r25, 0x00	; 0
-     d80:	02 c0       	rjmp	.+4      	; 0xd86 <digital_pull_up+0x80>
-     d82:	88 0f       	add	r24, r24
-     d84:	99 1f       	adc	r25, r25
-     d86:	4a 95       	dec	r20
-     d88:	e2 f7       	brpl	.-8      	; 0xd82 <digital_pull_up+0x7c>
-     d8a:	28 2b       	or	r18, r24
-     d8c:	25 bb       	out	0x15, r18	; 21
-     d8e:	08 95       	ret
-     d90:	22 b3       	in	r18, 0x12	; 18
-     d92:	81 e0       	ldi	r24, 0x01	; 1
-     d94:	90 e0       	ldi	r25, 0x00	; 0
-     d96:	02 c0       	rjmp	.+4      	; 0xd9c <digital_pull_up+0x96>
-     d98:	88 0f       	add	r24, r24
-     d9a:	99 1f       	adc	r25, r25
-     d9c:	4a 95       	dec	r20
-     d9e:	e2 f7       	brpl	.-8      	; 0xd98 <digital_pull_up+0x92>
-     da0:	28 2b       	or	r18, r24
-     da2:	22 bb       	out	0x12, r18	; 18
-     da4:	08 95       	ret
-     da6:	23 b1       	in	r18, 0x03	; 3
-     da8:	81 e0       	ldi	r24, 0x01	; 1
-     daa:	90 e0       	ldi	r25, 0x00	; 0
-     dac:	02 c0       	rjmp	.+4      	; 0xdb2 <digital_pull_up+0xac>
-     dae:	88 0f       	add	r24, r24
-     db0:	99 1f       	adc	r25, r25
-     db2:	4a 95       	dec	r20
-     db4:	e2 f7       	brpl	.-8      	; 0xdae <digital_pull_up+0xa8>
-     db6:	28 2b       	or	r18, r24
-     db8:	23 b9       	out	0x03, r18	; 3
-     dba:	08 95       	ret
-     dbc:	20 91 62 00 	lds	r18, 0x0062
-     dc0:	81 e0       	ldi	r24, 0x01	; 1
-     dc2:	90 e0       	ldi	r25, 0x00	; 0
-     dc4:	02 c0       	rjmp	.+4      	; 0xdca <digital_pull_up+0xc4>
-     dc6:	88 0f       	add	r24, r24
-     dc8:	99 1f       	adc	r25, r25
-     dca:	4a 95       	dec	r20
-     dcc:	e2 f7       	brpl	.-8      	; 0xdc6 <digital_pull_up+0xc0>
-     dce:	28 2b       	or	r18, r24
-     dd0:	20 93 62 00 	sts	0x0062, r18
-     dd4:	08 95       	ret
-     dd6:	20 91 65 00 	lds	r18, 0x0065
-     dda:	81 e0       	ldi	r24, 0x01	; 1
-     ddc:	90 e0       	ldi	r25, 0x00	; 0
-     dde:	02 c0       	rjmp	.+4      	; 0xde4 <digital_pull_up+0xde>
-     de0:	88 0f       	add	r24, r24
-     de2:	99 1f       	adc	r25, r25
-     de4:	4a 95       	dec	r20
-     de6:	e2 f7       	brpl	.-8      	; 0xde0 <digital_pull_up+0xda>
-     de8:	28 2b       	or	r18, r24
-     dea:	20 93 65 00 	sts	0x0065, r18
-     dee:	08 95       	ret
-
-00000df0 <digital_output>:
-     df0:	ac 01       	movw	r20, r24
-     df2:	47 70       	andi	r20, 0x07	; 7
-     df4:	50 70       	andi	r21, 0x00	; 0
-     df6:	9c 01       	movw	r18, r24
-     df8:	53 e0       	ldi	r21, 0x03	; 3
-     dfa:	35 95       	asr	r19
-     dfc:	27 95       	ror	r18
-     dfe:	5a 95       	dec	r21
-     e00:	e1 f7       	brne	.-8      	; 0xdfa <digital_output+0xa>
-     e02:	67 2b       	or	r22, r23
-     e04:	09 f0       	breq	.+2      	; 0xe08 <digital_output+0x18>
-     e06:	88 c0       	rjmp	.+272    	; 0xf18 <digital_output+0x128>
-     e08:	24 30       	cpi	r18, 0x04	; 4
-     e0a:	31 05       	cpc	r19, r1
-     e0c:	09 f4       	brne	.+2      	; 0xe10 <digital_output+0x20>
-     e0e:	44 c0       	rjmp	.+136    	; 0xe98 <digital_output+0xa8>
-     e10:	25 30       	cpi	r18, 0x05	; 5
-     e12:	31 05       	cpc	r19, r1
-     e14:	5c f4       	brge	.+22     	; 0xe2c <digital_output+0x3c>
-     e16:	22 30       	cpi	r18, 0x02	; 2
-     e18:	31 05       	cpc	r19, r1
-     e1a:	11 f1       	breq	.+68     	; 0xe60 <digital_output+0x70>
-     e1c:	23 30       	cpi	r18, 0x03	; 3
-     e1e:	31 05       	cpc	r19, r1
-     e20:	6c f5       	brge	.+90     	; 0xe7c <digital_output+0x8c>
-     e22:	21 30       	cpi	r18, 0x01	; 1
-     e24:	31 05       	cpc	r19, r1
-     e26:	09 f0       	breq	.+2      	; 0xe2a <digital_output+0x3a>
-     e28:	fe c0       	rjmp	.+508    	; 0x1026 <digital_output+0x236>
-     e2a:	0d c0       	rjmp	.+26     	; 0xe46 <digital_output+0x56>
-     e2c:	26 30       	cpi	r18, 0x06	; 6
-     e2e:	31 05       	cpc	r19, r1
-     e30:	09 f4       	brne	.+2      	; 0xe34 <digital_output+0x44>
-     e32:	4e c0       	rjmp	.+156    	; 0xed0 <digital_output+0xe0>
-     e34:	26 30       	cpi	r18, 0x06	; 6
-     e36:	31 05       	cpc	r19, r1
-     e38:	0c f4       	brge	.+2      	; 0xe3c <digital_output+0x4c>
-     e3a:	3c c0       	rjmp	.+120    	; 0xeb4 <digital_output+0xc4>
-     e3c:	27 30       	cpi	r18, 0x07	; 7
-     e3e:	31 05       	cpc	r19, r1
-     e40:	09 f0       	breq	.+2      	; 0xe44 <digital_output+0x54>
-     e42:	f1 c0       	rjmp	.+482    	; 0x1026 <digital_output+0x236>
-     e44:	56 c0       	rjmp	.+172    	; 0xef2 <digital_output+0x102>
-     e46:	8a b3       	in	r24, 0x1a	; 26
-     e48:	02 c0       	rjmp	.+4      	; 0xe4e <digital_output+0x5e>
-     e4a:	22 0f       	add	r18, r18
-     e4c:	33 1f       	adc	r19, r19
-     e4e:	4a 95       	dec	r20
-     e50:	e2 f7       	brpl	.-8      	; 0xe4a <digital_output+0x5a>
-     e52:	82 2b       	or	r24, r18
-     e54:	8a bb       	out	0x1a, r24	; 26
-     e56:	8b b3       	in	r24, 0x1b	; 27
-     e58:	20 95       	com	r18
-     e5a:	28 23       	and	r18, r24
-     e5c:	2b bb       	out	0x1b, r18	; 27
-     e5e:	08 95       	ret
-     e60:	87 b3       	in	r24, 0x17	; 23
-     e62:	21 e0       	ldi	r18, 0x01	; 1
-     e64:	30 e0       	ldi	r19, 0x00	; 0
-     e66:	02 c0       	rjmp	.+4      	; 0xe6c <digital_output+0x7c>
-     e68:	22 0f       	add	r18, r18
-     e6a:	33 1f       	adc	r19, r19
-     e6c:	4a 95       	dec	r20
-     e6e:	e2 f7       	brpl	.-8      	; 0xe68 <digital_output+0x78>
-     e70:	82 2b       	or	r24, r18
-     e72:	87 bb       	out	0x17, r24	; 23
-     e74:	88 b3       	in	r24, 0x18	; 24
-     e76:	20 95       	com	r18
-     e78:	28 23       	and	r18, r24
-     e7a:	86 c0       	rjmp	.+268    	; 0xf88 <digital_output+0x198>
-     e7c:	84 b3       	in	r24, 0x14	; 20
-     e7e:	21 e0       	ldi	r18, 0x01	; 1
-     e80:	30 e0       	ldi	r19, 0x00	; 0
-     e82:	02 c0       	rjmp	.+4      	; 0xe88 <digital_output+0x98>
-     e84:	22 0f       	add	r18, r18
-     e86:	33 1f       	adc	r19, r19
-     e88:	4a 95       	dec	r20
-     e8a:	e2 f7       	brpl	.-8      	; 0xe84 <digital_output+0x94>
-     e8c:	82 2b       	or	r24, r18
-     e8e:	84 bb       	out	0x14, r24	; 20
-     e90:	85 b3       	in	r24, 0x15	; 21
-     e92:	20 95       	com	r18
-     e94:	28 23       	and	r18, r24
-     e96:	86 c0       	rjmp	.+268    	; 0xfa4 <digital_output+0x1b4>
-     e98:	81 b3       	in	r24, 0x11	; 17
-     e9a:	21 e0       	ldi	r18, 0x01	; 1
-     e9c:	30 e0       	ldi	r19, 0x00	; 0
-     e9e:	02 c0       	rjmp	.+4      	; 0xea4 <digital_output+0xb4>
-     ea0:	22 0f       	add	r18, r18
-     ea2:	33 1f       	adc	r19, r19
-     ea4:	4a 95       	dec	r20
-     ea6:	e2 f7       	brpl	.-8      	; 0xea0 <digital_output+0xb0>
-     ea8:	82 2b       	or	r24, r18
-     eaa:	81 bb       	out	0x11, r24	; 17
-     eac:	82 b3       	in	r24, 0x12	; 18
-     eae:	20 95       	com	r18
-     eb0:	28 23       	and	r18, r24
-     eb2:	86 c0       	rjmp	.+268    	; 0xfc0 <digital_output+0x1d0>
-     eb4:	82 b1       	in	r24, 0x02	; 2
-     eb6:	21 e0       	ldi	r18, 0x01	; 1
-     eb8:	30 e0       	ldi	r19, 0x00	; 0
-     eba:	02 c0       	rjmp	.+4      	; 0xec0 <digital_output+0xd0>
-     ebc:	22 0f       	add	r18, r18
-     ebe:	33 1f       	adc	r19, r19
-     ec0:	4a 95       	dec	r20
-     ec2:	e2 f7       	brpl	.-8      	; 0xebc <digital_output+0xcc>
-     ec4:	82 2b       	or	r24, r18
-     ec6:	82 b9       	out	0x02, r24	; 2
-     ec8:	83 b1       	in	r24, 0x03	; 3
-     eca:	20 95       	com	r18
-     ecc:	28 23       	and	r18, r24
-     ece:	86 c0       	rjmp	.+268    	; 0xfdc <digital_output+0x1ec>
-     ed0:	80 91 61 00 	lds	r24, 0x0061
-     ed4:	21 e0       	ldi	r18, 0x01	; 1
-     ed6:	30 e0       	ldi	r19, 0x00	; 0
-     ed8:	02 c0       	rjmp	.+4      	; 0xede <digital_output+0xee>
-     eda:	22 0f       	add	r18, r18
-     edc:	33 1f       	adc	r19, r19
-     ede:	4a 95       	dec	r20
-     ee0:	e2 f7       	brpl	.-8      	; 0xeda <digital_output+0xea>
-     ee2:	82 2b       	or	r24, r18
-     ee4:	80 93 61 00 	sts	0x0061, r24
-     ee8:	80 91 62 00 	lds	r24, 0x0062
-     eec:	20 95       	com	r18
-     eee:	28 23       	and	r18, r24
-     ef0:	86 c0       	rjmp	.+268    	; 0xffe <digital_output+0x20e>
-     ef2:	80 91 64 00 	lds	r24, 0x0064
-     ef6:	21 e0       	ldi	r18, 0x01	; 1
-     ef8:	30 e0       	ldi	r19, 0x00	; 0
-     efa:	02 c0       	rjmp	.+4      	; 0xf00 <digital_output+0x110>
-     efc:	22 0f       	add	r18, r18
-     efe:	33 1f       	adc	r19, r19
-     f00:	4a 95       	dec	r20
-     f02:	e2 f7       	brpl	.-8      	; 0xefc <digital_output+0x10c>
-     f04:	82 2b       	or	r24, r18
-     f06:	80 93 64 00 	sts	0x0064, r24
-     f0a:	80 91 65 00 	lds	r24, 0x0065
-     f0e:	20 95       	com	r18
-     f10:	28 23       	and	r18, r24
-     f12:	20 93 65 00 	sts	0x0065, r18
-     f16:	08 95       	ret
-     f18:	24 30       	cpi	r18, 0x04	; 4
-     f1a:	31 05       	cpc	r19, r1
-     f1c:	09 f4       	brne	.+2      	; 0xf20 <digital_output+0x130>
-     f1e:	44 c0       	rjmp	.+136    	; 0xfa8 <digital_output+0x1b8>
-     f20:	25 30       	cpi	r18, 0x05	; 5
-     f22:	31 05       	cpc	r19, r1
-     f24:	5c f4       	brge	.+22     	; 0xf3c <digital_output+0x14c>
-     f26:	22 30       	cpi	r18, 0x02	; 2
-     f28:	31 05       	cpc	r19, r1
-     f2a:	11 f1       	breq	.+68     	; 0xf70 <digital_output+0x180>
-     f2c:	23 30       	cpi	r18, 0x03	; 3
-     f2e:	31 05       	cpc	r19, r1
-     f30:	6c f5       	brge	.+90     	; 0xf8c <digital_output+0x19c>
-     f32:	21 30       	cpi	r18, 0x01	; 1
-     f34:	31 05       	cpc	r19, r1
-     f36:	09 f0       	breq	.+2      	; 0xf3a <digital_output+0x14a>
-     f38:	76 c0       	rjmp	.+236    	; 0x1026 <digital_output+0x236>
-     f3a:	0d c0       	rjmp	.+26     	; 0xf56 <digital_output+0x166>
-     f3c:	26 30       	cpi	r18, 0x06	; 6
-     f3e:	31 05       	cpc	r19, r1
-     f40:	09 f4       	brne	.+2      	; 0xf44 <digital_output+0x154>
-     f42:	4e c0       	rjmp	.+156    	; 0xfe0 <digital_output+0x1f0>
-     f44:	26 30       	cpi	r18, 0x06	; 6
-     f46:	31 05       	cpc	r19, r1
-     f48:	0c f4       	brge	.+2      	; 0xf4c <digital_output+0x15c>
-     f4a:	3c c0       	rjmp	.+120    	; 0xfc4 <digital_output+0x1d4>
-     f4c:	27 30       	cpi	r18, 0x07	; 7
-     f4e:	31 05       	cpc	r19, r1
-     f50:	09 f0       	breq	.+2      	; 0xf54 <digital_output+0x164>
-     f52:	69 c0       	rjmp	.+210    	; 0x1026 <digital_output+0x236>
-     f54:	57 c0       	rjmp	.+174    	; 0x1004 <digital_output+0x214>
-     f56:	8a b3       	in	r24, 0x1a	; 26
-     f58:	02 c0       	rjmp	.+4      	; 0xf5e <digital_output+0x16e>
-     f5a:	22 0f       	add	r18, r18
-     f5c:	33 1f       	adc	r19, r19
-     f5e:	4a 95       	dec	r20
-     f60:	e2 f7       	brpl	.-8      	; 0xf5a <digital_output+0x16a>
-     f62:	92 2f       	mov	r25, r18
-     f64:	82 2b       	or	r24, r18
-     f66:	8a bb       	out	0x1a, r24	; 26
-     f68:	8b b3       	in	r24, 0x1b	; 27
-     f6a:	98 2b       	or	r25, r24
-     f6c:	9b bb       	out	0x1b, r25	; 27
-     f6e:	08 95       	ret
-     f70:	87 b3       	in	r24, 0x17	; 23
-     f72:	21 e0       	ldi	r18, 0x01	; 1
-     f74:	30 e0       	ldi	r19, 0x00	; 0
-     f76:	02 c0       	rjmp	.+4      	; 0xf7c <digital_output+0x18c>
-     f78:	22 0f       	add	r18, r18
-     f7a:	33 1f       	adc	r19, r19
-     f7c:	4a 95       	dec	r20
-     f7e:	e2 f7       	brpl	.-8      	; 0xf78 <digital_output+0x188>
-     f80:	82 2b       	or	r24, r18
-     f82:	87 bb       	out	0x17, r24	; 23
-     f84:	88 b3       	in	r24, 0x18	; 24
-     f86:	28 2b       	or	r18, r24
-     f88:	28 bb       	out	0x18, r18	; 24
-     f8a:	08 95       	ret
-     f8c:	84 b3       	in	r24, 0x14	; 20
-     f8e:	21 e0       	ldi	r18, 0x01	; 1
-     f90:	30 e0       	ldi	r19, 0x00	; 0
-     f92:	02 c0       	rjmp	.+4      	; 0xf98 <digital_output+0x1a8>
-     f94:	22 0f       	add	r18, r18
-     f96:	33 1f       	adc	r19, r19
-     f98:	4a 95       	dec	r20
-     f9a:	e2 f7       	brpl	.-8      	; 0xf94 <digital_output+0x1a4>
-     f9c:	82 2b       	or	r24, r18
-     f9e:	84 bb       	out	0x14, r24	; 20
-     fa0:	85 b3       	in	r24, 0x15	; 21
-     fa2:	28 2b       	or	r18, r24
-     fa4:	25 bb       	out	0x15, r18	; 21
-     fa6:	08 95       	ret
-     fa8:	81 b3       	in	r24, 0x11	; 17
-     faa:	21 e0       	ldi	r18, 0x01	; 1
-     fac:	30 e0       	ldi	r19, 0x00	; 0
-     fae:	02 c0       	rjmp	.+4      	; 0xfb4 <digital_output+0x1c4>
-     fb0:	22 0f       	add	r18, r18
-     fb2:	33 1f       	adc	r19, r19
-     fb4:	4a 95       	dec	r20
-     fb6:	e2 f7       	brpl	.-8      	; 0xfb0 <digital_output+0x1c0>
-     fb8:	82 2b       	or	r24, r18
-     fba:	81 bb       	out	0x11, r24	; 17
-     fbc:	82 b3       	in	r24, 0x12	; 18
-     fbe:	28 2b       	or	r18, r24
-     fc0:	22 bb       	out	0x12, r18	; 18
-     fc2:	08 95       	ret
-     fc4:	82 b1       	in	r24, 0x02	; 2
-     fc6:	21 e0       	ldi	r18, 0x01	; 1
-     fc8:	30 e0       	ldi	r19, 0x00	; 0
-     fca:	02 c0       	rjmp	.+4      	; 0xfd0 <digital_output+0x1e0>
-     fcc:	22 0f       	add	r18, r18
-     fce:	33 1f       	adc	r19, r19
-     fd0:	4a 95       	dec	r20
-     fd2:	e2 f7       	brpl	.-8      	; 0xfcc <digital_output+0x1dc>
-     fd4:	82 2b       	or	r24, r18
-     fd6:	82 b9       	out	0x02, r24	; 2
-     fd8:	83 b1       	in	r24, 0x03	; 3
-     fda:	28 2b       	or	r18, r24
-     fdc:	23 b9       	out	0x03, r18	; 3
-     fde:	08 95       	ret
-     fe0:	80 91 61 00 	lds	r24, 0x0061
-     fe4:	21 e0       	ldi	r18, 0x01	; 1
-     fe6:	30 e0       	ldi	r19, 0x00	; 0
-     fe8:	02 c0       	rjmp	.+4      	; 0xfee <digital_output+0x1fe>
-     fea:	22 0f       	add	r18, r18
-     fec:	33 1f       	adc	r19, r19
-     fee:	4a 95       	dec	r20
-     ff0:	e2 f7       	brpl	.-8      	; 0xfea <digital_output+0x1fa>
-     ff2:	82 2b       	or	r24, r18
-     ff4:	80 93 61 00 	sts	0x0061, r24
-     ff8:	80 91 62 00 	lds	r24, 0x0062
-     ffc:	28 2b       	or	r18, r24
-     ffe:	20 93 62 00 	sts	0x0062, r18
-    1002:	08 95       	ret
-    1004:	80 91 64 00 	lds	r24, 0x0064
-    1008:	21 e0       	ldi	r18, 0x01	; 1
-    100a:	30 e0       	ldi	r19, 0x00	; 0
-    100c:	02 c0       	rjmp	.+4      	; 0x1012 <digital_output+0x222>
-    100e:	22 0f       	add	r18, r18
-    1010:	33 1f       	adc	r19, r19
-    1012:	4a 95       	dec	r20
-    1014:	e2 f7       	brpl	.-8      	; 0x100e <digital_output+0x21e>
-    1016:	82 2b       	or	r24, r18
-    1018:	80 93 64 00 	sts	0x0064, r24
-    101c:	80 91 65 00 	lds	r24, 0x0065
-    1020:	28 2b       	or	r18, r24
-    1022:	20 93 65 00 	sts	0x0065, r18
-    1026:	08 95       	ret
-
-00001028 <button1_read>:
-    1028:	e4 e6       	ldi	r30, 0x64	; 100
-    102a:	f0 e0       	ldi	r31, 0x00	; 0
-    102c:	80 81       	ld	r24, Z
-    102e:	8e 7f       	andi	r24, 0xFE	; 254
-    1030:	80 83       	st	Z, r24
-    1032:	e5 e6       	ldi	r30, 0x65	; 101
-    1034:	f0 e0       	ldi	r31, 0x00	; 0
-    1036:	80 81       	ld	r24, Z
-    1038:	81 60       	ori	r24, 0x01	; 1
-    103a:	80 83       	st	Z, r24
-    103c:	80 91 63 00 	lds	r24, 0x0063
-    1040:	99 27       	eor	r25, r25
-    1042:	80 95       	com	r24
-    1044:	90 95       	com	r25
-    1046:	81 70       	andi	r24, 0x01	; 1
-    1048:	90 70       	andi	r25, 0x00	; 0
-    104a:	08 95       	ret
-
-0000104c <button1_click>:
-    104c:	0e 94 14 08 	call	0x1028	; 0x1028 <button1_read>
-    1050:	89 2b       	or	r24, r25
-    1052:	19 f4       	brne	.+6      	; 0x105a <button1_click+0xe>
-    1054:	80 e0       	ldi	r24, 0x00	; 0
-    1056:	90 e0       	ldi	r25, 0x00	; 0
-    1058:	08 95       	ret
-    105a:	0e 94 14 08 	call	0x1028	; 0x1028 <button1_read>
-    105e:	89 2b       	or	r24, r25
-    1060:	e1 f7       	brne	.-8      	; 0x105a <button1_click+0xe>
-    1062:	81 e0       	ldi	r24, 0x01	; 1
-    1064:	90 e0       	ldi	r25, 0x00	; 0
-    1066:	08 95       	ret
-
-00001068 <button2_read>:
-    1068:	e4 e6       	ldi	r30, 0x64	; 100
-    106a:	f0 e0       	ldi	r31, 0x00	; 0
-    106c:	80 81       	ld	r24, Z
-    106e:	8d 7f       	andi	r24, 0xFD	; 253
-    1070:	80 83       	st	Z, r24
-    1072:	e5 e6       	ldi	r30, 0x65	; 101
-    1074:	f0 e0       	ldi	r31, 0x00	; 0
-    1076:	80 81       	ld	r24, Z
-    1078:	82 60       	ori	r24, 0x02	; 2
-    107a:	80 83       	st	Z, r24
-    107c:	80 91 63 00 	lds	r24, 0x0063
-    1080:	99 27       	eor	r25, r25
-    1082:	96 95       	lsr	r25
-    1084:	87 95       	ror	r24
-    1086:	80 95       	com	r24
-    1088:	90 95       	com	r25
-    108a:	81 70       	andi	r24, 0x01	; 1
-    108c:	90 70       	andi	r25, 0x00	; 0
-    108e:	08 95       	ret
-
-00001090 <button2_click>:
-    1090:	0e 94 34 08 	call	0x1068	; 0x1068 <button2_read>
-    1094:	89 2b       	or	r24, r25
-    1096:	19 f4       	brne	.+6      	; 0x109e <button2_click+0xe>
-    1098:	80 e0       	ldi	r24, 0x00	; 0
-    109a:	90 e0       	ldi	r25, 0x00	; 0
-    109c:	08 95       	ret
-    109e:	0e 94 34 08 	call	0x1068	; 0x1068 <button2_read>
-    10a2:	89 2b       	or	r24, r25
-    10a4:	e1 f7       	brne	.-8      	; 0x109e <button2_click+0xe>
-    10a6:	81 e0       	ldi	r24, 0x01	; 1
-    10a8:	90 e0       	ldi	r25, 0x00	; 0
-    10aa:	08 95       	ret
-
-000010ac <button2_wait>:
-    10ac:	04 c0       	rjmp	.+8      	; 0x10b6 <button2_wait+0xa>
-    10ae:	8f e0       	ldi	r24, 0x0F	; 15
-    10b0:	90 e0       	ldi	r25, 0x00	; 0
-    10b2:	0e 94 02 10 	call	0x2004	; 0x2004 <delay_ms>
-    10b6:	0e 94 34 08 	call	0x1068	; 0x1068 <button2_read>
-    10ba:	89 2b       	or	r24, r25
-    10bc:	c1 f3       	breq	.-16     	; 0x10ae <button2_wait+0x2>
-    10be:	08 95       	ret
-
-000010c0 <button1_wait>:
-    10c0:	04 c0       	rjmp	.+8      	; 0x10ca <button1_wait+0xa>
-    10c2:	8f e0       	ldi	r24, 0x0F	; 15
-    10c4:	90 e0       	ldi	r25, 0x00	; 0
-    10c6:	0e 94 02 10 	call	0x2004	; 0x2004 <delay_ms>
-    10ca:	0e 94 14 08 	call	0x1028	; 0x1028 <button1_read>
-    10ce:	89 2b       	or	r24, r25
-    10d0:	c1 f3       	breq	.-16     	; 0x10c2 <button1_wait+0x2>
-    10d2:	08 95       	ret
-
-000010d4 <flash_red>:
-    10d4:	ff 92       	push	r15
-    10d6:	0f 93       	push	r16
-    10d8:	1f 93       	push	r17
-    10da:	f8 94       	cli
-    10dc:	f4 b2       	in	r15, 0x14	; 20
-    10de:	05 b3       	in	r16, 0x15	; 21
-    10e0:	87 e7       	ldi	r24, 0x77	; 119
-    10e2:	84 bb       	out	0x14, r24	; 20
-    10e4:	10 e0       	ldi	r17, 0x00	; 0
-    10e6:	87 e7       	ldi	r24, 0x77	; 119
-    10e8:	85 bb       	out	0x15, r24	; 21
-    10ea:	8c e2       	ldi	r24, 0x2C	; 44
-    10ec:	91 e0       	ldi	r25, 0x01	; 1
-    10ee:	0e 94 02 10 	call	0x2004	; 0x2004 <delay_ms>
-    10f2:	86 e6       	ldi	r24, 0x66	; 102
-    10f4:	85 bb       	out	0x15, r24	; 21
-    10f6:	8c e2       	ldi	r24, 0x2C	; 44
-    10f8:	91 e0       	ldi	r25, 0x01	; 1
-    10fa:	0e 94 02 10 	call	0x2004	; 0x2004 <delay_ms>
-    10fe:	1f 5f       	subi	r17, 0xFF	; 255
-    1100:	13 30       	cpi	r17, 0x03	; 3
-    1102:	89 f7       	brne	.-30     	; 0x10e6 <flash_red+0x12>
-    1104:	f4 ba       	out	0x14, r15	; 20
-    1106:	05 bb       	out	0x15, r16	; 21
-    1108:	78 94       	sei
-    110a:	1f 91       	pop	r17
-    110c:	0f 91       	pop	r16
-    110e:	ff 90       	pop	r15
-    1110:	08 95       	ret
-
-00001112 <dragonfly_init>:
-    1112:	cf 93       	push	r28
-    1114:	df 93       	push	r29
-    1116:	ec 01       	movw	r28, r24
-    1118:	78 94       	sei
-    111a:	80 91 64 00 	lds	r24, 0x0064
-    111e:	8c 7f       	andi	r24, 0xFC	; 252
-    1120:	80 93 64 00 	sts	0x0064, r24
-    1124:	80 91 65 00 	lds	r24, 0x0065
-    1128:	83 60       	ori	r24, 0x03	; 3
-    112a:	80 93 65 00 	sts	0x0065, r24
-    112e:	c0 ff       	sbrs	r28, 0
-    1130:	04 c0       	rjmp	.+8      	; 0x113a <dragonfly_init+0x28>
-    1132:	81 e0       	ldi	r24, 0x01	; 1
-    1134:	90 e0       	ldi	r25, 0x00	; 0
-    1136:	0e 94 07 11 	call	0x220e	; 0x220e <analog_init>
-    113a:	c1 ff       	sbrs	r28, 1
-    113c:	04 c0       	rjmp	.+8      	; 0x1146 <dragonfly_init+0x34>
-    113e:	0e 94 c2 0e 	call	0x1d84	; 0x1d84 <usb_init>
-    1142:	0e 94 d0 0e 	call	0x1da0	; 0x1da0 <xbee_init>
-    1146:	c6 ff       	sbrs	r28, 6
-    1148:	03 c0       	rjmp	.+6      	; 0x1150 <dragonfly_init+0x3e>
-    114a:	78 94       	sei
-    114c:	0e 94 e2 11 	call	0x23c4	; 0x23c4 <buzzer_init>
-    1150:	c2 ff       	sbrs	r28, 2
-    1152:	03 c0       	rjmp	.+6      	; 0x115a <dragonfly_init+0x48>
-    1154:	78 94       	sei
-    1156:	0e 94 57 0e 	call	0x1cae	; 0x1cae <orb_init>
-    115a:	c3 ff       	sbrs	r28, 3
-    115c:	02 c0       	rjmp	.+4      	; 0x1162 <dragonfly_init+0x50>
-    115e:	0e 94 5a 0e 	call	0x1cb4	; 0x1cb4 <motors_init>
-    1162:	c7 ff       	sbrs	r28, 7
-    1164:	02 c0       	rjmp	.+4      	; 0x116a <dragonfly_init+0x58>
-    1166:	0e 94 e6 09 	call	0x13cc	; 0x13cc <lcd_init>
-    116a:	d0 ff       	sbrs	r29, 0
-    116c:	02 c0       	rjmp	.+4      	; 0x1172 <dragonfly_init+0x60>
-    116e:	0e 94 bb 0e 	call	0x1d76	; 0x1d76 <range_init>
-    1172:	d1 ff       	sbrs	r29, 1
-    1174:	09 c0       	rjmp	.+18     	; 0x1188 <dragonfly_init+0x76>
-    1176:	0e 94 13 09 	call	0x1226	; 0x1226 <get_bom_type>
-    117a:	8f 3f       	cpi	r24, 0xFF	; 255
-    117c:	19 f4       	brne	.+6      	; 0x1184 <dragonfly_init+0x72>
-    117e:	0e 94 6a 08 	call	0x10d4	; 0x10d4 <flash_red>
-    1182:	02 c0       	rjmp	.+4      	; 0x1188 <dragonfly_init+0x76>
-    1184:	0e 94 03 05 	call	0xa06	; 0xa06 <bom_init>
-    1188:	80 ea       	ldi	r24, 0xA0	; 160
-    118a:	9f e0       	ldi	r25, 0x0F	; 15
-    118c:	01 97       	sbiw	r24, 0x01	; 1
-    118e:	f1 f7       	brne	.-4      	; 0x118c <dragonfly_init+0x7a>
-    1190:	df 91       	pop	r29
-    1192:	cf 91       	pop	r28
-    1194:	08 95       	ret
-
-00001196 <eeprom_put_byte>:
-    1196:	e1 99       	sbic	0x1c, 1	; 28
-    1198:	fe cf       	rjmp	.-4      	; 0x1196 <eeprom_put_byte>
-    119a:	9f bb       	out	0x1f, r25	; 31
-    119c:	8e bb       	out	0x1e, r24	; 30
-    119e:	6d bb       	out	0x1d, r22	; 29
-    11a0:	e2 9a       	sbi	0x1c, 2	; 28
-    11a2:	e1 9a       	sbi	0x1c, 1	; 28
-    11a4:	80 e0       	ldi	r24, 0x00	; 0
-    11a6:	90 e0       	ldi	r25, 0x00	; 0
-    11a8:	08 95       	ret
-
-000011aa <eeprom_get_byte>:
-    11aa:	fb 01       	movw	r30, r22
-    11ac:	e1 99       	sbic	0x1c, 1	; 28
-    11ae:	fe cf       	rjmp	.-4      	; 0x11ac <eeprom_get_byte+0x2>
-    11b0:	9f bb       	out	0x1f, r25	; 31
-    11b2:	8e bb       	out	0x1e, r24	; 30
-    11b4:	e0 9a       	sbi	0x1c, 0	; 28
-    11b6:	8d b3       	in	r24, 0x1d	; 29
-    11b8:	80 83       	st	Z, r24
-    11ba:	80 e0       	ldi	r24, 0x00	; 0
-    11bc:	90 e0       	ldi	r25, 0x00	; 0
-    11be:	08 95       	ret
-
-000011c0 <get_robotid>:
-    11c0:	cf 93       	push	r28
-    11c2:	df 93       	push	r29
-    11c4:	cd b7       	in	r28, 0x3d	; 61
-    11c6:	de b7       	in	r29, 0x3e	; 62
-    11c8:	23 97       	sbiw	r28, 0x03	; 3
-    11ca:	0f b6       	in	r0, 0x3f	; 63
-    11cc:	f8 94       	cli
-    11ce:	de bf       	out	0x3e, r29	; 62
-    11d0:	0f be       	out	0x3f, r0	; 63
-    11d2:	cd bf       	out	0x3d, r28	; 61
-    11d4:	be 01       	movw	r22, r28
-    11d6:	6f 5f       	subi	r22, 0xFF	; 255
-    11d8:	7f 4f       	sbci	r23, 0xFF	; 255
-    11da:	80 e1       	ldi	r24, 0x10	; 16
-    11dc:	90 e0       	ldi	r25, 0x00	; 0
-    11de:	0e 94 d5 08 	call	0x11aa	; 0x11aa <eeprom_get_byte>
-    11e2:	be 01       	movw	r22, r28
-    11e4:	6e 5f       	subi	r22, 0xFE	; 254
-    11e6:	7f 4f       	sbci	r23, 0xFF	; 255
-    11e8:	81 e1       	ldi	r24, 0x11	; 17
-    11ea:	90 e0       	ldi	r25, 0x00	; 0
-    11ec:	0e 94 d5 08 	call	0x11aa	; 0x11aa <eeprom_get_byte>
-    11f0:	be 01       	movw	r22, r28
-    11f2:	6d 5f       	subi	r22, 0xFD	; 253
-    11f4:	7f 4f       	sbci	r23, 0xFF	; 255
-    11f6:	82 e1       	ldi	r24, 0x12	; 18
-    11f8:	90 e0       	ldi	r25, 0x00	; 0
-    11fa:	0e 94 d5 08 	call	0x11aa	; 0x11aa <eeprom_get_byte>
-    11fe:	89 81       	ldd	r24, Y+1	; 0x01
-    1200:	89 34       	cpi	r24, 0x49	; 73
-    1202:	31 f4       	brne	.+12     	; 0x1210 <get_robotid+0x50>
-    1204:	8a 81       	ldd	r24, Y+2	; 0x02
-    1206:	84 34       	cpi	r24, 0x44	; 68
-    1208:	19 f4       	brne	.+6      	; 0x1210 <get_robotid+0x50>
-    120a:	8b 81       	ldd	r24, Y+3	; 0x03
-    120c:	99 27       	eor	r25, r25
-    120e:	02 c0       	rjmp	.+4      	; 0x1214 <get_robotid+0x54>
-    1210:	8f ef       	ldi	r24, 0xFF	; 255
-    1212:	90 e0       	ldi	r25, 0x00	; 0
-    1214:	23 96       	adiw	r28, 0x03	; 3
-    1216:	0f b6       	in	r0, 0x3f	; 63
-    1218:	f8 94       	cli
-    121a:	de bf       	out	0x3e, r29	; 62
-    121c:	0f be       	out	0x3f, r0	; 63
-    121e:	cd bf       	out	0x3d, r28	; 61
-    1220:	df 91       	pop	r29
-    1222:	cf 91       	pop	r28
-    1224:	08 95       	ret
-
-00001226 <get_bom_type>:
-    1226:	cf 93       	push	r28
-    1228:	df 93       	push	r29
-    122a:	cd b7       	in	r28, 0x3d	; 61
-    122c:	de b7       	in	r29, 0x3e	; 62
-    122e:	24 97       	sbiw	r28, 0x04	; 4
-    1230:	0f b6       	in	r0, 0x3f	; 63
-    1232:	f8 94       	cli
-    1234:	de bf       	out	0x3e, r29	; 62
-    1236:	0f be       	out	0x3f, r0	; 63
-    1238:	cd bf       	out	0x3d, r28	; 61
-    123a:	be 01       	movw	r22, r28
-    123c:	6f 5f       	subi	r22, 0xFF	; 255
-    123e:	7f 4f       	sbci	r23, 0xFF	; 255
-    1240:	84 e1       	ldi	r24, 0x14	; 20
-    1242:	90 e0       	ldi	r25, 0x00	; 0
-    1244:	0e 94 d5 08 	call	0x11aa	; 0x11aa <eeprom_get_byte>
-    1248:	be 01       	movw	r22, r28
-    124a:	6e 5f       	subi	r22, 0xFE	; 254
-    124c:	7f 4f       	sbci	r23, 0xFF	; 255
-    124e:	85 e1       	ldi	r24, 0x15	; 21
-    1250:	90 e0       	ldi	r25, 0x00	; 0
-    1252:	0e 94 d5 08 	call	0x11aa	; 0x11aa <eeprom_get_byte>
-    1256:	be 01       	movw	r22, r28
-    1258:	6d 5f       	subi	r22, 0xFD	; 253
-    125a:	7f 4f       	sbci	r23, 0xFF	; 255
-    125c:	86 e1       	ldi	r24, 0x16	; 22
-    125e:	90 e0       	ldi	r25, 0x00	; 0
-    1260:	0e 94 d5 08 	call	0x11aa	; 0x11aa <eeprom_get_byte>
-    1264:	be 01       	movw	r22, r28
-    1266:	6c 5f       	subi	r22, 0xFC	; 252
-    1268:	7f 4f       	sbci	r23, 0xFF	; 255
-    126a:	87 e1       	ldi	r24, 0x17	; 23
-    126c:	90 e0       	ldi	r25, 0x00	; 0
-    126e:	0e 94 d5 08 	call	0x11aa	; 0x11aa <eeprom_get_byte>
-    1272:	89 81       	ldd	r24, Y+1	; 0x01
-    1274:	82 34       	cpi	r24, 0x42	; 66
-    1276:	49 f4       	brne	.+18     	; 0x128a <get_bom_type+0x64>
-    1278:	8a 81       	ldd	r24, Y+2	; 0x02
-    127a:	8f 34       	cpi	r24, 0x4F	; 79
-    127c:	31 f4       	brne	.+12     	; 0x128a <get_bom_type+0x64>
-    127e:	8b 81       	ldd	r24, Y+3	; 0x03
-    1280:	8d 34       	cpi	r24, 0x4D	; 77
-    1282:	19 f4       	brne	.+6      	; 0x128a <get_bom_type+0x64>
-    1284:	8c 81       	ldd	r24, Y+4	; 0x04
-    1286:	99 27       	eor	r25, r25
-    1288:	02 c0       	rjmp	.+4      	; 0x128e <get_bom_type+0x68>
-    128a:	8f ef       	ldi	r24, 0xFF	; 255
-    128c:	90 e0       	ldi	r25, 0x00	; 0
-    128e:	24 96       	adiw	r28, 0x04	; 4
-    1290:	0f b6       	in	r0, 0x3f	; 63
-    1292:	f8 94       	cli
-    1294:	de bf       	out	0x3e, r29	; 62
-    1296:	0f be       	out	0x3f, r0	; 63
-    1298:	cd bf       	out	0x3d, r28	; 61
-    129a:	df 91       	pop	r29
-    129c:	cf 91       	pop	r28
-    129e:	08 95       	ret
-
-000012a0 <lcd_putc>:
-    12a0:	95 e0       	ldi	r25, 0x05	; 5
-    12a2:	89 9f       	mul	r24, r25
-    12a4:	f0 01       	movw	r30, r0
-    12a6:	11 24       	eor	r1, r1
-    12a8:	ea 58       	subi	r30, 0x8A	; 138
-    12aa:	ff 4f       	sbci	r31, 0xFF	; 255
-    12ac:	20 e0       	ldi	r18, 0x00	; 0
-    12ae:	30 e0       	ldi	r19, 0x00	; 0
-    12b0:	80 81       	ld	r24, Z
-    12b2:	8f b9       	out	0x0f, r24	; 15
-    12b4:	77 9b       	sbis	0x0e, 7	; 14
-    12b6:	fe cf       	rjmp	.-4      	; 0x12b4 <lcd_putc+0x14>
-    12b8:	2f 5f       	subi	r18, 0xFF	; 255
-    12ba:	3f 4f       	sbci	r19, 0xFF	; 255
-    12bc:	31 96       	adiw	r30, 0x01	; 1
-    12be:	25 30       	cpi	r18, 0x05	; 5
-    12c0:	31 05       	cpc	r19, r1
-    12c2:	b1 f7       	brne	.-20     	; 0x12b0 <lcd_putc+0x10>
-    12c4:	1f b8       	out	0x0f, r1	; 15
-    12c6:	77 9b       	sbis	0x0e, 7	; 14
-    12c8:	fe cf       	rjmp	.-4      	; 0x12c6 <lcd_putc+0x26>
-    12ca:	08 95       	ret
-
-000012cc <lcd_puts>:
-    12cc:	cf 93       	push	r28
-    12ce:	df 93       	push	r29
-    12d0:	ec 01       	movw	r28, r24
-    12d2:	03 c0       	rjmp	.+6      	; 0x12da <lcd_puts+0xe>
-    12d4:	0e 94 50 09 	call	0x12a0	; 0x12a0 <lcd_putc>
-    12d8:	21 96       	adiw	r28, 0x01	; 1
-    12da:	88 81       	ld	r24, Y
-    12dc:	88 23       	and	r24, r24
-    12de:	d1 f7       	brne	.-12     	; 0x12d4 <lcd_puts+0x8>
-    12e0:	df 91       	pop	r29
-    12e2:	cf 91       	pop	r28
-    12e4:	08 95       	ret
-
-000012e6 <lcd_gotoxy>:
-    12e6:	95 98       	cbi	0x12, 5	; 18
-    12e8:	67 70       	andi	r22, 0x07	; 7
-    12ea:	60 64       	ori	r22, 0x40	; 64
-    12ec:	6f b9       	out	0x0f, r22	; 15
-    12ee:	77 9b       	sbis	0x0e, 7	; 14
-    12f0:	fe cf       	rjmp	.-4      	; 0x12ee <lcd_gotoxy+0x8>
-    12f2:	80 68       	ori	r24, 0x80	; 128
-    12f4:	8f b9       	out	0x0f, r24	; 15
-    12f6:	77 9b       	sbis	0x0e, 7	; 14
-    12f8:	fe cf       	rjmp	.-4      	; 0x12f6 <lcd_gotoxy+0x10>
-    12fa:	95 9a       	sbi	0x12, 5	; 18
-    12fc:	08 95       	ret
-
-000012fe <lcd_clear_screen>:
-    12fe:	80 e0       	ldi	r24, 0x00	; 0
-    1300:	90 e0       	ldi	r25, 0x00	; 0
-    1302:	1f b8       	out	0x0f, r1	; 15
-    1304:	77 9b       	sbis	0x0e, 7	; 14
-    1306:	fe cf       	rjmp	.-4      	; 0x1304 <lcd_clear_screen+0x6>
-    1308:	01 96       	adiw	r24, 0x01	; 1
-    130a:	21 e0       	ldi	r18, 0x01	; 1
-    130c:	88 3f       	cpi	r24, 0xF8	; 248
-    130e:	92 07       	cpc	r25, r18
-    1310:	c1 f7       	brne	.-16     	; 0x1302 <lcd_clear_screen+0x4>
-    1312:	60 e0       	ldi	r22, 0x00	; 0
-    1314:	70 e0       	ldi	r23, 0x00	; 0
-    1316:	80 e0       	ldi	r24, 0x00	; 0
-    1318:	90 e0       	ldi	r25, 0x00	; 0
-    131a:	0e 94 73 09 	call	0x12e6	; 0x12e6 <lcd_gotoxy>
-    131e:	08 95       	ret
-
-00001320 <lcd_puti>:
-    1320:	ff 92       	push	r15
-    1322:	0f 93       	push	r16
-    1324:	1f 93       	push	r17
-    1326:	cf 93       	push	r28
-    1328:	df 93       	push	r29
-    132a:	cd b7       	in	r28, 0x3d	; 61
-    132c:	de b7       	in	r29, 0x3e	; 62
-    132e:	26 97       	sbiw	r28, 0x06	; 6
-    1330:	0f b6       	in	r0, 0x3f	; 63
-    1332:	f8 94       	cli
-    1334:	de bf       	out	0x3e, r29	; 62
-    1336:	0f be       	out	0x3f, r0	; 63
-    1338:	cd bf       	out	0x3d, r28	; 61
-    133a:	8c 01       	movw	r16, r24
-    133c:	de 01       	movw	r26, r28
-    133e:	11 96       	adiw	r26, 0x01	; 1
-    1340:	e0 e1       	ldi	r30, 0x10	; 16
-    1342:	f1 e0       	ldi	r31, 0x01	; 1
-    1344:	86 e0       	ldi	r24, 0x06	; 6
-    1346:	01 90       	ld	r0, Z+
-    1348:	0d 92       	st	X+, r0
-    134a:	81 50       	subi	r24, 0x01	; 1
-    134c:	e1 f7       	brne	.-8      	; 0x1346 <lcd_puti+0x26>
-    134e:	17 ff       	sbrs	r17, 7
-    1350:	06 c0       	rjmp	.+12     	; 0x135e <lcd_puti+0x3e>
-    1352:	8d e2       	ldi	r24, 0x2D	; 45
-    1354:	0e 94 50 09 	call	0x12a0	; 0x12a0 <lcd_putc>
-    1358:	10 95       	com	r17
-    135a:	01 95       	neg	r16
-    135c:	1f 4f       	sbci	r17, 0xFF	; 255
-    135e:	86 e0       	ldi	r24, 0x06	; 6
-    1360:	f8 2e       	mov	r15, r24
-    1362:	9e 01       	movw	r18, r28
-    1364:	2f 5f       	subi	r18, 0xFF	; 255
-    1366:	3f 4f       	sbci	r19, 0xFF	; 255
-    1368:	fa 94       	dec	r15
-    136a:	f9 01       	movw	r30, r18
-    136c:	ef 0d       	add	r30, r15
-    136e:	f1 1d       	adc	r31, r1
-    1370:	c8 01       	movw	r24, r16
-    1372:	6a e0       	ldi	r22, 0x0A	; 10
-    1374:	70 e0       	ldi	r23, 0x00	; 0
-    1376:	0e 94 96 13 	call	0x272c	; 0x272c <__divmodhi4>
-    137a:	80 5d       	subi	r24, 0xD0	; 208
-    137c:	80 83       	st	Z, r24
-    137e:	c8 01       	movw	r24, r16
-    1380:	6a e0       	ldi	r22, 0x0A	; 10
-    1382:	70 e0       	ldi	r23, 0x00	; 0
-    1384:	0e 94 96 13 	call	0x272c	; 0x272c <__divmodhi4>
-    1388:	8b 01       	movw	r16, r22
-    138a:	67 2b       	or	r22, r23
-    138c:	49 f0       	breq	.+18     	; 0x13a0 <lcd_puti+0x80>
-    138e:	ec cf       	rjmp	.-40     	; 0x1368 <lcd_puti+0x48>
-    1390:	f8 01       	movw	r30, r16
-    1392:	ef 0d       	add	r30, r15
-    1394:	f1 1d       	adc	r31, r1
-    1396:	80 81       	ld	r24, Z
-    1398:	0e 94 50 09 	call	0x12a0	; 0x12a0 <lcd_putc>
-    139c:	f3 94       	inc	r15
-    139e:	03 c0       	rjmp	.+6      	; 0x13a6 <lcd_puti+0x86>
-    13a0:	8e 01       	movw	r16, r28
-    13a2:	0f 5f       	subi	r16, 0xFF	; 255
-    13a4:	1f 4f       	sbci	r17, 0xFF	; 255
-    13a6:	85 e0       	ldi	r24, 0x05	; 5
-    13a8:	8f 15       	cp	r24, r15
-    13aa:	90 f7       	brcc	.-28     	; 0x1390 <lcd_puti+0x70>
-    13ac:	26 96       	adiw	r28, 0x06	; 6
-    13ae:	0f b6       	in	r0, 0x3f	; 63
-    13b0:	f8 94       	cli
-    13b2:	de bf       	out	0x3e, r29	; 62
-    13b4:	0f be       	out	0x3f, r0	; 63
-    13b6:	cd bf       	out	0x3d, r28	; 61
-    13b8:	df 91       	pop	r29
-    13ba:	cf 91       	pop	r28
-    13bc:	1f 91       	pop	r17
-    13be:	0f 91       	pop	r16
-    13c0:	ff 90       	pop	r15
-    13c2:	08 95       	ret
-
-000013c4 <lcd_putbyte>:
-    13c4:	8f b9       	out	0x0f, r24	; 15
-    13c6:	77 9b       	sbis	0x0e, 7	; 14
-    13c8:	fe cf       	rjmp	.-4      	; 0x13c6 <lcd_putbyte+0x2>
-    13ca:	08 95       	ret
-
-000013cc <lcd_init>:
-    13cc:	87 b3       	in	r24, 0x17	; 23
-    13ce:	87 60       	ori	r24, 0x07	; 7
-    13d0:	87 bb       	out	0x17, r24	; 23
-    13d2:	81 b3       	in	r24, 0x11	; 17
-    13d4:	80 63       	ori	r24, 0x30	; 48
-    13d6:	81 bb       	out	0x11, r24	; 17
-    13d8:	88 b3       	in	r24, 0x18	; 24
-    13da:	88 7f       	andi	r24, 0xF8	; 248
-    13dc:	88 bb       	out	0x18, r24	; 24
-    13de:	95 98       	cbi	0x12, 5	; 18
-    13e0:	8d b1       	in	r24, 0x0d	; 13
-    13e2:	80 65       	ori	r24, 0x50	; 80
-    13e4:	8d b9       	out	0x0d, r24	; 13
-    13e6:	70 9a       	sbi	0x0e, 0	; 14
-    13e8:	94 9a       	sbi	0x12, 4	; 18
-    13ea:	8a e0       	ldi	r24, 0x0A	; 10
-    13ec:	90 e0       	ldi	r25, 0x00	; 0
-    13ee:	0e 94 02 10 	call	0x2004	; 0x2004 <delay_ms>
-    13f2:	94 98       	cbi	0x12, 4	; 18
-    13f4:	84 e6       	ldi	r24, 0x64	; 100
-    13f6:	90 e0       	ldi	r25, 0x00	; 0
-    13f8:	0e 94 02 10 	call	0x2004	; 0x2004 <delay_ms>
-    13fc:	94 9a       	sbi	0x12, 4	; 18
-    13fe:	81 e2       	ldi	r24, 0x21	; 33
-    1400:	8f b9       	out	0x0f, r24	; 15
-    1402:	77 9b       	sbis	0x0e, 7	; 14
-    1404:	fe cf       	rjmp	.-4      	; 0x1402 <lcd_init+0x36>
-    1406:	88 ec       	ldi	r24, 0xC8	; 200
-    1408:	8f b9       	out	0x0f, r24	; 15
-    140a:	77 9b       	sbis	0x0e, 7	; 14
-    140c:	fe cf       	rjmp	.-4      	; 0x140a <lcd_init+0x3e>
-    140e:	86 e0       	ldi	r24, 0x06	; 6
-    1410:	8f b9       	out	0x0f, r24	; 15
-    1412:	77 9b       	sbis	0x0e, 7	; 14
-    1414:	fe cf       	rjmp	.-4      	; 0x1412 <lcd_init+0x46>
-    1416:	83 e1       	ldi	r24, 0x13	; 19
-    1418:	8f b9       	out	0x0f, r24	; 15
-    141a:	77 9b       	sbis	0x0e, 7	; 14
-    141c:	fe cf       	rjmp	.-4      	; 0x141a <lcd_init+0x4e>
-    141e:	80 e2       	ldi	r24, 0x20	; 32
-    1420:	8f b9       	out	0x0f, r24	; 15
-    1422:	77 9b       	sbis	0x0e, 7	; 14
-    1424:	fe cf       	rjmp	.-4      	; 0x1422 <lcd_init+0x56>
-    1426:	8c e0       	ldi	r24, 0x0C	; 12
-    1428:	8f b9       	out	0x0f, r24	; 15
-    142a:	77 9b       	sbis	0x0e, 7	; 14
-    142c:	fe cf       	rjmp	.-4      	; 0x142a <lcd_init+0x5e>
-    142e:	95 9a       	sbi	0x12, 5	; 18
-    1430:	0e 94 7f 09 	call	0x12fe	; 0x12fe <lcd_clear_screen>
-    1434:	08 95       	ret
-
-00001436 <output_compare>:
-    1436:	40 91 fd 02 	lds	r20, 0x02FD
-    143a:	50 91 fe 02 	lds	r21, 0x02FE
-    143e:	20 91 2c 04 	lds	r18, 0x042C
-    1442:	a2 2f       	mov	r26, r18
-    1444:	bb 27       	eor	r27, r27
-    1446:	82 b7       	in	r24, 0x32	; 50
-    1448:	fd 01       	movw	r30, r26
-    144a:	ee 0f       	add	r30, r30
-    144c:	ff 1f       	adc	r31, r31
-    144e:	e4 0f       	add	r30, r20
-    1450:	f5 1f       	adc	r31, r21
-    1452:	91 81       	ldd	r25, Z+1	; 0x01
-    1454:	9f 5f       	subi	r25, 0xFF	; 255
-    1456:	89 17       	cp	r24, r25
-    1458:	b8 f0       	brcs	.+46     	; 0x1488 <output_compare+0x52>
-    145a:	95 b3       	in	r25, 0x15	; 21
-    145c:	11 96       	adiw	r26, 0x01	; 1
-    145e:	aa 0f       	add	r26, r26
-    1460:	bb 1f       	adc	r27, r27
-    1462:	a4 0f       	add	r26, r20
-    1464:	b5 1f       	adc	r27, r21
-    1466:	8c 91       	ld	r24, X
-    1468:	98 2b       	or	r25, r24
-    146a:	95 bb       	out	0x15, r25	; 21
-    146c:	25 30       	cpi	r18, 0x05	; 5
-    146e:	61 f0       	breq	.+24     	; 0x1488 <output_compare+0x52>
-    1470:	2f 5f       	subi	r18, 0xFF	; 255
-    1472:	e2 2f       	mov	r30, r18
-    1474:	ff 27       	eor	r31, r31
-    1476:	ee 0f       	add	r30, r30
-    1478:	ff 1f       	adc	r31, r31
-    147a:	e4 0f       	add	r30, r20
-    147c:	f5 1f       	adc	r31, r21
-    147e:	81 81       	ldd	r24, Z+1	; 0x01
-    1480:	8f 3f       	cpi	r24, 0xFF	; 255
-    1482:	f9 f2       	breq	.-66     	; 0x1442 <output_compare+0xc>
-    1484:	81 bf       	out	0x31, r24	; 49
-    1486:	dd cf       	rjmp	.-70     	; 0x1442 <output_compare+0xc>
-    1488:	20 93 2c 04 	sts	0x042C, r18
-    148c:	08 95       	ret
-
-0000148e <__vector_16>:
-    148e:	1f 92       	push	r1
-    1490:	0f 92       	push	r0
-    1492:	0f b6       	in	r0, 0x3f	; 63
-    1494:	0f 92       	push	r0
-    1496:	11 24       	eor	r1, r1
-    1498:	2f 93       	push	r18
-    149a:	3f 93       	push	r19
-    149c:	4f 93       	push	r20
-    149e:	5f 93       	push	r21
-    14a0:	6f 93       	push	r22
-    14a2:	7f 93       	push	r23
-    14a4:	8f 93       	push	r24
-    14a6:	9f 93       	push	r25
-    14a8:	af 93       	push	r26
-    14aa:	bf 93       	push	r27
-    14ac:	ef 93       	push	r30
-    14ae:	ff 93       	push	r31
-    14b0:	80 91 2b 04 	lds	r24, 0x042B
-    14b4:	88 23       	and	r24, r24
-    14b6:	91 f0       	breq	.+36     	; 0x14dc <__vector_16+0x4e>
-    14b8:	20 91 fd 02 	lds	r18, 0x02FD
-    14bc:	30 91 fe 02 	lds	r19, 0x02FE
-    14c0:	80 91 01 03 	lds	r24, 0x0301
-    14c4:	90 91 02 03 	lds	r25, 0x0302
-    14c8:	90 93 fe 02 	sts	0x02FE, r25
-    14cc:	80 93 fd 02 	sts	0x02FD, r24
-    14d0:	30 93 02 03 	sts	0x0302, r19
-    14d4:	20 93 01 03 	sts	0x0301, r18
-    14d8:	10 92 2b 04 	sts	0x042B, r1
-    14dc:	85 b3       	in	r24, 0x15	; 21
-    14de:	87 67       	ori	r24, 0x77	; 119
-    14e0:	85 bb       	out	0x15, r24	; 21
-    14e2:	85 b3       	in	r24, 0x15	; 21
-    14e4:	e0 91 fd 02 	lds	r30, 0x02FD
-    14e8:	f0 91 fe 02 	lds	r31, 0x02FE
-    14ec:	90 81       	ld	r25, Z
-    14ee:	89 23       	and	r24, r25
-    14f0:	85 bb       	out	0x15, r24	; 21
-    14f2:	10 92 2c 04 	sts	0x042C, r1
-    14f6:	81 81       	ldd	r24, Z+1	; 0x01
-    14f8:	81 bf       	out	0x31, r24	; 49
-    14fa:	0e 94 1b 0a 	call	0x1436	; 0x1436 <output_compare>
-    14fe:	ff 91       	pop	r31
-    1500:	ef 91       	pop	r30
-    1502:	bf 91       	pop	r27
-    1504:	af 91       	pop	r26
-    1506:	9f 91       	pop	r25
-    1508:	8f 91       	pop	r24
-    150a:	7f 91       	pop	r23
-    150c:	6f 91       	pop	r22
-    150e:	5f 91       	pop	r21
-    1510:	4f 91       	pop	r20
-    1512:	3f 91       	pop	r19
-    1514:	2f 91       	pop	r18
-    1516:	0f 90       	pop	r0
-    1518:	0f be       	out	0x3f, r0	; 63
-    151a:	0f 90       	pop	r0
-    151c:	1f 90       	pop	r1
-    151e:	18 95       	reti
-
-00001520 <__vector_15>:
-    1520:	1f 92       	push	r1
-    1522:	0f 92       	push	r0
-    1524:	0f b6       	in	r0, 0x3f	; 63
-    1526:	0f 92       	push	r0
-    1528:	11 24       	eor	r1, r1
-    152a:	2f 93       	push	r18
-    152c:	3f 93       	push	r19
-    152e:	4f 93       	push	r20
-    1530:	5f 93       	push	r21
-    1532:	6f 93       	push	r22
-    1534:	7f 93       	push	r23
-    1536:	8f 93       	push	r24
-    1538:	9f 93       	push	r25
-    153a:	af 93       	push	r26
-    153c:	bf 93       	push	r27
-    153e:	ef 93       	push	r30
-    1540:	ff 93       	push	r31
-    1542:	0e 94 1b 0a 	call	0x1436	; 0x1436 <output_compare>
-    1546:	ff 91       	pop	r31
-    1548:	ef 91       	pop	r30
-    154a:	bf 91       	pop	r27
-    154c:	af 91       	pop	r26
-    154e:	9f 91       	pop	r25
-    1550:	8f 91       	pop	r24
-    1552:	7f 91       	pop	r23
-    1554:	6f 91       	pop	r22
-    1556:	5f 91       	pop	r21
-    1558:	4f 91       	pop	r20
-    155a:	3f 91       	pop	r19
-    155c:	2f 91       	pop	r18
-    155e:	0f 90       	pop	r0
-    1560:	0f be       	out	0x3f, r0	; 63
-    1562:	0f 90       	pop	r0
-    1564:	1f 90       	pop	r1
-    1566:	18 95       	reti
-
-00001568 <apply_orbs>:
-    1568:	0f 93       	push	r16
-    156a:	1f 93       	push	r17
-    156c:	cf 93       	push	r28
-    156e:	df 93       	push	r29
-    1570:	80 91 fc 02 	lds	r24, 0x02FC
-    1574:	88 23       	and	r24, r24
-    1576:	09 f4       	brne	.+2      	; 0x157a <apply_orbs+0x12>
-    1578:	94 c1       	rjmp	.+808    	; 0x18a2 <apply_orbs+0x33a>
-    157a:	e0 91 ff 02 	lds	r30, 0x02FF
-    157e:	f0 91 00 03 	lds	r31, 0x0300
-    1582:	8f ef       	ldi	r24, 0xFF	; 255
-    1584:	80 83       	st	Z, r24
-    1586:	90 91 61 04 	lds	r25, 0x0461
-    158a:	e0 91 ff 02 	lds	r30, 0x02FF
-    158e:	f0 91 00 03 	lds	r31, 0x0300
-    1592:	91 50       	subi	r25, 0x01	; 1
-    1594:	91 83       	std	Z+1, r25	; 0x01
-    1596:	9f 5f       	subi	r25, 0xFF	; 255
-    1598:	e0 91 ff 02 	lds	r30, 0x02FF
-    159c:	f0 91 00 03 	lds	r31, 0x0300
-    15a0:	81 e0       	ldi	r24, 0x01	; 1
-    15a2:	82 83       	std	Z+2, r24	; 0x02
-    15a4:	99 23       	and	r25, r25
-    15a6:	39 f0       	breq	.+14     	; 0x15b6 <apply_orbs+0x4e>
-    15a8:	e0 91 ff 02 	lds	r30, 0x02FF
-    15ac:	f0 91 00 03 	lds	r31, 0x0300
-    15b0:	80 81       	ld	r24, Z
-    15b2:	8e 7f       	andi	r24, 0xFE	; 254
-    15b4:	80 83       	st	Z, r24
-    15b6:	90 91 62 04 	lds	r25, 0x0462
-    15ba:	e0 91 ff 02 	lds	r30, 0x02FF
-    15be:	f0 91 00 03 	lds	r31, 0x0300
-    15c2:	91 50       	subi	r25, 0x01	; 1
-    15c4:	93 83       	std	Z+3, r25	; 0x03
-    15c6:	9f 5f       	subi	r25, 0xFF	; 255
-    15c8:	e0 91 ff 02 	lds	r30, 0x02FF
-    15cc:	f0 91 00 03 	lds	r31, 0x0300
-    15d0:	82 e0       	ldi	r24, 0x02	; 2
-    15d2:	84 83       	std	Z+4, r24	; 0x04
-    15d4:	99 23       	and	r25, r25
-    15d6:	39 f0       	breq	.+14     	; 0x15e6 <apply_orbs+0x7e>
-    15d8:	e0 91 ff 02 	lds	r30, 0x02FF
-    15dc:	f0 91 00 03 	lds	r31, 0x0300
-    15e0:	80 81       	ld	r24, Z
-    15e2:	8d 7f       	andi	r24, 0xFD	; 253
-    15e4:	80 83       	st	Z, r24
-    15e6:	90 91 63 04 	lds	r25, 0x0463
-    15ea:	e0 91 ff 02 	lds	r30, 0x02FF
-    15ee:	f0 91 00 03 	lds	r31, 0x0300
-    15f2:	91 50       	subi	r25, 0x01	; 1
-    15f4:	95 83       	std	Z+5, r25	; 0x05
-    15f6:	9f 5f       	subi	r25, 0xFF	; 255
-    15f8:	e0 91 ff 02 	lds	r30, 0x02FF
-    15fc:	f0 91 00 03 	lds	r31, 0x0300
-    1600:	84 e0       	ldi	r24, 0x04	; 4
-    1602:	86 83       	std	Z+6, r24	; 0x06
-    1604:	99 23       	and	r25, r25
-    1606:	39 f0       	breq	.+14     	; 0x1616 <apply_orbs+0xae>
-    1608:	e0 91 ff 02 	lds	r30, 0x02FF
-    160c:	f0 91 00 03 	lds	r31, 0x0300
-    1610:	80 81       	ld	r24, Z
-    1612:	8b 7f       	andi	r24, 0xFB	; 251
-    1614:	80 83       	st	Z, r24
-    1616:	90 91 64 04 	lds	r25, 0x0464
-    161a:	e0 91 ff 02 	lds	r30, 0x02FF
-    161e:	f0 91 00 03 	lds	r31, 0x0300
-    1622:	91 50       	subi	r25, 0x01	; 1
-    1624:	97 83       	std	Z+7, r25	; 0x07
-    1626:	9f 5f       	subi	r25, 0xFF	; 255
-    1628:	e0 91 ff 02 	lds	r30, 0x02FF
-    162c:	f0 91 00 03 	lds	r31, 0x0300
-    1630:	80 e1       	ldi	r24, 0x10	; 16
-    1632:	80 87       	std	Z+8, r24	; 0x08
-    1634:	99 23       	and	r25, r25
-    1636:	39 f0       	breq	.+14     	; 0x1646 <apply_orbs+0xde>
-    1638:	e0 91 ff 02 	lds	r30, 0x02FF
-    163c:	f0 91 00 03 	lds	r31, 0x0300
-    1640:	80 81       	ld	r24, Z
-    1642:	8f 7e       	andi	r24, 0xEF	; 239
-    1644:	80 83       	st	Z, r24
-    1646:	90 91 65 04 	lds	r25, 0x0465
-    164a:	e0 91 ff 02 	lds	r30, 0x02FF
-    164e:	f0 91 00 03 	lds	r31, 0x0300
-    1652:	91 50       	subi	r25, 0x01	; 1
-    1654:	91 87       	std	Z+9, r25	; 0x09
-    1656:	9f 5f       	subi	r25, 0xFF	; 255
-    1658:	e0 91 ff 02 	lds	r30, 0x02FF
-    165c:	f0 91 00 03 	lds	r31, 0x0300
-    1660:	80 e2       	ldi	r24, 0x20	; 32
-    1662:	82 87       	std	Z+10, r24	; 0x0a
-    1664:	99 23       	and	r25, r25
-    1666:	39 f0       	breq	.+14     	; 0x1676 <apply_orbs+0x10e>
-    1668:	e0 91 ff 02 	lds	r30, 0x02FF
-    166c:	f0 91 00 03 	lds	r31, 0x0300
-    1670:	80 81       	ld	r24, Z
-    1672:	8f 7d       	andi	r24, 0xDF	; 223
-    1674:	80 83       	st	Z, r24
-    1676:	90 91 66 04 	lds	r25, 0x0466
-    167a:	e0 91 ff 02 	lds	r30, 0x02FF
-    167e:	f0 91 00 03 	lds	r31, 0x0300
-    1682:	91 50       	subi	r25, 0x01	; 1
-    1684:	93 87       	std	Z+11, r25	; 0x0b
-    1686:	9f 5f       	subi	r25, 0xFF	; 255
-    1688:	e0 91 ff 02 	lds	r30, 0x02FF
-    168c:	f0 91 00 03 	lds	r31, 0x0300
-    1690:	80 e4       	ldi	r24, 0x40	; 64
-    1692:	84 87       	std	Z+12, r24	; 0x0c
-    1694:	99 23       	and	r25, r25
-    1696:	39 f0       	breq	.+14     	; 0x16a6 <apply_orbs+0x13e>
-    1698:	e0 91 ff 02 	lds	r30, 0x02FF
-    169c:	f0 91 00 03 	lds	r31, 0x0300
-    16a0:	80 81       	ld	r24, Z
-    16a2:	8f 7b       	andi	r24, 0xBF	; 191
-    16a4:	80 83       	st	Z, r24
-    16a6:	e0 91 ff 02 	lds	r30, 0x02FF
-    16aa:	f0 91 00 03 	lds	r31, 0x0300
-    16ae:	91 81       	ldd	r25, Z+1	; 0x01
-    16b0:	83 81       	ldd	r24, Z+3	; 0x03
-    16b2:	89 17       	cp	r24, r25
-    16b4:	10 f0       	brcs	.+4      	; 0x16ba <apply_orbs+0x152>
-    16b6:	61 e0       	ldi	r22, 0x01	; 1
-    16b8:	07 c0       	rjmp	.+14     	; 0x16c8 <apply_orbs+0x160>
-    16ba:	81 83       	std	Z+1, r24	; 0x01
-    16bc:	93 83       	std	Z+3, r25	; 0x03
-    16be:	92 81       	ldd	r25, Z+2	; 0x02
-    16c0:	84 81       	ldd	r24, Z+4	; 0x04
-    16c2:	82 83       	std	Z+2, r24	; 0x02
-    16c4:	94 83       	std	Z+4, r25	; 0x04
-    16c6:	60 e0       	ldi	r22, 0x00	; 0
-    16c8:	df 01       	movw	r26, r30
-    16ca:	15 96       	adiw	r26, 0x05	; 5
-    16cc:	93 81       	ldd	r25, Z+3	; 0x03
-    16ce:	85 81       	ldd	r24, Z+5	; 0x05
-    16d0:	89 17       	cp	r24, r25
-    16d2:	40 f4       	brcc	.+16     	; 0x16e4 <apply_orbs+0x17c>
-    16d4:	83 83       	std	Z+3, r24	; 0x03
-    16d6:	95 83       	std	Z+5, r25	; 0x05
-    16d8:	94 81       	ldd	r25, Z+4	; 0x04
-    16da:	ed 01       	movw	r28, r26
-    16dc:	89 81       	ldd	r24, Y+1	; 0x01
-    16de:	84 83       	std	Z+4, r24	; 0x04
-    16e0:	99 83       	std	Y+1, r25	; 0x01
-    16e2:	60 e0       	ldi	r22, 0x00	; 0
-    16e4:	8f 01       	movw	r16, r30
-    16e6:	09 5f       	subi	r16, 0xF9	; 249
-    16e8:	1f 4f       	sbci	r17, 0xFF	; 255
-    16ea:	95 81       	ldd	r25, Z+5	; 0x05
-    16ec:	87 81       	ldd	r24, Z+7	; 0x07
-    16ee:	89 17       	cp	r24, r25
-    16f0:	58 f4       	brcc	.+22     	; 0x1708 <apply_orbs+0x1a0>
-    16f2:	85 83       	std	Z+5, r24	; 0x05
-    16f4:	97 83       	std	Z+7, r25	; 0x07
-    16f6:	ed 01       	movw	r28, r26
-    16f8:	99 81       	ldd	r25, Y+1	; 0x01
-    16fa:	e8 01       	movw	r28, r16
-    16fc:	89 81       	ldd	r24, Y+1	; 0x01
-    16fe:	ed 01       	movw	r28, r26
-    1700:	89 83       	std	Y+1, r24	; 0x01
-    1702:	e8 01       	movw	r28, r16
-    1704:	99 83       	std	Y+1, r25	; 0x01
-    1706:	60 e0       	ldi	r22, 0x00	; 0
-    1708:	9f 01       	movw	r18, r30
-    170a:	27 5f       	subi	r18, 0xF7	; 247
-    170c:	3f 4f       	sbci	r19, 0xFF	; 255
-    170e:	97 81       	ldd	r25, Z+7	; 0x07
-    1710:	81 85       	ldd	r24, Z+9	; 0x09
-    1712:	89 17       	cp	r24, r25
-    1714:	58 f4       	brcc	.+22     	; 0x172c <apply_orbs+0x1c4>
-    1716:	87 83       	std	Z+7, r24	; 0x07
-    1718:	91 87       	std	Z+9, r25	; 0x09
-    171a:	e8 01       	movw	r28, r16
-    171c:	99 81       	ldd	r25, Y+1	; 0x01
-    171e:	e9 01       	movw	r28, r18
-    1720:	89 81       	ldd	r24, Y+1	; 0x01
-    1722:	e8 01       	movw	r28, r16
-    1724:	89 83       	std	Y+1, r24	; 0x01
-    1726:	e9 01       	movw	r28, r18
-    1728:	99 83       	std	Y+1, r25	; 0x01
-    172a:	60 e0       	ldi	r22, 0x00	; 0
-    172c:	af 01       	movw	r20, r30
-    172e:	45 5f       	subi	r20, 0xF5	; 245
-    1730:	5f 4f       	sbci	r21, 0xFF	; 255
-    1732:	91 85       	ldd	r25, Z+9	; 0x09
-    1734:	83 85       	ldd	r24, Z+11	; 0x0b
-    1736:	89 17       	cp	r24, r25
-    1738:	58 f4       	brcc	.+22     	; 0x1750 <apply_orbs+0x1e8>
-    173a:	81 87       	std	Z+9, r24	; 0x09
-    173c:	93 87       	std	Z+11, r25	; 0x0b
-    173e:	e9 01       	movw	r28, r18
-    1740:	99 81       	ldd	r25, Y+1	; 0x01
-    1742:	ea 01       	movw	r28, r20
-    1744:	89 81       	ldd	r24, Y+1	; 0x01
-    1746:	e9 01       	movw	r28, r18
-    1748:	89 83       	std	Y+1, r24	; 0x01
-    174a:	ea 01       	movw	r28, r20
-    174c:	99 83       	std	Y+1, r25	; 0x01
-    174e:	03 c0       	rjmp	.+6      	; 0x1756 <apply_orbs+0x1ee>
-    1750:	66 23       	and	r22, r22
-    1752:	09 f0       	breq	.+2      	; 0x1756 <apply_orbs+0x1ee>
-    1754:	8f c0       	rjmp	.+286    	; 0x1874 <apply_orbs+0x30c>
-    1756:	91 81       	ldd	r25, Z+1	; 0x01
-    1758:	83 81       	ldd	r24, Z+3	; 0x03
-    175a:	89 17       	cp	r24, r25
-    175c:	10 f0       	brcs	.+4      	; 0x1762 <apply_orbs+0x1fa>
-    175e:	41 e0       	ldi	r20, 0x01	; 1
-    1760:	07 c0       	rjmp	.+14     	; 0x1770 <apply_orbs+0x208>
-    1762:	81 83       	std	Z+1, r24	; 0x01
-    1764:	93 83       	std	Z+3, r25	; 0x03
-    1766:	92 81       	ldd	r25, Z+2	; 0x02
-    1768:	84 81       	ldd	r24, Z+4	; 0x04
-    176a:	82 83       	std	Z+2, r24	; 0x02
-    176c:	94 83       	std	Z+4, r25	; 0x04
-    176e:	40 e0       	ldi	r20, 0x00	; 0
-    1770:	93 81       	ldd	r25, Z+3	; 0x03
-    1772:	8c 91       	ld	r24, X
-    1774:	89 17       	cp	r24, r25
-    1776:	40 f4       	brcc	.+16     	; 0x1788 <apply_orbs+0x220>
-    1778:	83 83       	std	Z+3, r24	; 0x03
-    177a:	9c 93       	st	X, r25
-    177c:	94 81       	ldd	r25, Z+4	; 0x04
-    177e:	ed 01       	movw	r28, r26
-    1780:	89 81       	ldd	r24, Y+1	; 0x01
-    1782:	84 83       	std	Z+4, r24	; 0x04
-    1784:	99 83       	std	Y+1, r25	; 0x01
-    1786:	40 e0       	ldi	r20, 0x00	; 0
-    1788:	9c 91       	ld	r25, X
-    178a:	e8 01       	movw	r28, r16
-    178c:	88 81       	ld	r24, Y
-    178e:	89 17       	cp	r24, r25
-    1790:	58 f4       	brcc	.+22     	; 0x17a8 <apply_orbs+0x240>
-    1792:	8c 93       	st	X, r24
-    1794:	98 83       	st	Y, r25
-    1796:	ed 01       	movw	r28, r26
-    1798:	99 81       	ldd	r25, Y+1	; 0x01
-    179a:	e8 01       	movw	r28, r16
-    179c:	89 81       	ldd	r24, Y+1	; 0x01
-    179e:	ed 01       	movw	r28, r26
-    17a0:	89 83       	std	Y+1, r24	; 0x01
-    17a2:	e8 01       	movw	r28, r16
-    17a4:	99 83       	std	Y+1, r25	; 0x01
-    17a6:	40 e0       	ldi	r20, 0x00	; 0
-    17a8:	e8 01       	movw	r28, r16
-    17aa:	98 81       	ld	r25, Y
-    17ac:	e9 01       	movw	r28, r18
-    17ae:	88 81       	ld	r24, Y
-    17b0:	89 17       	cp	r24, r25
-    17b2:	68 f4       	brcc	.+26     	; 0x17ce <apply_orbs+0x266>
-    17b4:	e8 01       	movw	r28, r16
-    17b6:	88 83       	st	Y, r24
-    17b8:	e9 01       	movw	r28, r18
-    17ba:	98 83       	st	Y, r25
-    17bc:	e8 01       	movw	r28, r16
-    17be:	99 81       	ldd	r25, Y+1	; 0x01
-    17c0:	e9 01       	movw	r28, r18
-    17c2:	89 81       	ldd	r24, Y+1	; 0x01
-    17c4:	e8 01       	movw	r28, r16
-    17c6:	89 83       	std	Y+1, r24	; 0x01
-    17c8:	e9 01       	movw	r28, r18
-    17ca:	99 83       	std	Y+1, r25	; 0x01
-    17cc:	03 c0       	rjmp	.+6      	; 0x17d4 <apply_orbs+0x26c>
-    17ce:	44 23       	and	r20, r20
-    17d0:	09 f0       	breq	.+2      	; 0x17d4 <apply_orbs+0x26c>
-    17d2:	50 c0       	rjmp	.+160    	; 0x1874 <apply_orbs+0x30c>
-    17d4:	91 81       	ldd	r25, Z+1	; 0x01
-    17d6:	83 81       	ldd	r24, Z+3	; 0x03
-    17d8:	89 17       	cp	r24, r25
-    17da:	10 f0       	brcs	.+4      	; 0x17e0 <apply_orbs+0x278>
-    17dc:	21 e0       	ldi	r18, 0x01	; 1
-    17de:	07 c0       	rjmp	.+14     	; 0x17ee <apply_orbs+0x286>
-    17e0:	81 83       	std	Z+1, r24	; 0x01
-    17e2:	93 83       	std	Z+3, r25	; 0x03
-    17e4:	92 81       	ldd	r25, Z+2	; 0x02
-    17e6:	84 81       	ldd	r24, Z+4	; 0x04
-    17e8:	82 83       	std	Z+2, r24	; 0x02
-    17ea:	94 83       	std	Z+4, r25	; 0x04
-    17ec:	20 e0       	ldi	r18, 0x00	; 0
-    17ee:	93 81       	ldd	r25, Z+3	; 0x03
-    17f0:	8c 91       	ld	r24, X
-    17f2:	89 17       	cp	r24, r25
-    17f4:	40 f4       	brcc	.+16     	; 0x1806 <apply_orbs+0x29e>
-    17f6:	83 83       	std	Z+3, r24	; 0x03
-    17f8:	9c 93       	st	X, r25
-    17fa:	94 81       	ldd	r25, Z+4	; 0x04
-    17fc:	ed 01       	movw	r28, r26
-    17fe:	89 81       	ldd	r24, Y+1	; 0x01
-    1800:	84 83       	std	Z+4, r24	; 0x04
-    1802:	99 83       	std	Y+1, r25	; 0x01
-    1804:	20 e0       	ldi	r18, 0x00	; 0
-    1806:	9c 91       	ld	r25, X
-    1808:	e8 01       	movw	r28, r16
-    180a:	88 81       	ld	r24, Y
-    180c:	89 17       	cp	r24, r25
-    180e:	58 f4       	brcc	.+22     	; 0x1826 <apply_orbs+0x2be>
-    1810:	8c 93       	st	X, r24
-    1812:	98 83       	st	Y, r25
-    1814:	ed 01       	movw	r28, r26
-    1816:	99 81       	ldd	r25, Y+1	; 0x01
-    1818:	e8 01       	movw	r28, r16
-    181a:	89 81       	ldd	r24, Y+1	; 0x01
-    181c:	ed 01       	movw	r28, r26
-    181e:	89 83       	std	Y+1, r24	; 0x01
-    1820:	e8 01       	movw	r28, r16
-    1822:	99 83       	std	Y+1, r25	; 0x01
-    1824:	02 c0       	rjmp	.+4      	; 0x182a <apply_orbs+0x2c2>
-    1826:	22 23       	and	r18, r18
-    1828:	29 f5       	brne	.+74     	; 0x1874 <apply_orbs+0x30c>
-    182a:	91 81       	ldd	r25, Z+1	; 0x01
-    182c:	83 81       	ldd	r24, Z+3	; 0x03
-    182e:	89 17       	cp	r24, r25
-    1830:	10 f0       	brcs	.+4      	; 0x1836 <apply_orbs+0x2ce>
-    1832:	21 e0       	ldi	r18, 0x01	; 1
-    1834:	07 c0       	rjmp	.+14     	; 0x1844 <apply_orbs+0x2dc>
-    1836:	81 83       	std	Z+1, r24	; 0x01
-    1838:	93 83       	std	Z+3, r25	; 0x03
-    183a:	92 81       	ldd	r25, Z+2	; 0x02
-    183c:	84 81       	ldd	r24, Z+4	; 0x04
-    183e:	82 83       	std	Z+2, r24	; 0x02
-    1840:	94 83       	std	Z+4, r25	; 0x04
-    1842:	20 e0       	ldi	r18, 0x00	; 0
-    1844:	93 81       	ldd	r25, Z+3	; 0x03
-    1846:	8c 91       	ld	r24, X
-    1848:	89 17       	cp	r24, r25
-    184a:	40 f4       	brcc	.+16     	; 0x185c <apply_orbs+0x2f4>
-    184c:	83 83       	std	Z+3, r24	; 0x03
-    184e:	9c 93       	st	X, r25
-    1850:	94 81       	ldd	r25, Z+4	; 0x04
-    1852:	ed 01       	movw	r28, r26
-    1854:	89 81       	ldd	r24, Y+1	; 0x01
-    1856:	84 83       	std	Z+4, r24	; 0x04
-    1858:	99 83       	std	Y+1, r25	; 0x01
-    185a:	02 c0       	rjmp	.+4      	; 0x1860 <apply_orbs+0x2f8>
-    185c:	22 23       	and	r18, r18
-    185e:	51 f4       	brne	.+20     	; 0x1874 <apply_orbs+0x30c>
-    1860:	91 81       	ldd	r25, Z+1	; 0x01
-    1862:	83 81       	ldd	r24, Z+3	; 0x03
-    1864:	89 17       	cp	r24, r25
-    1866:	30 f4       	brcc	.+12     	; 0x1874 <apply_orbs+0x30c>
-    1868:	81 83       	std	Z+1, r24	; 0x01
-    186a:	93 83       	std	Z+3, r25	; 0x03
-    186c:	92 81       	ldd	r25, Z+2	; 0x02
-    186e:	84 81       	ldd	r24, Z+4	; 0x04
-    1870:	82 83       	std	Z+2, r24	; 0x02
-    1872:	94 83       	std	Z+4, r25	; 0x04
-    1874:	4f b7       	in	r20, 0x3f	; 63
-    1876:	f8 94       	cli
-    1878:	20 91 ff 02 	lds	r18, 0x02FF
-    187c:	30 91 00 03 	lds	r19, 0x0300
-    1880:	80 91 01 03 	lds	r24, 0x0301
-    1884:	90 91 02 03 	lds	r25, 0x0302
-    1888:	90 93 00 03 	sts	0x0300, r25
-    188c:	80 93 ff 02 	sts	0x02FF, r24
-    1890:	30 93 02 03 	sts	0x0302, r19
-    1894:	20 93 01 03 	sts	0x0301, r18
-    1898:	4f bf       	out	0x3f, r20	; 63
-    189a:	81 e0       	ldi	r24, 0x01	; 1
-    189c:	80 93 2b 04 	sts	0x042B, r24
-    18a0:	21 c0       	rjmp	.+66     	; 0x18e4 <apply_orbs+0x37c>
-    18a2:	80 91 61 04 	lds	r24, 0x0461
-    18a6:	81 11       	cpse	r24, r1
-    18a8:	81 e0       	ldi	r24, 0x01	; 1
-    18aa:	28 2f       	mov	r18, r24
-    18ac:	80 91 62 04 	lds	r24, 0x0462
-    18b0:	81 11       	cpse	r24, r1
-    18b2:	22 60       	ori	r18, 0x02	; 2
-    18b4:	80 91 63 04 	lds	r24, 0x0463
-    18b8:	81 11       	cpse	r24, r1
-    18ba:	24 60       	ori	r18, 0x04	; 4
-    18bc:	80 91 64 04 	lds	r24, 0x0464
-    18c0:	81 11       	cpse	r24, r1
-    18c2:	20 61       	ori	r18, 0x10	; 16
-    18c4:	80 91 65 04 	lds	r24, 0x0465
-    18c8:	81 11       	cpse	r24, r1
-    18ca:	20 62       	ori	r18, 0x20	; 32
-    18cc:	80 91 66 04 	lds	r24, 0x0466
-    18d0:	81 11       	cpse	r24, r1
-    18d2:	20 64       	ori	r18, 0x40	; 64
-    18d4:	9f b7       	in	r25, 0x3f	; 63
-    18d6:	f8 94       	cli
-    18d8:	85 b3       	in	r24, 0x15	; 21
-    18da:	20 95       	com	r18
-    18dc:	87 67       	ori	r24, 0x77	; 119
-    18de:	82 23       	and	r24, r18
-    18e0:	85 bb       	out	0x15, r24	; 21
-    18e2:	9f bf       	out	0x3f, r25	; 63
-    18e4:	df 91       	pop	r29
-    18e6:	cf 91       	pop	r28
-    18e8:	1f 91       	pop	r17
-    18ea:	0f 91       	pop	r16
-    18ec:	08 95       	ret
-
-000018ee <orb_n_set>:
-    18ee:	98 2f       	mov	r25, r24
-    18f0:	3f b7       	in	r19, 0x3f	; 63
-    18f2:	f8 94       	cli
-    18f4:	80 91 2d 04 	lds	r24, 0x042D
-    18f8:	88 23       	and	r24, r24
-    18fa:	19 f0       	breq	.+6      	; 0x1902 <orb_n_set+0x14>
-    18fc:	e0 e0       	ldi	r30, 0x00	; 0
-    18fe:	f0 e0       	ldi	r31, 0x00	; 0
-    1900:	05 c0       	rjmp	.+10     	; 0x190c <orb_n_set+0x1e>
-    1902:	81 e0       	ldi	r24, 0x01	; 1
-    1904:	80 93 2d 04 	sts	0x042D, r24
-    1908:	e1 e0       	ldi	r30, 0x01	; 1
-    190a:	f0 e0       	ldi	r31, 0x00	; 0
-    190c:	3f bf       	out	0x3f, r19	; 63
-    190e:	31 97       	sbiw	r30, 0x01	; 1
-    1910:	81 f4       	brne	.+32     	; 0x1932 <orb_n_set+0x44>
-    1912:	89 2f       	mov	r24, r25
-    1914:	99 27       	eor	r25, r25
-    1916:	fc 01       	movw	r30, r24
-    1918:	ee 0f       	add	r30, r30
-    191a:	ff 1f       	adc	r31, r31
-    191c:	e8 0f       	add	r30, r24
-    191e:	f9 1f       	adc	r31, r25
-    1920:	ef 59       	subi	r30, 0x9F	; 159
-    1922:	fb 4f       	sbci	r31, 0xFB	; 251
-    1924:	60 83       	st	Z, r22
-    1926:	41 83       	std	Z+1, r20	; 0x01
-    1928:	22 83       	std	Z+2, r18	; 0x02
-    192a:	0e 94 b4 0a 	call	0x1568	; 0x1568 <apply_orbs>
-    192e:	10 92 2d 04 	sts	0x042D, r1
-    1932:	08 95       	ret
-
-00001934 <orb1_set>:
-    1934:	38 2f       	mov	r19, r24
-    1936:	2f b7       	in	r18, 0x3f	; 63
-    1938:	f8 94       	cli
-    193a:	80 91 2d 04 	lds	r24, 0x042D
-    193e:	88 23       	and	r24, r24
-    1940:	19 f0       	breq	.+6      	; 0x1948 <orb1_set+0x14>
-    1942:	80 e0       	ldi	r24, 0x00	; 0
-    1944:	90 e0       	ldi	r25, 0x00	; 0
-    1946:	05 c0       	rjmp	.+10     	; 0x1952 <orb1_set+0x1e>
-    1948:	81 e0       	ldi	r24, 0x01	; 1
-    194a:	80 93 2d 04 	sts	0x042D, r24
-    194e:	81 e0       	ldi	r24, 0x01	; 1
-    1950:	90 e0       	ldi	r25, 0x00	; 0
-    1952:	2f bf       	out	0x3f, r18	; 63
-    1954:	01 97       	sbiw	r24, 0x01	; 1
-    1956:	51 f4       	brne	.+20     	; 0x196c <orb1_set+0x38>
-    1958:	30 93 61 04 	sts	0x0461, r19
-    195c:	60 93 62 04 	sts	0x0462, r22
-    1960:	40 93 63 04 	sts	0x0463, r20
-    1964:	0e 94 b4 0a 	call	0x1568	; 0x1568 <apply_orbs>
-    1968:	10 92 2d 04 	sts	0x042D, r1
-    196c:	08 95       	ret
-
-0000196e <orb2_set>:
-    196e:	38 2f       	mov	r19, r24
-    1970:	2f b7       	in	r18, 0x3f	; 63
-    1972:	f8 94       	cli
-    1974:	80 91 2d 04 	lds	r24, 0x042D
-    1978:	88 23       	and	r24, r24
-    197a:	19 f0       	breq	.+6      	; 0x1982 <orb2_set+0x14>
-    197c:	80 e0       	ldi	r24, 0x00	; 0
-    197e:	90 e0       	ldi	r25, 0x00	; 0
-    1980:	05 c0       	rjmp	.+10     	; 0x198c <orb2_set+0x1e>
-    1982:	81 e0       	ldi	r24, 0x01	; 1
-    1984:	80 93 2d 04 	sts	0x042D, r24
-    1988:	81 e0       	ldi	r24, 0x01	; 1
-    198a:	90 e0       	ldi	r25, 0x00	; 0
-    198c:	2f bf       	out	0x3f, r18	; 63
-    198e:	01 97       	sbiw	r24, 0x01	; 1
-    1990:	51 f4       	brne	.+20     	; 0x19a6 <orb2_set+0x38>
-    1992:	30 93 64 04 	sts	0x0464, r19
-    1996:	60 93 65 04 	sts	0x0465, r22
-    199a:	40 93 66 04 	sts	0x0466, r20
-    199e:	0e 94 b4 0a 	call	0x1568	; 0x1568 <apply_orbs>
-    19a2:	10 92 2d 04 	sts	0x042D, r1
-    19a6:	08 95       	ret
-
-000019a8 <orb_set>:
-    19a8:	38 2f       	mov	r19, r24
-    19aa:	2f b7       	in	r18, 0x3f	; 63
-    19ac:	f8 94       	cli
-    19ae:	80 91 2d 04 	lds	r24, 0x042D
-    19b2:	88 23       	and	r24, r24
-    19b4:	19 f0       	breq	.+6      	; 0x19bc <orb_set+0x14>
-    19b6:	80 e0       	ldi	r24, 0x00	; 0
-    19b8:	90 e0       	ldi	r25, 0x00	; 0
-    19ba:	05 c0       	rjmp	.+10     	; 0x19c6 <orb_set+0x1e>
-    19bc:	81 e0       	ldi	r24, 0x01	; 1
-    19be:	80 93 2d 04 	sts	0x042D, r24
-    19c2:	81 e0       	ldi	r24, 0x01	; 1
-    19c4:	90 e0       	ldi	r25, 0x00	; 0
-    19c6:	2f bf       	out	0x3f, r18	; 63
-    19c8:	01 97       	sbiw	r24, 0x01	; 1
-    19ca:	81 f4       	brne	.+32     	; 0x19ec <orb_set+0x44>
-    19cc:	30 93 61 04 	sts	0x0461, r19
-    19d0:	60 93 62 04 	sts	0x0462, r22
-    19d4:	40 93 63 04 	sts	0x0463, r20
-    19d8:	30 93 64 04 	sts	0x0464, r19
-    19dc:	60 93 65 04 	sts	0x0465, r22
-    19e0:	40 93 66 04 	sts	0x0466, r20
-    19e4:	0e 94 b4 0a 	call	0x1568	; 0x1568 <apply_orbs>
-    19e8:	10 92 2d 04 	sts	0x042D, r1
-    19ec:	08 95       	ret
-
-000019ee <orbs_set>:
-    19ee:	ef 92       	push	r14
-    19f0:	0f 93       	push	r16
-    19f2:	58 2f       	mov	r21, r24
-    19f4:	3f b7       	in	r19, 0x3f	; 63
-    19f6:	f8 94       	cli
-    19f8:	80 91 2d 04 	lds	r24, 0x042D
-    19fc:	88 23       	and	r24, r24
-    19fe:	19 f0       	breq	.+6      	; 0x1a06 <orbs_set+0x18>
-    1a00:	80 e0       	ldi	r24, 0x00	; 0
-    1a02:	90 e0       	ldi	r25, 0x00	; 0
-    1a04:	05 c0       	rjmp	.+10     	; 0x1a10 <orbs_set+0x22>
-    1a06:	81 e0       	ldi	r24, 0x01	; 1
-    1a08:	80 93 2d 04 	sts	0x042D, r24
-    1a0c:	81 e0       	ldi	r24, 0x01	; 1
-    1a0e:	90 e0       	ldi	r25, 0x00	; 0
-    1a10:	3f bf       	out	0x3f, r19	; 63
-    1a12:	01 97       	sbiw	r24, 0x01	; 1
-    1a14:	81 f4       	brne	.+32     	; 0x1a36 <orbs_set+0x48>
-    1a16:	50 93 61 04 	sts	0x0461, r21
-    1a1a:	60 93 62 04 	sts	0x0462, r22
-    1a1e:	40 93 63 04 	sts	0x0463, r20
-    1a22:	20 93 64 04 	sts	0x0464, r18
-    1a26:	00 93 65 04 	sts	0x0465, r16
-    1a2a:	e0 92 66 04 	sts	0x0466, r14
-    1a2e:	0e 94 b4 0a 	call	0x1568	; 0x1568 <apply_orbs>
-    1a32:	10 92 2d 04 	sts	0x042D, r1
-    1a36:	0f 91       	pop	r16
-    1a38:	ef 90       	pop	r14
-    1a3a:	08 95       	ret
-
-00001a3c <orb_n_set_color>:
-    1a3c:	77 27       	eor	r23, r23
-    1a3e:	ab 01       	movw	r20, r22
-    1a40:	43 70       	andi	r20, 0x03	; 3
-    1a42:	50 70       	andi	r21, 0x00	; 0
-    1a44:	25 e5       	ldi	r18, 0x55	; 85
-    1a46:	30 e0       	ldi	r19, 0x00	; 0
-    1a48:	d9 01       	movw	r26, r18
-    1a4a:	4a 9f       	mul	r20, r26
-    1a4c:	90 01       	movw	r18, r0
-    1a4e:	4b 9f       	mul	r20, r27
-    1a50:	30 0d       	add	r19, r0
-    1a52:	5a 9f       	mul	r21, r26
-    1a54:	30 0d       	add	r19, r0
-    1a56:	11 24       	eor	r1, r1
-    1a58:	ab 01       	movw	r20, r22
-    1a5a:	4c 71       	andi	r20, 0x1C	; 28
-    1a5c:	50 70       	andi	r21, 0x00	; 0
-    1a5e:	55 95       	asr	r21
-    1a60:	47 95       	ror	r20
-    1a62:	55 95       	asr	r21
-    1a64:	47 95       	ror	r20
-    1a66:	e4 e2       	ldi	r30, 0x24	; 36
-    1a68:	f0 e0       	ldi	r31, 0x00	; 0
-    1a6a:	da 01       	movw	r26, r20
-    1a6c:	ae 9f       	mul	r26, r30
-    1a6e:	a0 01       	movw	r20, r0
-    1a70:	af 9f       	mul	r26, r31
-    1a72:	50 0d       	add	r21, r0
-    1a74:	be 9f       	mul	r27, r30
-    1a76:	50 0d       	add	r21, r0
-    1a78:	11 24       	eor	r1, r1
-    1a7a:	a5 e0       	ldi	r26, 0x05	; 5
-    1a7c:	76 95       	lsr	r23
-    1a7e:	67 95       	ror	r22
-    1a80:	aa 95       	dec	r26
-    1a82:	e1 f7       	brne	.-8      	; 0x1a7c <orb_n_set_color+0x40>
-    1a84:	db 01       	movw	r26, r22
-    1a86:	ae 9f       	mul	r26, r30
-    1a88:	b0 01       	movw	r22, r0
-    1a8a:	af 9f       	mul	r26, r31
-    1a8c:	70 0d       	add	r23, r0
-    1a8e:	be 9f       	mul	r27, r30
-    1a90:	70 0d       	add	r23, r0
-    1a92:	11 24       	eor	r1, r1
-    1a94:	0e 94 77 0c 	call	0x18ee	; 0x18ee <orb_n_set>
-    1a98:	08 95       	ret
-
-00001a9a <orb1_set_color>:
-    1a9a:	99 27       	eor	r25, r25
-    1a9c:	ac 01       	movw	r20, r24
-    1a9e:	43 70       	andi	r20, 0x03	; 3
-    1aa0:	50 70       	andi	r21, 0x00	; 0
-    1aa2:	25 e5       	ldi	r18, 0x55	; 85
-    1aa4:	30 e0       	ldi	r19, 0x00	; 0
-    1aa6:	ba 01       	movw	r22, r20
-    1aa8:	62 9f       	mul	r22, r18
-    1aaa:	a0 01       	movw	r20, r0
-    1aac:	63 9f       	mul	r22, r19
-    1aae:	50 0d       	add	r21, r0
-    1ab0:	72 9f       	mul	r23, r18
-    1ab2:	50 0d       	add	r21, r0
-    1ab4:	11 24       	eor	r1, r1
-    1ab6:	9c 01       	movw	r18, r24
-    1ab8:	2c 71       	andi	r18, 0x1C	; 28
-    1aba:	30 70       	andi	r19, 0x00	; 0
-    1abc:	35 95       	asr	r19
-    1abe:	27 95       	ror	r18
-    1ac0:	35 95       	asr	r19
-    1ac2:	27 95       	ror	r18
-    1ac4:	e4 e2       	ldi	r30, 0x24	; 36
-    1ac6:	f0 e0       	ldi	r31, 0x00	; 0
-    1ac8:	2e 9f       	mul	r18, r30
-    1aca:	b0 01       	movw	r22, r0
-    1acc:	2f 9f       	mul	r18, r31
-    1ace:	70 0d       	add	r23, r0
-    1ad0:	3e 9f       	mul	r19, r30
-    1ad2:	70 0d       	add	r23, r0
-    1ad4:	11 24       	eor	r1, r1
-    1ad6:	25 e0       	ldi	r18, 0x05	; 5
-    1ad8:	96 95       	lsr	r25
-    1ada:	87 95       	ror	r24
-    1adc:	2a 95       	dec	r18
-    1ade:	e1 f7       	brne	.-8      	; 0x1ad8 <orb1_set_color+0x3e>
-    1ae0:	8e 9f       	mul	r24, r30
-    1ae2:	80 2d       	mov	r24, r0
-    1ae4:	11 24       	eor	r1, r1
-    1ae6:	0e 94 9a 0c 	call	0x1934	; 0x1934 <orb1_set>
-    1aea:	08 95       	ret
-
-00001aec <orb2_set_color>:
-    1aec:	99 27       	eor	r25, r25
-    1aee:	ac 01       	movw	r20, r24
-    1af0:	43 70       	andi	r20, 0x03	; 3
-    1af2:	50 70       	andi	r21, 0x00	; 0
-    1af4:	25 e5       	ldi	r18, 0x55	; 85
-    1af6:	30 e0       	ldi	r19, 0x00	; 0
-    1af8:	ba 01       	movw	r22, r20
-    1afa:	62 9f       	mul	r22, r18
-    1afc:	a0 01       	movw	r20, r0
-    1afe:	63 9f       	mul	r22, r19
-    1b00:	50 0d       	add	r21, r0
-    1b02:	72 9f       	mul	r23, r18
-    1b04:	50 0d       	add	r21, r0
-    1b06:	11 24       	eor	r1, r1
-    1b08:	9c 01       	movw	r18, r24
-    1b0a:	2c 71       	andi	r18, 0x1C	; 28
-    1b0c:	30 70       	andi	r19, 0x00	; 0
-    1b0e:	35 95       	asr	r19
-    1b10:	27 95       	ror	r18
-    1b12:	35 95       	asr	r19
-    1b14:	27 95       	ror	r18
-    1b16:	e4 e2       	ldi	r30, 0x24	; 36
-    1b18:	f0 e0       	ldi	r31, 0x00	; 0
-    1b1a:	2e 9f       	mul	r18, r30
-    1b1c:	b0 01       	movw	r22, r0
-    1b1e:	2f 9f       	mul	r18, r31
-    1b20:	70 0d       	add	r23, r0
-    1b22:	3e 9f       	mul	r19, r30
-    1b24:	70 0d       	add	r23, r0
-    1b26:	11 24       	eor	r1, r1
-    1b28:	75 e0       	ldi	r23, 0x05	; 5
-    1b2a:	96 95       	lsr	r25
-    1b2c:	87 95       	ror	r24
-    1b2e:	7a 95       	dec	r23
-    1b30:	e1 f7       	brne	.-8      	; 0x1b2a <orb2_set_color+0x3e>
-    1b32:	8e 9f       	mul	r24, r30
-    1b34:	80 2d       	mov	r24, r0
-    1b36:	11 24       	eor	r1, r1
-    1b38:	0e 94 b7 0c 	call	0x196e	; 0x196e <orb2_set>
-    1b3c:	08 95       	ret
-
-00001b3e <orb_set_color>:
-    1b3e:	99 27       	eor	r25, r25
-    1b40:	ac 01       	movw	r20, r24
-    1b42:	43 70       	andi	r20, 0x03	; 3
-    1b44:	50 70       	andi	r21, 0x00	; 0
-    1b46:	25 e5       	ldi	r18, 0x55	; 85
-    1b48:	30 e0       	ldi	r19, 0x00	; 0
-    1b4a:	ba 01       	movw	r22, r20
-    1b4c:	62 9f       	mul	r22, r18
-    1b4e:	a0 01       	movw	r20, r0
-    1b50:	63 9f       	mul	r22, r19
-    1b52:	50 0d       	add	r21, r0
-    1b54:	72 9f       	mul	r23, r18
-    1b56:	50 0d       	add	r21, r0
-    1b58:	11 24       	eor	r1, r1
-    1b5a:	9c 01       	movw	r18, r24
-    1b5c:	2c 71       	andi	r18, 0x1C	; 28
-    1b5e:	30 70       	andi	r19, 0x00	; 0
-    1b60:	35 95       	asr	r19
-    1b62:	27 95       	ror	r18
-    1b64:	35 95       	asr	r19
-    1b66:	27 95       	ror	r18
-    1b68:	e4 e2       	ldi	r30, 0x24	; 36
-    1b6a:	f0 e0       	ldi	r31, 0x00	; 0
-    1b6c:	2e 9f       	mul	r18, r30
-    1b6e:	b0 01       	movw	r22, r0
-    1b70:	2f 9f       	mul	r18, r31
-    1b72:	70 0d       	add	r23, r0
-    1b74:	3e 9f       	mul	r19, r30
-    1b76:	70 0d       	add	r23, r0
-    1b78:	11 24       	eor	r1, r1
-    1b7a:	f5 e0       	ldi	r31, 0x05	; 5
-    1b7c:	96 95       	lsr	r25
-    1b7e:	87 95       	ror	r24
-    1b80:	fa 95       	dec	r31
-    1b82:	e1 f7       	brne	.-8      	; 0x1b7c <orb_set_color+0x3e>
-    1b84:	8e 9f       	mul	r24, r30
-    1b86:	80 2d       	mov	r24, r0
-    1b88:	11 24       	eor	r1, r1
-    1b8a:	0e 94 d4 0c 	call	0x19a8	; 0x19a8 <orb_set>
-    1b8e:	08 95       	ret
-
-00001b90 <orbs_set_color>:
-    1b90:	ef 92       	push	r14
-    1b92:	ff 92       	push	r15
-    1b94:	0f 93       	push	r16
-    1b96:	1f 93       	push	r17
-    1b98:	77 27       	eor	r23, r23
-    1b9a:	e8 2f       	mov	r30, r24
-    1b9c:	ff 27       	eor	r31, r31
-    1b9e:	cb 01       	movw	r24, r22
-    1ba0:	83 70       	andi	r24, 0x03	; 3
-    1ba2:	90 70       	andi	r25, 0x00	; 0
-    1ba4:	a5 e5       	ldi	r26, 0x55	; 85
-    1ba6:	b0 e0       	ldi	r27, 0x00	; 0
-    1ba8:	8a 9f       	mul	r24, r26
-    1baa:	70 01       	movw	r14, r0
-    1bac:	8b 9f       	mul	r24, r27
-    1bae:	f0 0c       	add	r15, r0
-    1bb0:	9a 9f       	mul	r25, r26
-    1bb2:	f0 0c       	add	r15, r0
-    1bb4:	11 24       	eor	r1, r1
-    1bb6:	9b 01       	movw	r18, r22
-    1bb8:	2c 71       	andi	r18, 0x1C	; 28
-    1bba:	30 70       	andi	r19, 0x00	; 0
-    1bbc:	35 95       	asr	r19
-    1bbe:	27 95       	ror	r18
-    1bc0:	35 95       	asr	r19
-    1bc2:	27 95       	ror	r18
-    1bc4:	84 e2       	ldi	r24, 0x24	; 36
-    1bc6:	90 e0       	ldi	r25, 0x00	; 0
-    1bc8:	28 9f       	mul	r18, r24
-    1bca:	80 01       	movw	r16, r0
-    1bcc:	29 9f       	mul	r18, r25
-    1bce:	10 0d       	add	r17, r0
-    1bd0:	38 9f       	mul	r19, r24
-    1bd2:	10 0d       	add	r17, r0
-    1bd4:	11 24       	eor	r1, r1
-    1bd6:	25 e0       	ldi	r18, 0x05	; 5
-    1bd8:	76 95       	lsr	r23
-    1bda:	67 95       	ror	r22
-    1bdc:	2a 95       	dec	r18
-    1bde:	e1 f7       	brne	.-8      	; 0x1bd8 <orbs_set_color+0x48>
-    1be0:	68 9f       	mul	r22, r24
-    1be2:	90 01       	movw	r18, r0
-    1be4:	69 9f       	mul	r22, r25
-    1be6:	30 0d       	add	r19, r0
-    1be8:	78 9f       	mul	r23, r24
-    1bea:	30 0d       	add	r19, r0
-    1bec:	11 24       	eor	r1, r1
-    1bee:	af 01       	movw	r20, r30
-    1bf0:	43 70       	andi	r20, 0x03	; 3
-    1bf2:	50 70       	andi	r21, 0x00	; 0
-    1bf4:	ba 01       	movw	r22, r20
-    1bf6:	6a 9f       	mul	r22, r26
-    1bf8:	a0 01       	movw	r20, r0
-    1bfa:	6b 9f       	mul	r22, r27
-    1bfc:	50 0d       	add	r21, r0
-    1bfe:	7a 9f       	mul	r23, r26
-    1c00:	50 0d       	add	r21, r0
-    1c02:	11 24       	eor	r1, r1
-    1c04:	bf 01       	movw	r22, r30
-    1c06:	6c 71       	andi	r22, 0x1C	; 28
-    1c08:	70 70       	andi	r23, 0x00	; 0
-    1c0a:	75 95       	asr	r23
-    1c0c:	67 95       	ror	r22
-    1c0e:	75 95       	asr	r23
-    1c10:	67 95       	ror	r22
-    1c12:	db 01       	movw	r26, r22
-    1c14:	a8 9f       	mul	r26, r24
-    1c16:	b0 01       	movw	r22, r0
-    1c18:	a9 9f       	mul	r26, r25
-    1c1a:	70 0d       	add	r23, r0
-    1c1c:	b8 9f       	mul	r27, r24
-    1c1e:	70 0d       	add	r23, r0
-    1c20:	11 24       	eor	r1, r1
-    1c22:	b5 e0       	ldi	r27, 0x05	; 5
-    1c24:	f6 95       	lsr	r31
-    1c26:	e7 95       	ror	r30
-    1c28:	ba 95       	dec	r27
-    1c2a:	e1 f7       	brne	.-8      	; 0x1c24 <orbs_set_color+0x94>
-    1c2c:	e8 9f       	mul	r30, r24
-    1c2e:	80 2d       	mov	r24, r0
-    1c30:	11 24       	eor	r1, r1
-    1c32:	0e 94 f7 0c 	call	0x19ee	; 0x19ee <orbs_set>
-    1c36:	1f 91       	pop	r17
-    1c38:	0f 91       	pop	r16
-    1c3a:	ff 90       	pop	r15
-    1c3c:	ef 90       	pop	r14
-    1c3e:	08 95       	ret
-
-00001c40 <orb_enable_timer>:
-    1c40:	86 e0       	ldi	r24, 0x06	; 6
-    1c42:	83 bf       	out	0x33, r24	; 51
-    1c44:	87 b7       	in	r24, 0x37	; 55
-    1c46:	83 60       	ori	r24, 0x03	; 3
-    1c48:	87 bf       	out	0x37, r24	; 55
-    1c4a:	08 95       	ret
-
-00001c4c <orb_disable_timer>:
-    1c4c:	87 b7       	in	r24, 0x37	; 55
-    1c4e:	8c 7f       	andi	r24, 0xFC	; 252
-    1c50:	87 bf       	out	0x37, r24	; 55
-    1c52:	08 95       	ret
-
-00001c54 <orb_set_mode>:
-    1c54:	81 30       	cpi	r24, 0x01	; 1
-    1c56:	41 f4       	brne	.+16     	; 0x1c68 <orb_set_mode+0x14>
-    1c58:	87 b7       	in	r24, 0x37	; 55
-    1c5a:	8c 7f       	andi	r24, 0xFC	; 252
-    1c5c:	87 bf       	out	0x37, r24	; 55
-    1c5e:	10 92 fc 02 	sts	0x02FC, r1
-    1c62:	0e 94 b4 0a 	call	0x1568	; 0x1568 <apply_orbs>
-    1c66:	08 95       	ret
-    1c68:	81 e0       	ldi	r24, 0x01	; 1
-    1c6a:	80 93 fc 02 	sts	0x02FC, r24
-    1c6e:	0e 94 b4 0a 	call	0x1568	; 0x1568 <apply_orbs>
-    1c72:	86 e0       	ldi	r24, 0x06	; 6
-    1c74:	83 bf       	out	0x33, r24	; 51
-    1c76:	87 b7       	in	r24, 0x37	; 55
-    1c78:	83 60       	ori	r24, 0x03	; 3
-    1c7a:	87 bf       	out	0x37, r24	; 55
-    1c7c:	08 95       	ret
-
-00001c7e <orb_init_common>:
-    1c7e:	85 b3       	in	r24, 0x15	; 21
-    1c80:	87 67       	ori	r24, 0x77	; 119
-    1c82:	85 bb       	out	0x15, r24	; 21
-    1c84:	84 b3       	in	r24, 0x14	; 20
-    1c86:	87 67       	ori	r24, 0x77	; 119
-    1c88:	84 bb       	out	0x14, r24	; 20
-    1c8a:	40 e0       	ldi	r20, 0x00	; 0
-    1c8c:	60 e0       	ldi	r22, 0x00	; 0
-    1c8e:	80 e0       	ldi	r24, 0x00	; 0
-    1c90:	0e 94 d4 0c 	call	0x19a8	; 0x19a8 <orb_set>
-    1c94:	08 95       	ret
-
-00001c96 <orb_init_binary>:
-    1c96:	0e 94 3f 0e 	call	0x1c7e	; 0x1c7e <orb_init_common>
-    1c9a:	81 e0       	ldi	r24, 0x01	; 1
-    1c9c:	0e 94 2a 0e 	call	0x1c54	; 0x1c54 <orb_set_mode>
-    1ca0:	08 95       	ret
-
-00001ca2 <orb_init_pwm>:
-    1ca2:	0e 94 3f 0e 	call	0x1c7e	; 0x1c7e <orb_init_common>
-    1ca6:	80 e0       	ldi	r24, 0x00	; 0
-    1ca8:	0e 94 2a 0e 	call	0x1c54	; 0x1c54 <orb_set_mode>
-    1cac:	08 95       	ret
-
-00001cae <orb_init>:
-    1cae:	0e 94 51 0e 	call	0x1ca2	; 0x1ca2 <orb_init_pwm>
-    1cb2:	08 95       	ret
-
-00001cb4 <motors_init>:
-    1cb4:	8b b3       	in	r24, 0x1b	; 27
-    1cb6:	8f 70       	andi	r24, 0x0F	; 15
-    1cb8:	8b bb       	out	0x1b, r24	; 27
-    1cba:	8a b3       	in	r24, 0x1a	; 26
-    1cbc:	80 6f       	ori	r24, 0xF0	; 240
-    1cbe:	8a bb       	out	0x1a, r24	; 26
-    1cc0:	87 b3       	in	r24, 0x17	; 23
-    1cc2:	80 66       	ori	r24, 0x60	; 96
-    1cc4:	87 bb       	out	0x17, r24	; 23
-    1cc6:	81 ea       	ldi	r24, 0xA1	; 161
-    1cc8:	8f bd       	out	0x2f, r24	; 47
-    1cca:	89 e0       	ldi	r24, 0x09	; 9
-    1ccc:	8e bd       	out	0x2e, r24	; 46
-    1cce:	1b bc       	out	0x2b, r1	; 43
-    1cd0:	1a bc       	out	0x2a, r1	; 42
-    1cd2:	19 bc       	out	0x29, r1	; 41
-    1cd4:	18 bc       	out	0x28, r1	; 40
-    1cd6:	08 95       	ret
-
-00001cd8 <motor_l_set>:
-    1cd8:	89 2b       	or	r24, r25
-    1cda:	51 f4       	brne	.+20     	; 0x1cf0 <motor_l_set+0x18>
-    1cdc:	8b b3       	in	r24, 0x1b	; 27
-    1cde:	80 73       	andi	r24, 0x30	; 48
-    1ce0:	80 31       	cpi	r24, 0x10	; 16
-    1ce2:	11 f0       	breq	.+4      	; 0x1ce8 <motor_l_set+0x10>
-    1ce4:	1b bc       	out	0x2b, r1	; 43
-    1ce6:	1a bc       	out	0x2a, r1	; 42
-    1ce8:	8b b3       	in	r24, 0x1b	; 27
-    1cea:	8f 7c       	andi	r24, 0xCF	; 207
-    1cec:	80 61       	ori	r24, 0x10	; 16
-    1cee:	09 c0       	rjmp	.+18     	; 0x1d02 <motor_l_set+0x2a>
-    1cf0:	8b b3       	in	r24, 0x1b	; 27
-    1cf2:	80 73       	andi	r24, 0x30	; 48
-    1cf4:	80 32       	cpi	r24, 0x20	; 32
-    1cf6:	11 f0       	breq	.+4      	; 0x1cfc <motor_l_set+0x24>
-    1cf8:	1b bc       	out	0x2b, r1	; 43
-    1cfa:	1a bc       	out	0x2a, r1	; 42
-    1cfc:	8b b3       	in	r24, 0x1b	; 27
-    1cfe:	8f 7c       	andi	r24, 0xCF	; 207
-    1d00:	80 62       	ori	r24, 0x20	; 32
-    1d02:	8b bb       	out	0x1b, r24	; 27
-    1d04:	6a bd       	out	0x2a, r22	; 42
-    1d06:	08 95       	ret
-
-00001d08 <motor_r_set>:
-    1d08:	89 2b       	or	r24, r25
-    1d0a:	51 f4       	brne	.+20     	; 0x1d20 <motor_r_set+0x18>
-    1d0c:	8b b3       	in	r24, 0x1b	; 27
-    1d0e:	80 7c       	andi	r24, 0xC0	; 192
-    1d10:	80 38       	cpi	r24, 0x80	; 128
-    1d12:	11 f0       	breq	.+4      	; 0x1d18 <motor_r_set+0x10>
-    1d14:	19 bc       	out	0x29, r1	; 41
-    1d16:	18 bc       	out	0x28, r1	; 40
-    1d18:	8b b3       	in	r24, 0x1b	; 27
-    1d1a:	8f 73       	andi	r24, 0x3F	; 63
-    1d1c:	80 68       	ori	r24, 0x80	; 128
-    1d1e:	09 c0       	rjmp	.+18     	; 0x1d32 <motor_r_set+0x2a>
-    1d20:	8b b3       	in	r24, 0x1b	; 27
-    1d22:	80 7c       	andi	r24, 0xC0	; 192
-    1d24:	80 34       	cpi	r24, 0x40	; 64
-    1d26:	11 f0       	breq	.+4      	; 0x1d2c <motor_r_set+0x24>
-    1d28:	19 bc       	out	0x29, r1	; 41
-    1d2a:	18 bc       	out	0x28, r1	; 40
-    1d2c:	8b b3       	in	r24, 0x1b	; 27
-    1d2e:	8f 73       	andi	r24, 0x3F	; 63
-    1d30:	80 64       	ori	r24, 0x40	; 64
-    1d32:	8b bb       	out	0x1b, r24	; 27
-    1d34:	68 bd       	out	0x28, r22	; 40
-    1d36:	08 95       	ret
-
-00001d38 <motor1_set>:
-    1d38:	0e 94 6c 0e 	call	0x1cd8	; 0x1cd8 <motor_l_set>
-    1d3c:	08 95       	ret
-
-00001d3e <motor2_set>:
-    1d3e:	0e 94 84 0e 	call	0x1d08	; 0x1d08 <motor_r_set>
-    1d42:	08 95       	ret
-
-00001d44 <motors_off>:
-    1d44:	1a bc       	out	0x2a, r1	; 42
-    1d46:	18 bc       	out	0x28, r1	; 40
-    1d48:	08 95       	ret
-
-00001d4a <linearize_distance>:
-    1d4a:	fc 01       	movw	r30, r24
-    1d4c:	84 31       	cpi	r24, 0x14	; 20
-    1d4e:	91 05       	cpc	r25, r1
-    1d50:	54 f0       	brlt	.+20     	; 0x1d66 <linearize_distance+0x1c>
-    1d52:	86 38       	cpi	r24, 0x86	; 134
-    1d54:	91 05       	cpc	r25, r1
-    1d56:	3c f4       	brge	.+14     	; 0x1d66 <linearize_distance+0x1c>
-    1d58:	ee 0f       	add	r30, r30
-    1d5a:	ff 1f       	adc	r31, r31
-    1d5c:	e5 52       	subi	r30, 0x25	; 37
-    1d5e:	fd 4f       	sbci	r31, 0xFD	; 253
-    1d60:	80 81       	ld	r24, Z
-    1d62:	91 81       	ldd	r25, Z+1	; 0x01
-    1d64:	08 95       	ret
-    1d66:	8f ef       	ldi	r24, 0xFF	; 255
-    1d68:	9f ef       	ldi	r25, 0xFF	; 255
-    1d6a:	08 95       	ret
-
-00001d6c <range_read_distance>:
-    1d6c:	0e 94 82 10 	call	0x2104	; 0x2104 <analog8>
-    1d70:	0e 94 a5 0e 	call	0x1d4a	; 0x1d4a <linearize_distance>
-    1d74:	08 95       	ret
-
-00001d76 <range_init>:
-    1d76:	60 e0       	ldi	r22, 0x00	; 0
-    1d78:	70 e0       	ldi	r23, 0x00	; 0
-    1d7a:	84 e1       	ldi	r24, 0x14	; 20
-    1d7c:	90 e0       	ldi	r25, 0x00	; 0
-    1d7e:	0e 94 f8 06 	call	0xdf0	; 0xdf0 <digital_output>
-    1d82:	08 95       	ret
-
-00001d84 <usb_init>:
-    1d84:	10 92 90 00 	sts	0x0090, r1
-    1d88:	88 e0       	ldi	r24, 0x08	; 8
-    1d8a:	89 b9       	out	0x09, r24	; 9
-    1d8c:	59 9a       	sbi	0x0b, 1	; 11
-    1d8e:	8a b1       	in	r24, 0x0a	; 10
-    1d90:	88 61       	ori	r24, 0x18	; 24
-    1d92:	8a b9       	out	0x0a, r24	; 10
-    1d94:	e5 e9       	ldi	r30, 0x95	; 149
-    1d96:	f0 e0       	ldi	r31, 0x00	; 0
-    1d98:	80 81       	ld	r24, Z
-    1d9a:	86 60       	ori	r24, 0x06	; 6
-    1d9c:	80 83       	st	Z, r24
-    1d9e:	08 95       	ret
-
-00001da0 <xbee_init>:
-    1da0:	10 92 98 00 	sts	0x0098, r1
-    1da4:	87 e6       	ldi	r24, 0x67	; 103
-    1da6:	80 93 99 00 	sts	0x0099, r24
-    1daa:	eb e9       	ldi	r30, 0x9B	; 155
-    1dac:	f0 e0       	ldi	r31, 0x00	; 0
-    1dae:	80 81       	ld	r24, Z
-    1db0:	82 60       	ori	r24, 0x02	; 2
-    1db2:	80 83       	st	Z, r24
-    1db4:	ea e9       	ldi	r30, 0x9A	; 154
-    1db6:	f0 e0       	ldi	r31, 0x00	; 0
-    1db8:	80 81       	ld	r24, Z
-    1dba:	88 61       	ori	r24, 0x18	; 24
-    1dbc:	80 83       	st	Z, r24
-    1dbe:	ed e9       	ldi	r30, 0x9D	; 157
-    1dc0:	f0 e0       	ldi	r31, 0x00	; 0
-    1dc2:	80 81       	ld	r24, Z
-    1dc4:	86 60       	ori	r24, 0x06	; 6
-    1dc6:	80 83       	st	Z, r24
-    1dc8:	08 95       	ret
-
-00001dca <usb_putc>:
-    1dca:	5d 9b       	sbis	0x0b, 5	; 11
-    1dcc:	fe cf       	rjmp	.-4      	; 0x1dca <usb_putc>
-    1dce:	8c b9       	out	0x0c, r24	; 12
-    1dd0:	80 e0       	ldi	r24, 0x00	; 0
-    1dd2:	90 e0       	ldi	r25, 0x00	; 0
-    1dd4:	08 95       	ret
-
-00001dd6 <xbee_putc>:
-    1dd6:	98 2f       	mov	r25, r24
-    1dd8:	80 91 9b 00 	lds	r24, 0x009B
-    1ddc:	85 ff       	sbrs	r24, 5
-    1dde:	fc cf       	rjmp	.-8      	; 0x1dd8 <xbee_putc+0x2>
-    1de0:	90 93 9c 00 	sts	0x009C, r25
-    1de4:	80 e0       	ldi	r24, 0x00	; 0
-    1de6:	90 e0       	ldi	r25, 0x00	; 0
-    1de8:	08 95       	ret
-
-00001dea <usb_getc>:
-    1dea:	5f 9b       	sbis	0x0b, 7	; 11
-    1dec:	fe cf       	rjmp	.-4      	; 0x1dea <usb_getc>
-    1dee:	8c b1       	in	r24, 0x0c	; 12
-    1df0:	99 27       	eor	r25, r25
-    1df2:	08 95       	ret
-
-00001df4 <xbee_getc>:
-    1df4:	80 91 9b 00 	lds	r24, 0x009B
-    1df8:	87 ff       	sbrs	r24, 7
-    1dfa:	fc cf       	rjmp	.-8      	; 0x1df4 <xbee_getc>
-    1dfc:	80 91 9c 00 	lds	r24, 0x009C
-    1e00:	99 27       	eor	r25, r25
-    1e02:	08 95       	ret
-
-00001e04 <usb_getc_nb>:
-    1e04:	fc 01       	movw	r30, r24
-    1e06:	5f 99       	sbic	0x0b, 7	; 11
-    1e08:	03 c0       	rjmp	.+6      	; 0x1e10 <usb_getc_nb+0xc>
-    1e0a:	8f ef       	ldi	r24, 0xFF	; 255
-    1e0c:	9f ef       	ldi	r25, 0xFF	; 255
-    1e0e:	08 95       	ret
-    1e10:	8c b1       	in	r24, 0x0c	; 12
-    1e12:	80 83       	st	Z, r24
-    1e14:	80 e0       	ldi	r24, 0x00	; 0
-    1e16:	90 e0       	ldi	r25, 0x00	; 0
-    1e18:	08 95       	ret
-
-00001e1a <xbee_getc_nb>:
-    1e1a:	fc 01       	movw	r30, r24
-    1e1c:	80 91 9b 00 	lds	r24, 0x009B
-    1e20:	87 fd       	sbrc	r24, 7
-    1e22:	03 c0       	rjmp	.+6      	; 0x1e2a <xbee_getc_nb+0x10>
-    1e24:	8f ef       	ldi	r24, 0xFF	; 255
-    1e26:	9f ef       	ldi	r25, 0xFF	; 255
-    1e28:	08 95       	ret
-    1e2a:	80 91 9c 00 	lds	r24, 0x009C
-    1e2e:	80 83       	st	Z, r24
-    1e30:	80 e0       	ldi	r24, 0x00	; 0
-    1e32:	90 e0       	ldi	r25, 0x00	; 0
-    1e34:	08 95       	ret
-
-00001e36 <hex_digit>:
-    1e36:	80 31       	cpi	r24, 0x10	; 16
-    1e38:	18 f0       	brcs	.+6      	; 0x1e40 <hex_digit+0xa>
-    1e3a:	8f e3       	ldi	r24, 0x3F	; 63
-    1e3c:	90 e0       	ldi	r25, 0x00	; 0
-    1e3e:	08 95       	ret
-    1e40:	e8 2f       	mov	r30, r24
-    1e42:	ff 27       	eor	r31, r31
-    1e44:	e9 51       	subi	r30, 0x19	; 25
-    1e46:	fc 4f       	sbci	r31, 0xFC	; 252
-    1e48:	80 81       	ld	r24, Z
-    1e4a:	99 27       	eor	r25, r25
-    1e4c:	08 95       	ret
-
-00001e4e <usb_puts>:
-    1e4e:	fc 01       	movw	r30, r24
-    1e50:	04 c0       	rjmp	.+8      	; 0x1e5a <usb_puts+0xc>
-    1e52:	5d 9b       	sbis	0x0b, 5	; 11
-    1e54:	fe cf       	rjmp	.-4      	; 0x1e52 <usb_puts+0x4>
-    1e56:	8c b9       	out	0x0c, r24	; 12
-    1e58:	31 96       	adiw	r30, 0x01	; 1
-    1e5a:	80 81       	ld	r24, Z
-    1e5c:	88 23       	and	r24, r24
-    1e5e:	c9 f7       	brne	.-14     	; 0x1e52 <usb_puts+0x4>
-    1e60:	80 e0       	ldi	r24, 0x00	; 0
-    1e62:	90 e0       	ldi	r25, 0x00	; 0
-    1e64:	08 95       	ret
-
-00001e66 <usb_puti>:
-    1e66:	0f 93       	push	r16
-    1e68:	1f 93       	push	r17
-    1e6a:	cf 93       	push	r28
-    1e6c:	df 93       	push	r29
-    1e6e:	cd b7       	in	r28, 0x3d	; 61
-    1e70:	de b7       	in	r29, 0x3e	; 62
-    1e72:	26 97       	sbiw	r28, 0x06	; 6
-    1e74:	0f b6       	in	r0, 0x3f	; 63
-    1e76:	f8 94       	cli
-    1e78:	de bf       	out	0x3e, r29	; 62
-    1e7a:	0f be       	out	0x3f, r0	; 63
-    1e7c:	cd bf       	out	0x3d, r28	; 61
-    1e7e:	9c 01       	movw	r18, r24
-    1e80:	de 01       	movw	r26, r28
-    1e82:	11 96       	adiw	r26, 0x01	; 1
-    1e84:	e8 ef       	ldi	r30, 0xF8	; 248
-    1e86:	f3 e0       	ldi	r31, 0x03	; 3
-    1e88:	86 e0       	ldi	r24, 0x06	; 6
-    1e8a:	01 90       	ld	r0, Z+
-    1e8c:	0d 92       	st	X+, r0
-    1e8e:	81 50       	subi	r24, 0x01	; 1
-    1e90:	e1 f7       	brne	.-8      	; 0x1e8a <usb_puti+0x24>
-    1e92:	37 ff       	sbrs	r19, 7
-    1e94:	07 c0       	rjmp	.+14     	; 0x1ea4 <usb_puti+0x3e>
-    1e96:	5d 9b       	sbis	0x0b, 5	; 11
-    1e98:	fe cf       	rjmp	.-4      	; 0x1e96 <usb_puti+0x30>
-    1e9a:	8d e2       	ldi	r24, 0x2D	; 45
-    1e9c:	8c b9       	out	0x0c, r24	; 12
-    1e9e:	30 95       	com	r19
-    1ea0:	21 95       	neg	r18
-    1ea2:	3f 4f       	sbci	r19, 0xFF	; 255
-    1ea4:	46 e0       	ldi	r20, 0x06	; 6
-    1ea6:	8e 01       	movw	r16, r28
-    1ea8:	0f 5f       	subi	r16, 0xFF	; 255
-    1eaa:	1f 4f       	sbci	r17, 0xFF	; 255
-    1eac:	41 50       	subi	r20, 0x01	; 1
-    1eae:	f8 01       	movw	r30, r16
-    1eb0:	e4 0f       	add	r30, r20
-    1eb2:	f1 1d       	adc	r31, r1
-    1eb4:	c9 01       	movw	r24, r18
-    1eb6:	6a e0       	ldi	r22, 0x0A	; 10
-    1eb8:	70 e0       	ldi	r23, 0x00	; 0
-    1eba:	0e 94 96 13 	call	0x272c	; 0x272c <__divmodhi4>
-    1ebe:	80 5d       	subi	r24, 0xD0	; 208
-    1ec0:	80 83       	st	Z, r24
-    1ec2:	c9 01       	movw	r24, r18
-    1ec4:	6a e0       	ldi	r22, 0x0A	; 10
-    1ec6:	70 e0       	ldi	r23, 0x00	; 0
-    1ec8:	0e 94 96 13 	call	0x272c	; 0x272c <__divmodhi4>
-    1ecc:	9b 01       	movw	r18, r22
-    1ece:	67 2b       	or	r22, r23
-    1ed0:	51 f0       	breq	.+20     	; 0x1ee6 <usb_puti+0x80>
-    1ed2:	ec cf       	rjmp	.-40     	; 0x1eac <usb_puti+0x46>
-    1ed4:	fc 01       	movw	r30, r24
-    1ed6:	e4 0f       	add	r30, r20
-    1ed8:	f1 1d       	adc	r31, r1
-    1eda:	e0 81       	ld	r30, Z
-    1edc:	5d 9b       	sbis	0x0b, 5	; 11
-    1ede:	fe cf       	rjmp	.-4      	; 0x1edc <usb_puti+0x76>
-    1ee0:	ec b9       	out	0x0c, r30	; 12
-    1ee2:	4f 5f       	subi	r20, 0xFF	; 255
-    1ee4:	02 c0       	rjmp	.+4      	; 0x1eea <usb_puti+0x84>
-    1ee6:	ce 01       	movw	r24, r28
-    1ee8:	01 96       	adiw	r24, 0x01	; 1
-    1eea:	46 30       	cpi	r20, 0x06	; 6
-    1eec:	98 f3       	brcs	.-26     	; 0x1ed4 <usb_puti+0x6e>
-    1eee:	80 e0       	ldi	r24, 0x00	; 0
-    1ef0:	90 e0       	ldi	r25, 0x00	; 0
-    1ef2:	26 96       	adiw	r28, 0x06	; 6
-    1ef4:	0f b6       	in	r0, 0x3f	; 63
-    1ef6:	f8 94       	cli
-    1ef8:	de bf       	out	0x3e, r29	; 62
-    1efa:	0f be       	out	0x3f, r0	; 63
-    1efc:	cd bf       	out	0x3d, r28	; 61
-    1efe:	df 91       	pop	r29
-    1f00:	cf 91       	pop	r28
-    1f02:	1f 91       	pop	r17
-    1f04:	0f 91       	pop	r16
-    1f06:	08 95       	ret
-
-00001f08 <usb_puts_P>:
-    1f08:	ef 92       	push	r14
-    1f0a:	ff 92       	push	r15
-    1f0c:	0f 93       	push	r16
-    1f0e:	1f 93       	push	r17
-    1f10:	cf 93       	push	r28
-    1f12:	df 93       	push	r29
-    1f14:	cd b7       	in	r28, 0x3d	; 61
-    1f16:	de b7       	in	r29, 0x3e	; 62
-    1f18:	21 97       	sbiw	r28, 0x01	; 1
-    1f1a:	0f b6       	in	r0, 0x3f	; 63
-    1f1c:	f8 94       	cli
-    1f1e:	de bf       	out	0x3e, r29	; 62
-    1f20:	0f be       	out	0x3f, r0	; 63
-    1f22:	cd bf       	out	0x3d, r28	; 61
-    1f24:	8c 01       	movw	r16, r24
-    1f26:	7e 01       	movw	r14, r28
-    1f28:	08 94       	sec
-    1f2a:	e1 1c       	adc	r14, r1
-    1f2c:	f1 1c       	adc	r15, r1
-    1f2e:	05 c0       	rjmp	.+10     	; 0x1f3a <usb_puts_P+0x32>
-    1f30:	5d 9b       	sbis	0x0b, 5	; 11
-    1f32:	fe cf       	rjmp	.-4      	; 0x1f30 <usb_puts_P+0x28>
-    1f34:	8c b9       	out	0x0c, r24	; 12
-    1f36:	0f 5f       	subi	r16, 0xFF	; 255
-    1f38:	1f 4f       	sbci	r17, 0xFF	; 255
-    1f3a:	41 e0       	ldi	r20, 0x01	; 1
-    1f3c:	50 e0       	ldi	r21, 0x00	; 0
-    1f3e:	b8 01       	movw	r22, r16
-    1f40:	c7 01       	movw	r24, r14
-    1f42:	0e 94 ed 12 	call	0x25da	; 0x25da <memcpy_P>
-    1f46:	89 81       	ldd	r24, Y+1	; 0x01
-    1f48:	88 23       	and	r24, r24
-    1f4a:	91 f7       	brne	.-28     	; 0x1f30 <usb_puts_P+0x28>
-    1f4c:	21 96       	adiw	r28, 0x01	; 1
-    1f4e:	0f b6       	in	r0, 0x3f	; 63
-    1f50:	f8 94       	cli
-    1f52:	de bf       	out	0x3e, r29	; 62
-    1f54:	0f be       	out	0x3f, r0	; 63
-    1f56:	cd bf       	out	0x3d, r28	; 61
-    1f58:	df 91       	pop	r29
-    1f5a:	cf 91       	pop	r28
-    1f5c:	1f 91       	pop	r17
-    1f5e:	0f 91       	pop	r16
-    1f60:	ff 90       	pop	r15
-    1f62:	ef 90       	pop	r14
-    1f64:	08 95       	ret
-
-00001f66 <usb_puth8>:
-    1f66:	28 2f       	mov	r18, r24
-    1f68:	e8 2f       	mov	r30, r24
-    1f6a:	e2 95       	swap	r30
-    1f6c:	ef 70       	andi	r30, 0x0F	; 15
-    1f6e:	ff 27       	eor	r31, r31
-    1f70:	e9 51       	subi	r30, 0x19	; 25
-    1f72:	fc 4f       	sbci	r31, 0xFC	; 252
-    1f74:	80 81       	ld	r24, Z
-    1f76:	99 27       	eor	r25, r25
-    1f78:	5d 9b       	sbis	0x0b, 5	; 11
-    1f7a:	fe cf       	rjmp	.-4      	; 0x1f78 <usb_puth8+0x12>
-    1f7c:	8c b9       	out	0x0c, r24	; 12
-    1f7e:	e2 2f       	mov	r30, r18
-    1f80:	ff 27       	eor	r31, r31
-    1f82:	ef 70       	andi	r30, 0x0F	; 15
-    1f84:	f0 70       	andi	r31, 0x00	; 0
-    1f86:	e9 51       	subi	r30, 0x19	; 25
-    1f88:	fc 4f       	sbci	r31, 0xFC	; 252
-    1f8a:	80 81       	ld	r24, Z
-    1f8c:	99 27       	eor	r25, r25
-    1f8e:	5d 9b       	sbis	0x0b, 5	; 11
-    1f90:	fe cf       	rjmp	.-4      	; 0x1f8e <usb_puth8+0x28>
-    1f92:	8c b9       	out	0x0c, r24	; 12
-    1f94:	08 95       	ret
-
-00001f96 <usb_puth16>:
-    1f96:	ac 01       	movw	r20, r24
-    1f98:	fc 01       	movw	r30, r24
-    1f9a:	ef 2f       	mov	r30, r31
-    1f9c:	ff 27       	eor	r31, r31
-    1f9e:	e2 95       	swap	r30
-    1fa0:	ef 70       	andi	r30, 0x0F	; 15
-    1fa2:	e9 51       	subi	r30, 0x19	; 25
-    1fa4:	fc 4f       	sbci	r31, 0xFC	; 252
-    1fa6:	80 81       	ld	r24, Z
-    1fa8:	28 2f       	mov	r18, r24
-    1faa:	33 27       	eor	r19, r19
-    1fac:	5d 9b       	sbis	0x0b, 5	; 11
-    1fae:	fe cf       	rjmp	.-4      	; 0x1fac <usb_puth16+0x16>
-    1fb0:	2c b9       	out	0x0c, r18	; 12
-    1fb2:	e5 2f       	mov	r30, r21
-    1fb4:	ff 27       	eor	r31, r31
-    1fb6:	ef 70       	andi	r30, 0x0F	; 15
-    1fb8:	f0 70       	andi	r31, 0x00	; 0
-    1fba:	e9 51       	subi	r30, 0x19	; 25
-    1fbc:	fc 4f       	sbci	r31, 0xFC	; 252
-    1fbe:	80 81       	ld	r24, Z
-    1fc0:	28 2f       	mov	r18, r24
-    1fc2:	33 27       	eor	r19, r19
-    1fc4:	5d 9b       	sbis	0x0b, 5	; 11
-    1fc6:	fe cf       	rjmp	.-4      	; 0x1fc4 <usb_puth16+0x2e>
-    1fc8:	2c b9       	out	0x0c, r18	; 12
-    1fca:	fa 01       	movw	r30, r20
-    1fcc:	84 e0       	ldi	r24, 0x04	; 4
-    1fce:	f6 95       	lsr	r31
-    1fd0:	e7 95       	ror	r30
-    1fd2:	8a 95       	dec	r24
-    1fd4:	e1 f7       	brne	.-8      	; 0x1fce <usb_puth16+0x38>
-    1fd6:	ff 27       	eor	r31, r31
-    1fd8:	ef 70       	andi	r30, 0x0F	; 15
-    1fda:	f0 70       	andi	r31, 0x00	; 0
-    1fdc:	e9 51       	subi	r30, 0x19	; 25
-    1fde:	fc 4f       	sbci	r31, 0xFC	; 252
-    1fe0:	80 81       	ld	r24, Z
-    1fe2:	28 2f       	mov	r18, r24
-    1fe4:	33 27       	eor	r19, r19
-    1fe6:	5d 9b       	sbis	0x0b, 5	; 11
-    1fe8:	fe cf       	rjmp	.-4      	; 0x1fe6 <usb_puth16+0x50>
-    1fea:	2c b9       	out	0x0c, r18	; 12
-    1fec:	e4 2f       	mov	r30, r20
-    1fee:	ff 27       	eor	r31, r31
-    1ff0:	ef 70       	andi	r30, 0x0F	; 15
-    1ff2:	f0 70       	andi	r31, 0x00	; 0
-    1ff4:	e9 51       	subi	r30, 0x19	; 25
-    1ff6:	fc 4f       	sbci	r31, 0xFC	; 252
-    1ff8:	80 81       	ld	r24, Z
-    1ffa:	99 27       	eor	r25, r25
-    1ffc:	5d 9b       	sbis	0x0b, 5	; 11
-    1ffe:	fe cf       	rjmp	.-4      	; 0x1ffc <usb_puth16+0x66>
-    2000:	8c b9       	out	0x0c, r24	; 12
-    2002:	08 95       	ret
-
-00002004 <delay_ms>:
-    2004:	9c 01       	movw	r18, r24
-    2006:	06 c0       	rjmp	.+12     	; 0x2014 <delay_ms+0x10>
-    2008:	80 e4       	ldi	r24, 0x40	; 64
-    200a:	96 e0       	ldi	r25, 0x06	; 6
-    200c:	01 97       	sbiw	r24, 0x01	; 1
-    200e:	f1 f7       	brne	.-4      	; 0x200c <delay_ms+0x8>
-    2010:	21 50       	subi	r18, 0x01	; 1
-    2012:	30 40       	sbci	r19, 0x00	; 0
-    2014:	12 16       	cp	r1, r18
-    2016:	13 06       	cpc	r1, r19
-    2018:	bc f3       	brlt	.-18     	; 0x2008 <delay_ms+0x4>
-    201a:	08 95       	ret
-
-0000201c <rtc_init>:
-    201c:	10 92 89 00 	sts	0x0089, r1
-    2020:	10 92 88 00 	sts	0x0088, r1
-    2024:	ea e8       	ldi	r30, 0x8A	; 138
-    2026:	f0 e0       	ldi	r31, 0x00	; 0
-    2028:	20 81       	ld	r18, Z
-    202a:	28 60       	ori	r18, 0x08	; 8
-    202c:	20 83       	st	Z, r18
-    202e:	20 81       	ld	r18, Z
-    2030:	22 60       	ori	r18, 0x02	; 2
-    2032:	20 83       	st	Z, r18
-    2034:	24 e2       	ldi	r18, 0x24	; 36
-    2036:	34 ef       	ldi	r19, 0xF4	; 244
-    2038:	30 93 87 00 	sts	0x0087, r19
-    203c:	20 93 86 00 	sts	0x0086, r18
-    2040:	ed e7       	ldi	r30, 0x7D	; 125
-    2042:	f0 e0       	ldi	r31, 0x00	; 0
-    2044:	20 81       	ld	r18, Z
-    2046:	20 61       	ori	r18, 0x10	; 16
-    2048:	20 83       	st	Z, r18
-    204a:	70 93 33 04 	sts	0x0433, r23
-    204e:	60 93 32 04 	sts	0x0432, r22
-    2052:	90 93 ff 03 	sts	0x03FF, r25
-    2056:	80 93 fe 03 	sts	0x03FE, r24
-    205a:	08 95       	ret
-
-0000205c <rtc_get>:
-    205c:	80 91 30 04 	lds	r24, 0x0430
-    2060:	90 91 31 04 	lds	r25, 0x0431
-    2064:	08 95       	ret
-
-00002066 <rtc_reset>:
-    2066:	10 92 31 04 	sts	0x0431, r1
-    206a:	10 92 30 04 	sts	0x0430, r1
-    206e:	08 95       	ret
-
-00002070 <__vector_26>:
-    2070:	1f 92       	push	r1
-    2072:	0f 92       	push	r0
-    2074:	0f b6       	in	r0, 0x3f	; 63
-    2076:	0f 92       	push	r0
-    2078:	11 24       	eor	r1, r1
-    207a:	2f 93       	push	r18
-    207c:	3f 93       	push	r19
-    207e:	4f 93       	push	r20
-    2080:	5f 93       	push	r21
-    2082:	6f 93       	push	r22
-    2084:	7f 93       	push	r23
-    2086:	8f 93       	push	r24
-    2088:	9f 93       	push	r25
-    208a:	af 93       	push	r26
-    208c:	bf 93       	push	r27
-    208e:	ef 93       	push	r30
-    2090:	ff 93       	push	r31
-    2092:	20 91 2e 04 	lds	r18, 0x042E
-    2096:	30 91 2f 04 	lds	r19, 0x042F
-    209a:	80 91 fe 03 	lds	r24, 0x03FE
-    209e:	90 91 ff 03 	lds	r25, 0x03FF
-    20a2:	28 17       	cp	r18, r24
-    20a4:	39 07       	cpc	r19, r25
-    20a6:	a1 f4       	brne	.+40     	; 0x20d0 <__vector_26+0x60>
-    20a8:	80 91 30 04 	lds	r24, 0x0430
-    20ac:	90 91 31 04 	lds	r25, 0x0431
-    20b0:	01 96       	adiw	r24, 0x01	; 1
-    20b2:	90 93 31 04 	sts	0x0431, r25
-    20b6:	80 93 30 04 	sts	0x0430, r24
-    20ba:	e0 91 32 04 	lds	r30, 0x0432
-    20be:	f0 91 33 04 	lds	r31, 0x0433
-    20c2:	30 97       	sbiw	r30, 0x00	; 0
-    20c4:	09 f0       	breq	.+2      	; 0x20c8 <__vector_26+0x58>
-    20c6:	09 95       	icall
-    20c8:	10 92 2f 04 	sts	0x042F, r1
-    20cc:	10 92 2e 04 	sts	0x042E, r1
-    20d0:	80 91 2e 04 	lds	r24, 0x042E
-    20d4:	90 91 2f 04 	lds	r25, 0x042F
-    20d8:	01 96       	adiw	r24, 0x01	; 1
-    20da:	90 93 2f 04 	sts	0x042F, r25
-    20de:	80 93 2e 04 	sts	0x042E, r24
-    20e2:	ff 91       	pop	r31
-    20e4:	ef 91       	pop	r30
-    20e6:	bf 91       	pop	r27
-    20e8:	af 91       	pop	r26
-    20ea:	9f 91       	pop	r25
-    20ec:	8f 91       	pop	r24
-    20ee:	7f 91       	pop	r23
-    20f0:	6f 91       	pop	r22
-    20f2:	5f 91       	pop	r21
-    20f4:	4f 91       	pop	r20
-    20f6:	3f 91       	pop	r19
-    20f8:	2f 91       	pop	r18
-    20fa:	0f 90       	pop	r0
-    20fc:	0f be       	out	0x3f, r0	; 63
-    20fe:	0f 90       	pop	r0
-    2100:	1f 90       	pop	r1
-    2102:	18 95       	reti
-
-00002104 <analog8>:
-    2104:	00 97       	sbiw	r24, 0x00	; 0
-    2106:	19 f4       	brne	.+6      	; 0x210e <analog8+0xa>
-    2108:	80 e0       	ldi	r24, 0x00	; 0
-    210a:	90 e0       	ldi	r25, 0x00	; 0
-    210c:	08 95       	ret
-    210e:	01 97       	sbiw	r24, 0x01	; 1
-    2110:	fc 01       	movw	r30, r24
-    2112:	ee 0f       	add	r30, r30
-    2114:	ff 1f       	adc	r31, r31
-    2116:	e8 0f       	add	r30, r24
-    2118:	f9 1f       	adc	r31, r25
-    211a:	e5 59       	subi	r30, 0x95	; 149
-    211c:	fb 4f       	sbci	r31, 0xFB	; 251
-    211e:	80 81       	ld	r24, Z
-    2120:	99 27       	eor	r25, r25
-    2122:	08 95       	ret
-
-00002124 <analog10>:
-    2124:	00 97       	sbiw	r24, 0x00	; 0
-    2126:	19 f4       	brne	.+6      	; 0x212e <analog10+0xa>
-    2128:	80 e0       	ldi	r24, 0x00	; 0
-    212a:	90 e0       	ldi	r25, 0x00	; 0
-    212c:	08 95       	ret
-    212e:	01 97       	sbiw	r24, 0x01	; 1
-    2130:	fc 01       	movw	r30, r24
-    2132:	ee 0f       	add	r30, r30
-    2134:	ff 1f       	adc	r31, r31
-    2136:	e8 0f       	add	r30, r24
-    2138:	f9 1f       	adc	r31, r25
-    213a:	e5 59       	subi	r30, 0x95	; 149
-    213c:	fb 4f       	sbci	r31, 0xFB	; 251
-    213e:	81 81       	ldd	r24, Z+1	; 0x01
-    2140:	92 81       	ldd	r25, Z+2	; 0x02
-    2142:	08 95       	ret
-
-00002144 <analog_start_loop>:
-    2144:	80 91 34 04 	lds	r24, 0x0434
-    2148:	90 91 35 04 	lds	r25, 0x0435
-    214c:	01 97       	sbiw	r24, 0x01	; 1
-    214e:	41 f0       	breq	.+16     	; 0x2160 <analog_start_loop+0x1c>
-    2150:	33 9a       	sbi	0x06, 3	; 6
-    2152:	36 9a       	sbi	0x06, 6	; 6
-    2154:	81 e0       	ldi	r24, 0x01	; 1
-    2156:	90 e0       	ldi	r25, 0x00	; 0
-    2158:	90 93 35 04 	sts	0x0435, r25
-    215c:	80 93 34 04 	sts	0x0434, r24
-    2160:	08 95       	ret
-
-00002162 <analog_stop_loop>:
-    2162:	81 e0       	ldi	r24, 0x01	; 1
-    2164:	90 e0       	ldi	r25, 0x00	; 0
-    2166:	90 93 37 04 	sts	0x0437, r25
-    216a:	80 93 36 04 	sts	0x0436, r24
-    216e:	08 95       	ret
-
-00002170 <analog_loop_status>:
-    2170:	80 91 34 04 	lds	r24, 0x0434
-    2174:	90 91 35 04 	lds	r25, 0x0435
-    2178:	08 95       	ret
-
-0000217a <set_adc_mux>:
-    217a:	e5 e6       	ldi	r30, 0x65	; 101
-    217c:	f0 e0       	ldi	r31, 0x00	; 0
-    217e:	20 81       	ld	r18, Z
-    2180:	38 2f       	mov	r19, r24
-    2182:	34 70       	andi	r19, 0x04	; 4
-    2184:	23 7e       	andi	r18, 0xE3	; 227
-    2186:	32 2b       	or	r19, r18
-    2188:	83 70       	andi	r24, 0x03	; 3
-    218a:	90 70       	andi	r25, 0x00	; 0
-    218c:	43 e0       	ldi	r20, 0x03	; 3
-    218e:	88 0f       	add	r24, r24
-    2190:	99 1f       	adc	r25, r25
-    2192:	4a 95       	dec	r20
-    2194:	e1 f7       	brne	.-8      	; 0x218e <set_adc_mux+0x14>
-    2196:	38 2b       	or	r19, r24
-    2198:	30 83       	st	Z, r19
-    219a:	08 95       	ret
-
-0000219c <analog_get10>:
-    219c:	9c 01       	movw	r18, r24
-    219e:	36 99       	sbic	0x06, 6	; 6
-    21a0:	fe cf       	rjmp	.-4      	; 0x219e <analog_get10+0x2>
-    21a2:	27 30       	cpi	r18, 0x07	; 7
-    21a4:	31 05       	cpc	r19, r1
-    21a6:	24 f4       	brge	.+8      	; 0x21b0 <analog_get10+0x14>
-    21a8:	82 2f       	mov	r24, r18
-    21aa:	80 5a       	subi	r24, 0xA0	; 160
-    21ac:	87 b9       	out	0x07, r24	; 7
-    21ae:	06 c0       	rjmp	.+12     	; 0x21bc <analog_get10+0x20>
-    21b0:	87 e6       	ldi	r24, 0x67	; 103
-    21b2:	87 b9       	out	0x07, r24	; 7
-    21b4:	c9 01       	movw	r24, r18
-    21b6:	08 97       	sbiw	r24, 0x08	; 8
-    21b8:	0e 94 bd 10 	call	0x217a	; 0x217a <set_adc_mux>
-    21bc:	36 9a       	sbi	0x06, 6	; 6
-    21be:	36 99       	sbic	0x06, 6	; 6
-    21c0:	fe cf       	rjmp	.-4      	; 0x21be <analog_get10+0x22>
-    21c2:	84 b1       	in	r24, 0x04	; 4
-    21c4:	25 b1       	in	r18, 0x05	; 5
-    21c6:	99 27       	eor	r25, r25
-    21c8:	66 e0       	ldi	r22, 0x06	; 6
-    21ca:	95 95       	asr	r25
-    21cc:	87 95       	ror	r24
-    21ce:	6a 95       	dec	r22
-    21d0:	e1 f7       	brne	.-8      	; 0x21ca <analog_get10+0x2e>
-    21d2:	33 27       	eor	r19, r19
-    21d4:	22 0f       	add	r18, r18
-    21d6:	33 1f       	adc	r19, r19
-    21d8:	22 0f       	add	r18, r18
-    21da:	33 1f       	adc	r19, r19
-    21dc:	82 2b       	or	r24, r18
-    21de:	93 2b       	or	r25, r19
-    21e0:	08 95       	ret
-
-000021e2 <analog_get8>:
-    21e2:	9c 01       	movw	r18, r24
-    21e4:	36 99       	sbic	0x06, 6	; 6
-    21e6:	fe cf       	rjmp	.-4      	; 0x21e4 <analog_get8+0x2>
-    21e8:	27 30       	cpi	r18, 0x07	; 7
-    21ea:	31 05       	cpc	r19, r1
-    21ec:	24 f4       	brge	.+8      	; 0x21f6 <analog_get8+0x14>
-    21ee:	82 2f       	mov	r24, r18
-    21f0:	80 5a       	subi	r24, 0xA0	; 160
-    21f2:	87 b9       	out	0x07, r24	; 7
-    21f4:	06 c0       	rjmp	.+12     	; 0x2202 <analog_get8+0x20>
-    21f6:	87 e6       	ldi	r24, 0x67	; 103
-    21f8:	87 b9       	out	0x07, r24	; 7
-    21fa:	c9 01       	movw	r24, r18
-    21fc:	08 97       	sbiw	r24, 0x08	; 8
-    21fe:	0e 94 bd 10 	call	0x217a	; 0x217a <set_adc_mux>
-    2202:	36 9a       	sbi	0x06, 6	; 6
-    2204:	36 99       	sbic	0x06, 6	; 6
-    2206:	fe cf       	rjmp	.-4      	; 0x2204 <analog_get8+0x22>
-    2208:	85 b1       	in	r24, 0x05	; 5
-    220a:	99 27       	eor	r25, r25
-    220c:	08 95       	ret
-
-0000220e <analog_init>:
-    220e:	cf 93       	push	r28
-    2210:	df 93       	push	r29
-    2212:	ec 01       	movw	r28, r24
-    2214:	80 e0       	ldi	r24, 0x00	; 0
-    2216:	90 e0       	ldi	r25, 0x00	; 0
-    2218:	fc 01       	movw	r30, r24
-    221a:	ee 0f       	add	r30, r30
-    221c:	ff 1f       	adc	r31, r31
-    221e:	e8 0f       	add	r30, r24
-    2220:	f9 1f       	adc	r31, r25
-    2222:	e5 59       	subi	r30, 0x95	; 149
-    2224:	fb 4f       	sbci	r31, 0xFB	; 251
-    2226:	12 82       	std	Z+2, r1	; 0x02
-    2228:	11 82       	std	Z+1, r1	; 0x01
-    222a:	10 82       	st	Z, r1
-    222c:	01 96       	adiw	r24, 0x01	; 1
-    222e:	8b 30       	cpi	r24, 0x0B	; 11
-    2230:	91 05       	cpc	r25, r1
-    2232:	91 f7       	brne	.-28     	; 0x2218 <analog_init+0xa>
-    2234:	17 b8       	out	0x07, r1	; 7
-    2236:	87 b1       	in	r24, 0x07	; 7
-    2238:	81 66       	ori	r24, 0x61	; 97
-    223a:	87 b9       	out	0x07, r24	; 7
-    223c:	16 b8       	out	0x06, r1	; 6
-    223e:	86 b1       	in	r24, 0x06	; 6
-    2240:	87 68       	ori	r24, 0x87	; 135
-    2242:	86 b9       	out	0x06, r24	; 6
-    2244:	80 91 64 00 	lds	r24, 0x0064
-    2248:	8c 61       	ori	r24, 0x1C	; 28
-    224a:	80 93 64 00 	sts	0x0064, r24
-    224e:	80 e0       	ldi	r24, 0x00	; 0
-    2250:	90 e0       	ldi	r25, 0x00	; 0
-    2252:	0e 94 bd 10 	call	0x217a	; 0x217a <set_adc_mux>
-    2256:	81 e0       	ldi	r24, 0x01	; 1
-    2258:	90 e0       	ldi	r25, 0x00	; 0
-    225a:	90 93 39 04 	sts	0x0439, r25
-    225e:	80 93 38 04 	sts	0x0438, r24
-    2262:	cd 2b       	or	r28, r29
-    2264:	11 f0       	breq	.+4      	; 0x226a <analog_init+0x5c>
-    2266:	0e 94 a2 10 	call	0x2144	; 0x2144 <analog_start_loop>
-    226a:	df 91       	pop	r29
-    226c:	cf 91       	pop	r28
-    226e:	08 95       	ret
-
-00002270 <__vector_21>:
-    2270:	1f 92       	push	r1
-    2272:	0f 92       	push	r0
-    2274:	0f b6       	in	r0, 0x3f	; 63
-    2276:	0f 92       	push	r0
-    2278:	11 24       	eor	r1, r1
-    227a:	2f 93       	push	r18
-    227c:	3f 93       	push	r19
-    227e:	4f 93       	push	r20
-    2280:	5f 93       	push	r21
-    2282:	6f 93       	push	r22
-    2284:	7f 93       	push	r23
-    2286:	8f 93       	push	r24
-    2288:	9f 93       	push	r25
-    228a:	af 93       	push	r26
-    228c:	bf 93       	push	r27
-    228e:	ef 93       	push	r30
-    2290:	ff 93       	push	r31
-    2292:	a0 91 34 04 	lds	r26, 0x0434
-    2296:	b0 91 35 04 	lds	r27, 0x0435
-    229a:	a1 30       	cpi	r26, 0x01	; 1
-    229c:	b1 05       	cpc	r27, r1
-    229e:	09 f0       	breq	.+2      	; 0x22a2 <__vector_21+0x32>
-    22a0:	7c c0       	rjmp	.+248    	; 0x239a <__vector_21+0x12a>
-    22a2:	87 b1       	in	r24, 0x07	; 7
-    22a4:	88 23       	and	r24, r24
-    22a6:	61 f1       	breq	.+88     	; 0x2300 <__vector_21+0x90>
-    22a8:	24 b1       	in	r18, 0x04	; 4
-    22aa:	65 b1       	in	r22, 0x05	; 5
-    22ac:	40 91 38 04 	lds	r20, 0x0438
-    22b0:	50 91 39 04 	lds	r21, 0x0439
-    22b4:	41 50       	subi	r20, 0x01	; 1
-    22b6:	50 40       	sbci	r21, 0x00	; 0
-    22b8:	33 27       	eor	r19, r19
-    22ba:	f6 e0       	ldi	r31, 0x06	; 6
-    22bc:	35 95       	asr	r19
-    22be:	27 95       	ror	r18
-    22c0:	fa 95       	dec	r31
-    22c2:	e1 f7       	brne	.-8      	; 0x22bc <__vector_21+0x4c>
-    22c4:	86 2f       	mov	r24, r22
-    22c6:	99 27       	eor	r25, r25
-    22c8:	88 0f       	add	r24, r24
-    22ca:	99 1f       	adc	r25, r25
-    22cc:	88 0f       	add	r24, r24
-    22ce:	99 1f       	adc	r25, r25
-    22d0:	28 2b       	or	r18, r24
-    22d2:	39 2b       	or	r19, r25
-    22d4:	fa 01       	movw	r30, r20
-    22d6:	ee 0f       	add	r30, r30
-    22d8:	ff 1f       	adc	r31, r31
-    22da:	e4 0f       	add	r30, r20
-    22dc:	f5 1f       	adc	r31, r21
-    22de:	e5 59       	subi	r30, 0x95	; 149
-    22e0:	fb 4f       	sbci	r31, 0xFB	; 251
-    22e2:	32 83       	std	Z+2, r19	; 0x02
-    22e4:	21 83       	std	Z+1, r18	; 0x01
-    22e6:	80 91 38 04 	lds	r24, 0x0438
-    22ea:	90 91 39 04 	lds	r25, 0x0439
-    22ee:	01 97       	sbiw	r24, 0x01	; 1
-    22f0:	fc 01       	movw	r30, r24
-    22f2:	ee 0f       	add	r30, r30
-    22f4:	ff 1f       	adc	r31, r31
-    22f6:	e8 0f       	add	r30, r24
-    22f8:	f9 1f       	adc	r31, r25
-    22fa:	e5 59       	subi	r30, 0x95	; 149
-    22fc:	fb 4f       	sbci	r31, 0xFB	; 251
-    22fe:	60 83       	st	Z, r22
-    2300:	80 91 38 04 	lds	r24, 0x0438
-    2304:	90 91 39 04 	lds	r25, 0x0439
-    2308:	06 97       	sbiw	r24, 0x06	; 6
-    230a:	69 f4       	brne	.+26     	; 0x2326 <__vector_21+0xb6>
-    230c:	87 e6       	ldi	r24, 0x67	; 103
-    230e:	87 b9       	out	0x07, r24	; 7
-    2310:	80 e0       	ldi	r24, 0x00	; 0
-    2312:	90 e0       	ldi	r25, 0x00	; 0
-    2314:	0e 94 bd 10 	call	0x217a	; 0x217a <set_adc_mux>
-    2318:	88 e0       	ldi	r24, 0x08	; 8
-    231a:	90 e0       	ldi	r25, 0x00	; 0
-    231c:	90 93 39 04 	sts	0x0439, r25
-    2320:	80 93 38 04 	sts	0x0438, r24
-    2324:	2a c0       	rjmp	.+84     	; 0x237a <__vector_21+0x10a>
-    2326:	80 91 38 04 	lds	r24, 0x0438
-    232a:	90 91 39 04 	lds	r25, 0x0439
-    232e:	0b 97       	sbiw	r24, 0x0b	; 11
-    2330:	29 f4       	brne	.+10     	; 0x233c <__vector_21+0xcc>
-    2332:	b0 93 39 04 	sts	0x0439, r27
-    2336:	a0 93 38 04 	sts	0x0438, r26
-    233a:	0f c0       	rjmp	.+30     	; 0x235a <__vector_21+0xea>
-    233c:	80 91 38 04 	lds	r24, 0x0438
-    2340:	90 91 39 04 	lds	r25, 0x0439
-    2344:	01 96       	adiw	r24, 0x01	; 1
-    2346:	90 93 39 04 	sts	0x0439, r25
-    234a:	80 93 38 04 	sts	0x0438, r24
-    234e:	80 91 38 04 	lds	r24, 0x0438
-    2352:	90 91 39 04 	lds	r25, 0x0439
-    2356:	07 97       	sbiw	r24, 0x07	; 7
-    2358:	3c f4       	brge	.+14     	; 0x2368 <__vector_21+0xf8>
-    235a:	80 91 38 04 	lds	r24, 0x0438
-    235e:	90 91 39 04 	lds	r25, 0x0439
-    2362:	80 66       	ori	r24, 0x60	; 96
-    2364:	87 b9       	out	0x07, r24	; 7
-    2366:	09 c0       	rjmp	.+18     	; 0x237a <__vector_21+0x10a>
-    2368:	87 e6       	ldi	r24, 0x67	; 103
-    236a:	87 b9       	out	0x07, r24	; 7
-    236c:	80 91 38 04 	lds	r24, 0x0438
-    2370:	90 91 39 04 	lds	r25, 0x0439
-    2374:	08 97       	sbiw	r24, 0x08	; 8
-    2376:	0e 94 bd 10 	call	0x217a	; 0x217a <set_adc_mux>
-    237a:	80 91 36 04 	lds	r24, 0x0436
-    237e:	90 91 37 04 	lds	r25, 0x0437
-    2382:	89 2b       	or	r24, r25
-    2384:	49 f0       	breq	.+18     	; 0x2398 <__vector_21+0x128>
-    2386:	10 92 37 04 	sts	0x0437, r1
-    238a:	10 92 36 04 	sts	0x0436, r1
-    238e:	10 92 35 04 	sts	0x0435, r1
-    2392:	10 92 34 04 	sts	0x0434, r1
-    2396:	01 c0       	rjmp	.+2      	; 0x239a <__vector_21+0x12a>
-    2398:	36 9a       	sbi	0x06, 6	; 6
-    239a:	ff 91       	pop	r31
-    239c:	ef 91       	pop	r30
-    239e:	bf 91       	pop	r27
-    23a0:	af 91       	pop	r26
-    23a2:	9f 91       	pop	r25
-    23a4:	8f 91       	pop	r24
-    23a6:	7f 91       	pop	r23
-    23a8:	6f 91       	pop	r22
-    23aa:	5f 91       	pop	r21
-    23ac:	4f 91       	pop	r20
-    23ae:	3f 91       	pop	r19
-    23b0:	2f 91       	pop	r18
-    23b2:	0f 90       	pop	r0
-    23b4:	0f be       	out	0x3f, r0	; 63
-    23b6:	0f 90       	pop	r0
-    23b8:	1f 90       	pop	r1
-    23ba:	18 95       	reti
-
-000023bc <wheel>:
-    23bc:	80 91 86 04 	lds	r24, 0x0486
-    23c0:	99 27       	eor	r25, r25
-    23c2:	08 95       	ret
-
-000023c4 <buzzer_init>:
-    23c4:	08 95       	ret
-
-000023c6 <buzzer_set_val>:
-    23c6:	2c e1       	ldi	r18, 0x1C	; 28
-    23c8:	25 bd       	out	0x25, r18	; 37
-    23ca:	bf 9a       	sbi	0x17, 7	; 23
-    23cc:	83 bd       	out	0x23, r24	; 35
-    23ce:	08 95       	ret
-
-000023d0 <buzzer_set_freq>:
-    23d0:	9c 01       	movw	r18, r24
-    23d2:	44 27       	eor	r20, r20
-    23d4:	55 27       	eor	r21, r21
-    23d6:	64 e2       	ldi	r22, 0x24	; 36
-    23d8:	74 ef       	ldi	r23, 0xF4	; 244
-    23da:	80 e0       	ldi	r24, 0x00	; 0
-    23dc:	90 e0       	ldi	r25, 0x00	; 0
-    23de:	0e 94 a9 13 	call	0x2752	; 0x2752 <__divmodsi4>
-    23e2:	c9 01       	movw	r24, r18
-    23e4:	01 97       	sbiw	r24, 0x01	; 1
-    23e6:	97 ff       	sbrs	r25, 7
-    23e8:	02 c0       	rjmp	.+4      	; 0x23ee <buzzer_set_freq+0x1e>
-    23ea:	80 e0       	ldi	r24, 0x00	; 0
-    23ec:	90 e0       	ldi	r25, 0x00	; 0
-    23ee:	8f 3f       	cpi	r24, 0xFF	; 255
-    23f0:	91 05       	cpc	r25, r1
-    23f2:	19 f0       	breq	.+6      	; 0x23fa <buzzer_set_freq+0x2a>
-    23f4:	14 f0       	brlt	.+4      	; 0x23fa <buzzer_set_freq+0x2a>
-    23f6:	8f ef       	ldi	r24, 0xFF	; 255
-    23f8:	90 e0       	ldi	r25, 0x00	; 0
-    23fa:	0e 94 e3 11 	call	0x23c6	; 0x23c6 <buzzer_set_val>
-    23fe:	08 95       	ret
-
-00002400 <buzzer_off>:
-    2400:	85 b5       	in	r24, 0x25	; 37
-    2402:	88 7f       	andi	r24, 0xF8	; 248
-    2404:	85 bd       	out	0x25, r24	; 37
-    2406:	c6 98       	cbi	0x18, 6	; 24
-    2408:	08 95       	ret
-
-0000240a <buzzer_chirp>:
-    240a:	0f 93       	push	r16
-    240c:	1f 93       	push	r17
-    240e:	8c 01       	movw	r16, r24
-    2410:	cb 01       	movw	r24, r22
-    2412:	0e 94 e8 11 	call	0x23d0	; 0x23d0 <buzzer_set_freq>
-    2416:	c8 01       	movw	r24, r16
-    2418:	0e 94 02 10 	call	0x2004	; 0x2004 <delay_ms>
-    241c:	85 b5       	in	r24, 0x25	; 37
-    241e:	88 7f       	andi	r24, 0xF8	; 248
-    2420:	85 bd       	out	0x25, r24	; 37
-    2422:	c6 98       	cbi	0x18, 6	; 24
-    2424:	1f 91       	pop	r17
-    2426:	0f 91       	pop	r16
-    2428:	08 95       	ret
-
-0000242a <__ftoa_engine>:
-    242a:	28 30       	cpi	r18, 0x08	; 8
-    242c:	08 f0       	brcs	.+2      	; 0x2430 <__ftoa_engine+0x6>
-    242e:	27 e0       	ldi	r18, 0x07	; 7
-    2430:	33 27       	eor	r19, r19
-    2432:	da 01       	movw	r26, r20
-    2434:	99 0f       	add	r25, r25
-    2436:	31 1d       	adc	r19, r1
-    2438:	87 fd       	sbrc	r24, 7
-    243a:	91 60       	ori	r25, 0x01	; 1
-    243c:	00 96       	adiw	r24, 0x00	; 0
-    243e:	61 05       	cpc	r22, r1
-    2440:	71 05       	cpc	r23, r1
-    2442:	39 f4       	brne	.+14     	; 0x2452 <__ftoa_engine+0x28>
-    2444:	32 60       	ori	r19, 0x02	; 2
-    2446:	2e 5f       	subi	r18, 0xFE	; 254
-    2448:	3d 93       	st	X+, r19
-    244a:	30 e3       	ldi	r19, 0x30	; 48
-    244c:	2a 95       	dec	r18
-    244e:	e1 f7       	brne	.-8      	; 0x2448 <__ftoa_engine+0x1e>
-    2450:	08 95       	ret
-    2452:	9f 3f       	cpi	r25, 0xFF	; 255
-    2454:	30 f0       	brcs	.+12     	; 0x2462 <__ftoa_engine+0x38>
-    2456:	80 38       	cpi	r24, 0x80	; 128
-    2458:	71 05       	cpc	r23, r1
-    245a:	61 05       	cpc	r22, r1
-    245c:	09 f0       	breq	.+2      	; 0x2460 <__ftoa_engine+0x36>
-    245e:	3c 5f       	subi	r19, 0xFC	; 252
-    2460:	3c 5f       	subi	r19, 0xFC	; 252
-    2462:	3d 93       	st	X+, r19
-    2464:	91 30       	cpi	r25, 0x01	; 1
-    2466:	08 f0       	brcs	.+2      	; 0x246a <__ftoa_engine+0x40>
-    2468:	80 68       	ori	r24, 0x80	; 128
-    246a:	91 1d       	adc	r25, r1
-    246c:	df 93       	push	r29
-    246e:	cf 93       	push	r28
-    2470:	1f 93       	push	r17
-    2472:	0f 93       	push	r16
-    2474:	ff 92       	push	r15
-    2476:	ef 92       	push	r14
-    2478:	19 2f       	mov	r17, r25
-    247a:	98 7f       	andi	r25, 0xF8	; 248
-    247c:	96 95       	lsr	r25
-    247e:	e9 2f       	mov	r30, r25
-    2480:	96 95       	lsr	r25
-    2482:	96 95       	lsr	r25
-    2484:	e9 0f       	add	r30, r25
-    2486:	ff 27       	eor	r31, r31
-    2488:	e2 51       	subi	r30, 0x12	; 18
-    248a:	ff 4f       	sbci	r31, 0xFF	; 255
-    248c:	99 27       	eor	r25, r25
-    248e:	33 27       	eor	r19, r19
-    2490:	ee 24       	eor	r14, r14
-    2492:	ff 24       	eor	r15, r15
-    2494:	a7 01       	movw	r20, r14
-    2496:	e7 01       	movw	r28, r14
-    2498:	05 90       	lpm	r0, Z+
-    249a:	08 94       	sec
-    249c:	07 94       	ror	r0
-    249e:	28 f4       	brcc	.+10     	; 0x24aa <__ftoa_engine+0x80>
-    24a0:	36 0f       	add	r19, r22
-    24a2:	e7 1e       	adc	r14, r23
-    24a4:	f8 1e       	adc	r15, r24
-    24a6:	49 1f       	adc	r20, r25
-    24a8:	51 1d       	adc	r21, r1
-    24aa:	66 0f       	add	r22, r22
-    24ac:	77 1f       	adc	r23, r23
-    24ae:	88 1f       	adc	r24, r24
-    24b0:	99 1f       	adc	r25, r25
-    24b2:	06 94       	lsr	r0
-    24b4:	a1 f7       	brne	.-24     	; 0x249e <__ftoa_engine+0x74>
-    24b6:	05 90       	lpm	r0, Z+
-    24b8:	07 94       	ror	r0
-    24ba:	28 f4       	brcc	.+10     	; 0x24c6 <__ftoa_engine+0x9c>
-    24bc:	e7 0e       	add	r14, r23
-    24be:	f8 1e       	adc	r15, r24
-    24c0:	49 1f       	adc	r20, r25
-    24c2:	56 1f       	adc	r21, r22
-    24c4:	c1 1d       	adc	r28, r1
-    24c6:	77 0f       	add	r23, r23
-    24c8:	88 1f       	adc	r24, r24
-    24ca:	99 1f       	adc	r25, r25
-    24cc:	66 1f       	adc	r22, r22
-    24ce:	06 94       	lsr	r0
-    24d0:	a1 f7       	brne	.-24     	; 0x24ba <__ftoa_engine+0x90>
-    24d2:	05 90       	lpm	r0, Z+
-    24d4:	07 94       	ror	r0
-    24d6:	28 f4       	brcc	.+10     	; 0x24e2 <__ftoa_engine+0xb8>
-    24d8:	f8 0e       	add	r15, r24
-    24da:	49 1f       	adc	r20, r25
-    24dc:	56 1f       	adc	r21, r22
-    24de:	c7 1f       	adc	r28, r23
-    24e0:	d1 1d       	adc	r29, r1
-    24e2:	88 0f       	add	r24, r24
-    24e4:	99 1f       	adc	r25, r25
-    24e6:	66 1f       	adc	r22, r22
-    24e8:	77 1f       	adc	r23, r23
-    24ea:	06 94       	lsr	r0
-    24ec:	a1 f7       	brne	.-24     	; 0x24d6 <__ftoa_engine+0xac>
-    24ee:	05 90       	lpm	r0, Z+
-    24f0:	07 94       	ror	r0
-    24f2:	20 f4       	brcc	.+8      	; 0x24fc <__ftoa_engine+0xd2>
-    24f4:	49 0f       	add	r20, r25
-    24f6:	56 1f       	adc	r21, r22
-    24f8:	c7 1f       	adc	r28, r23
-    24fa:	d8 1f       	adc	r29, r24
-    24fc:	99 0f       	add	r25, r25
-    24fe:	66 1f       	adc	r22, r22
-    2500:	77 1f       	adc	r23, r23
-    2502:	88 1f       	adc	r24, r24
-    2504:	06 94       	lsr	r0
-    2506:	a9 f7       	brne	.-22     	; 0x24f2 <__ftoa_engine+0xc8>
-    2508:	84 91       	lpm	r24, Z+
-    250a:	10 95       	com	r17
-    250c:	17 70       	andi	r17, 0x07	; 7
-    250e:	41 f0       	breq	.+16     	; 0x2520 <__ftoa_engine+0xf6>
-    2510:	d6 95       	lsr	r29
-    2512:	c7 95       	ror	r28
-    2514:	57 95       	ror	r21
-    2516:	47 95       	ror	r20
-    2518:	f7 94       	ror	r15
-    251a:	e7 94       	ror	r14
-    251c:	1a 95       	dec	r17
-    251e:	c1 f7       	brne	.-16     	; 0x2510 <__ftoa_engine+0xe6>
-    2520:	e4 e9       	ldi	r30, 0x94	; 148
-    2522:	f0 e0       	ldi	r31, 0x00	; 0
-    2524:	68 94       	set
-    2526:	15 90       	lpm	r1, Z+
-    2528:	15 91       	lpm	r17, Z+
-    252a:	35 91       	lpm	r19, Z+
-    252c:	65 91       	lpm	r22, Z+
-    252e:	95 91       	lpm	r25, Z+
-    2530:	05 90       	lpm	r0, Z+
-    2532:	7f e2       	ldi	r23, 0x2F	; 47
-    2534:	73 95       	inc	r23
-    2536:	e1 18       	sub	r14, r1
-    2538:	f1 0a       	sbc	r15, r17
-    253a:	43 0b       	sbc	r20, r19
-    253c:	56 0b       	sbc	r21, r22
-    253e:	c9 0b       	sbc	r28, r25
-    2540:	d0 09       	sbc	r29, r0
-    2542:	c0 f7       	brcc	.-16     	; 0x2534 <__ftoa_engine+0x10a>
-    2544:	e1 0c       	add	r14, r1
-    2546:	f1 1e       	adc	r15, r17
-    2548:	43 1f       	adc	r20, r19
-    254a:	56 1f       	adc	r21, r22
-    254c:	c9 1f       	adc	r28, r25
-    254e:	d0 1d       	adc	r29, r0
-    2550:	7e f4       	brtc	.+30     	; 0x2570 <__ftoa_engine+0x146>
-    2552:	70 33       	cpi	r23, 0x30	; 48
-    2554:	11 f4       	brne	.+4      	; 0x255a <__ftoa_engine+0x130>
-    2556:	8a 95       	dec	r24
-    2558:	e6 cf       	rjmp	.-52     	; 0x2526 <__ftoa_engine+0xfc>
-    255a:	e8 94       	clt
-    255c:	01 50       	subi	r16, 0x01	; 1
-    255e:	30 f0       	brcs	.+12     	; 0x256c <__ftoa_engine+0x142>
-    2560:	08 0f       	add	r16, r24
-    2562:	0a f4       	brpl	.+2      	; 0x2566 <__ftoa_engine+0x13c>
-    2564:	00 27       	eor	r16, r16
-    2566:	02 17       	cp	r16, r18
-    2568:	08 f4       	brcc	.+2      	; 0x256c <__ftoa_engine+0x142>
-    256a:	20 2f       	mov	r18, r16
-    256c:	23 95       	inc	r18
-    256e:	02 2f       	mov	r16, r18
-    2570:	7a 33       	cpi	r23, 0x3A	; 58
-    2572:	28 f0       	brcs	.+10     	; 0x257e <__ftoa_engine+0x154>
-    2574:	79 e3       	ldi	r23, 0x39	; 57
-    2576:	7d 93       	st	X+, r23
-    2578:	2a 95       	dec	r18
-    257a:	e9 f7       	brne	.-6      	; 0x2576 <__ftoa_engine+0x14c>
-    257c:	10 c0       	rjmp	.+32     	; 0x259e <__ftoa_engine+0x174>
-    257e:	7d 93       	st	X+, r23
-    2580:	2a 95       	dec	r18
-    2582:	89 f6       	brne	.-94     	; 0x2526 <__ftoa_engine+0xfc>
-    2584:	06 94       	lsr	r0
-    2586:	97 95       	ror	r25
-    2588:	67 95       	ror	r22
-    258a:	37 95       	ror	r19
-    258c:	17 95       	ror	r17
-    258e:	17 94       	ror	r1
-    2590:	e1 18       	sub	r14, r1
-    2592:	f1 0a       	sbc	r15, r17
-    2594:	43 0b       	sbc	r20, r19
-    2596:	56 0b       	sbc	r21, r22
-    2598:	c9 0b       	sbc	r28, r25
-    259a:	d0 09       	sbc	r29, r0
-    259c:	98 f0       	brcs	.+38     	; 0x25c4 <__ftoa_engine+0x19a>
-    259e:	23 95       	inc	r18
-    25a0:	7e 91       	ld	r23, -X
-    25a2:	73 95       	inc	r23
-    25a4:	7a 33       	cpi	r23, 0x3A	; 58
-    25a6:	08 f0       	brcs	.+2      	; 0x25aa <__ftoa_engine+0x180>
-    25a8:	70 e3       	ldi	r23, 0x30	; 48
-    25aa:	7c 93       	st	X, r23
-    25ac:	20 13       	cpse	r18, r16
-    25ae:	b8 f7       	brcc	.-18     	; 0x259e <__ftoa_engine+0x174>
-    25b0:	7e 91       	ld	r23, -X
-    25b2:	70 61       	ori	r23, 0x10	; 16
-    25b4:	7d 93       	st	X+, r23
-    25b6:	30 f0       	brcs	.+12     	; 0x25c4 <__ftoa_engine+0x19a>
-    25b8:	83 95       	inc	r24
-    25ba:	71 e3       	ldi	r23, 0x31	; 49
-    25bc:	7d 93       	st	X+, r23
-    25be:	70 e3       	ldi	r23, 0x30	; 48
-    25c0:	2a 95       	dec	r18
-    25c2:	e1 f7       	brne	.-8      	; 0x25bc <__ftoa_engine+0x192>
-    25c4:	11 24       	eor	r1, r1
-    25c6:	ef 90       	pop	r14
-    25c8:	ff 90       	pop	r15
-    25ca:	0f 91       	pop	r16
-    25cc:	1f 91       	pop	r17
-    25ce:	cf 91       	pop	r28
-    25d0:	df 91       	pop	r29
-    25d2:	99 27       	eor	r25, r25
-    25d4:	87 fd       	sbrc	r24, 7
-    25d6:	90 95       	com	r25
-    25d8:	08 95       	ret
-
-000025da <memcpy_P>:
-    25da:	fb 01       	movw	r30, r22
-    25dc:	dc 01       	movw	r26, r24
-    25de:	02 c0       	rjmp	.+4      	; 0x25e4 <memcpy_P+0xa>
-    25e0:	05 90       	lpm	r0, Z+
-    25e2:	0d 92       	st	X+, r0
-    25e4:	41 50       	subi	r20, 0x01	; 1
-    25e6:	50 40       	sbci	r21, 0x00	; 0
-    25e8:	d8 f7       	brcc	.-10     	; 0x25e0 <memcpy_P+0x6>
-    25ea:	08 95       	ret
-
-000025ec <strnlen_P>:
-    25ec:	fc 01       	movw	r30, r24
-    25ee:	05 90       	lpm	r0, Z+
-    25f0:	61 50       	subi	r22, 0x01	; 1
-    25f2:	70 40       	sbci	r23, 0x00	; 0
-    25f4:	01 10       	cpse	r0, r1
-    25f6:	d8 f7       	brcc	.-10     	; 0x25ee <strnlen_P+0x2>
-    25f8:	80 95       	com	r24
-    25fa:	90 95       	com	r25
-    25fc:	8e 0f       	add	r24, r30
-    25fe:	9f 1f       	adc	r25, r31
-    2600:	08 95       	ret
-
-00002602 <strnlen>:
-    2602:	fc 01       	movw	r30, r24
-    2604:	61 50       	subi	r22, 0x01	; 1
-    2606:	70 40       	sbci	r23, 0x00	; 0
-    2608:	01 90       	ld	r0, Z+
-    260a:	01 10       	cpse	r0, r1
-    260c:	d8 f7       	brcc	.-10     	; 0x2604 <strnlen+0x2>
-    260e:	80 95       	com	r24
-    2610:	90 95       	com	r25
-    2612:	8e 0f       	add	r24, r30
-    2614:	9f 1f       	adc	r25, r31
-    2616:	08 95       	ret
-
-00002618 <fputc>:
-    2618:	0f 93       	push	r16
-    261a:	1f 93       	push	r17
-    261c:	cf 93       	push	r28
-    261e:	df 93       	push	r29
-    2620:	8c 01       	movw	r16, r24
-    2622:	eb 01       	movw	r28, r22
-    2624:	8b 81       	ldd	r24, Y+3	; 0x03
-    2626:	81 ff       	sbrs	r24, 1
-    2628:	1b c0       	rjmp	.+54     	; 0x2660 <fputc+0x48>
-    262a:	82 ff       	sbrs	r24, 2
-    262c:	0d c0       	rjmp	.+26     	; 0x2648 <fputc+0x30>
-    262e:	2e 81       	ldd	r18, Y+6	; 0x06
-    2630:	3f 81       	ldd	r19, Y+7	; 0x07
-    2632:	8c 81       	ldd	r24, Y+4	; 0x04
-    2634:	9d 81       	ldd	r25, Y+5	; 0x05
-    2636:	28 17       	cp	r18, r24
-    2638:	39 07       	cpc	r19, r25
-    263a:	64 f4       	brge	.+24     	; 0x2654 <fputc+0x3c>
-    263c:	e8 81       	ld	r30, Y
-    263e:	f9 81       	ldd	r31, Y+1	; 0x01
-    2640:	01 93       	st	Z+, r16
-    2642:	f9 83       	std	Y+1, r31	; 0x01
-    2644:	e8 83       	st	Y, r30
-    2646:	06 c0       	rjmp	.+12     	; 0x2654 <fputc+0x3c>
-    2648:	e8 85       	ldd	r30, Y+8	; 0x08
-    264a:	f9 85       	ldd	r31, Y+9	; 0x09
-    264c:	80 2f       	mov	r24, r16
-    264e:	09 95       	icall
-    2650:	89 2b       	or	r24, r25
-    2652:	31 f4       	brne	.+12     	; 0x2660 <fputc+0x48>
-    2654:	8e 81       	ldd	r24, Y+6	; 0x06
-    2656:	9f 81       	ldd	r25, Y+7	; 0x07
-    2658:	01 96       	adiw	r24, 0x01	; 1
-    265a:	9f 83       	std	Y+7, r25	; 0x07
-    265c:	8e 83       	std	Y+6, r24	; 0x06
-    265e:	02 c0       	rjmp	.+4      	; 0x2664 <fputc+0x4c>
-    2660:	0f ef       	ldi	r16, 0xFF	; 255
-    2662:	1f ef       	ldi	r17, 0xFF	; 255
-    2664:	c8 01       	movw	r24, r16
-    2666:	df 91       	pop	r29
-    2668:	cf 91       	pop	r28
-    266a:	1f 91       	pop	r17
-    266c:	0f 91       	pop	r16
-    266e:	08 95       	ret
-
-00002670 <__ultoa_invert>:
-    2670:	fa 01       	movw	r30, r20
-    2672:	aa 27       	eor	r26, r26
-    2674:	28 30       	cpi	r18, 0x08	; 8
-    2676:	51 f1       	breq	.+84     	; 0x26cc <__ultoa_invert+0x5c>
-    2678:	20 31       	cpi	r18, 0x10	; 16
-    267a:	81 f1       	breq	.+96     	; 0x26dc <__ultoa_invert+0x6c>
-    267c:	e8 94       	clt
-    267e:	6f 93       	push	r22
-    2680:	6e 7f       	andi	r22, 0xFE	; 254
-    2682:	6e 5f       	subi	r22, 0xFE	; 254
-    2684:	7f 4f       	sbci	r23, 0xFF	; 255
-    2686:	8f 4f       	sbci	r24, 0xFF	; 255
-    2688:	9f 4f       	sbci	r25, 0xFF	; 255
-    268a:	af 4f       	sbci	r26, 0xFF	; 255
-    268c:	b1 e0       	ldi	r27, 0x01	; 1
-    268e:	3e d0       	rcall	.+124    	; 0x270c <__ultoa_invert+0x9c>
-    2690:	b4 e0       	ldi	r27, 0x04	; 4
-    2692:	3c d0       	rcall	.+120    	; 0x270c <__ultoa_invert+0x9c>
-    2694:	67 0f       	add	r22, r23
-    2696:	78 1f       	adc	r23, r24
-    2698:	89 1f       	adc	r24, r25
-    269a:	9a 1f       	adc	r25, r26
-    269c:	a1 1d       	adc	r26, r1
-    269e:	68 0f       	add	r22, r24
-    26a0:	79 1f       	adc	r23, r25
-    26a2:	8a 1f       	adc	r24, r26
-    26a4:	91 1d       	adc	r25, r1
-    26a6:	a1 1d       	adc	r26, r1
-    26a8:	6a 0f       	add	r22, r26
-    26aa:	71 1d       	adc	r23, r1
-    26ac:	81 1d       	adc	r24, r1
-    26ae:	91 1d       	adc	r25, r1
-    26b0:	a1 1d       	adc	r26, r1
-    26b2:	20 d0       	rcall	.+64     	; 0x26f4 <__ultoa_invert+0x84>
-    26b4:	09 f4       	brne	.+2      	; 0x26b8 <__ultoa_invert+0x48>
-    26b6:	68 94       	set
-    26b8:	3f 91       	pop	r19
-    26ba:	2a e0       	ldi	r18, 0x0A	; 10
-    26bc:	26 9f       	mul	r18, r22
-    26be:	11 24       	eor	r1, r1
-    26c0:	30 19       	sub	r19, r0
-    26c2:	30 5d       	subi	r19, 0xD0	; 208
-    26c4:	31 93       	st	Z+, r19
-    26c6:	de f6       	brtc	.-74     	; 0x267e <__ultoa_invert+0xe>
-    26c8:	cf 01       	movw	r24, r30
-    26ca:	08 95       	ret
-    26cc:	46 2f       	mov	r20, r22
-    26ce:	47 70       	andi	r20, 0x07	; 7
-    26d0:	40 5d       	subi	r20, 0xD0	; 208
-    26d2:	41 93       	st	Z+, r20
-    26d4:	b3 e0       	ldi	r27, 0x03	; 3
-    26d6:	0f d0       	rcall	.+30     	; 0x26f6 <__ultoa_invert+0x86>
-    26d8:	c9 f7       	brne	.-14     	; 0x26cc <__ultoa_invert+0x5c>
-    26da:	f6 cf       	rjmp	.-20     	; 0x26c8 <__ultoa_invert+0x58>
-    26dc:	46 2f       	mov	r20, r22
-    26de:	4f 70       	andi	r20, 0x0F	; 15
-    26e0:	40 5d       	subi	r20, 0xD0	; 208
-    26e2:	4a 33       	cpi	r20, 0x3A	; 58
-    26e4:	18 f0       	brcs	.+6      	; 0x26ec <__ultoa_invert+0x7c>
-    26e6:	49 5d       	subi	r20, 0xD9	; 217
-    26e8:	31 fd       	sbrc	r19, 1
-    26ea:	40 52       	subi	r20, 0x20	; 32
-    26ec:	41 93       	st	Z+, r20
-    26ee:	02 d0       	rcall	.+4      	; 0x26f4 <__ultoa_invert+0x84>
-    26f0:	a9 f7       	brne	.-22     	; 0x26dc <__ultoa_invert+0x6c>
-    26f2:	ea cf       	rjmp	.-44     	; 0x26c8 <__ultoa_invert+0x58>
-    26f4:	b4 e0       	ldi	r27, 0x04	; 4
-    26f6:	a6 95       	lsr	r26
-    26f8:	97 95       	ror	r25
-    26fa:	87 95       	ror	r24
-    26fc:	77 95       	ror	r23
-    26fe:	67 95       	ror	r22
-    2700:	ba 95       	dec	r27
-    2702:	c9 f7       	brne	.-14     	; 0x26f6 <__ultoa_invert+0x86>
-    2704:	00 97       	sbiw	r24, 0x00	; 0
-    2706:	61 05       	cpc	r22, r1
-    2708:	71 05       	cpc	r23, r1
-    270a:	08 95       	ret
-    270c:	9b 01       	movw	r18, r22
-    270e:	ac 01       	movw	r20, r24
-    2710:	0a 2e       	mov	r0, r26
-    2712:	06 94       	lsr	r0
-    2714:	57 95       	ror	r21
-    2716:	47 95       	ror	r20
-    2718:	37 95       	ror	r19
-    271a:	27 95       	ror	r18
-    271c:	ba 95       	dec	r27
-    271e:	c9 f7       	brne	.-14     	; 0x2712 <__ultoa_invert+0xa2>
-    2720:	62 0f       	add	r22, r18
-    2722:	73 1f       	adc	r23, r19
-    2724:	84 1f       	adc	r24, r20
-    2726:	95 1f       	adc	r25, r21
-    2728:	a0 1d       	adc	r26, r0
-    272a:	08 95       	ret
-
-0000272c <__divmodhi4>:
-    272c:	97 fb       	bst	r25, 7
-    272e:	09 2e       	mov	r0, r25
-    2730:	07 26       	eor	r0, r23
-    2732:	0a d0       	rcall	.+20     	; 0x2748 <__divmodhi4_neg1>
-    2734:	77 fd       	sbrc	r23, 7
-    2736:	04 d0       	rcall	.+8      	; 0x2740 <__divmodhi4_neg2>
-    2738:	5e d0       	rcall	.+188    	; 0x27f6 <__udivmodhi4>
-    273a:	06 d0       	rcall	.+12     	; 0x2748 <__divmodhi4_neg1>
-    273c:	00 20       	and	r0, r0
-    273e:	1a f4       	brpl	.+6      	; 0x2746 <__divmodhi4_exit>
-
-00002740 <__divmodhi4_neg2>:
-    2740:	70 95       	com	r23
-    2742:	61 95       	neg	r22
-    2744:	7f 4f       	sbci	r23, 0xFF	; 255
-
-00002746 <__divmodhi4_exit>:
-    2746:	08 95       	ret
-
-00002748 <__divmodhi4_neg1>:
-    2748:	f6 f7       	brtc	.-4      	; 0x2746 <__divmodhi4_exit>
-    274a:	90 95       	com	r25
-    274c:	81 95       	neg	r24
-    274e:	9f 4f       	sbci	r25, 0xFF	; 255
-    2750:	08 95       	ret
-
-00002752 <__divmodsi4>:
-    2752:	97 fb       	bst	r25, 7
-    2754:	09 2e       	mov	r0, r25
-    2756:	05 26       	eor	r0, r21
-    2758:	0e d0       	rcall	.+28     	; 0x2776 <__divmodsi4_neg1>
-    275a:	57 fd       	sbrc	r21, 7
-    275c:	04 d0       	rcall	.+8      	; 0x2766 <__divmodsi4_neg2>
-    275e:	5f d0       	rcall	.+190    	; 0x281e <__udivmodsi4>
-    2760:	0a d0       	rcall	.+20     	; 0x2776 <__divmodsi4_neg1>
-    2762:	00 1c       	adc	r0, r0
-    2764:	38 f4       	brcc	.+14     	; 0x2774 <__divmodsi4_exit>
-
-00002766 <__divmodsi4_neg2>:
-    2766:	50 95       	com	r21
-    2768:	40 95       	com	r20
-    276a:	30 95       	com	r19
-    276c:	21 95       	neg	r18
-    276e:	3f 4f       	sbci	r19, 0xFF	; 255
-    2770:	4f 4f       	sbci	r20, 0xFF	; 255
-    2772:	5f 4f       	sbci	r21, 0xFF	; 255
-
-00002774 <__divmodsi4_exit>:
-    2774:	08 95       	ret
-
-00002776 <__divmodsi4_neg1>:
-    2776:	f6 f7       	brtc	.-4      	; 0x2774 <__divmodsi4_exit>
-    2778:	90 95       	com	r25
-    277a:	80 95       	com	r24
-    277c:	70 95       	com	r23
-    277e:	61 95       	neg	r22
-    2780:	7f 4f       	sbci	r23, 0xFF	; 255
-    2782:	8f 4f       	sbci	r24, 0xFF	; 255
-    2784:	9f 4f       	sbci	r25, 0xFF	; 255
-    2786:	08 95       	ret
-
-00002788 <__prologue_saves__>:
-    2788:	2f 92       	push	r2
-    278a:	3f 92       	push	r3
-    278c:	4f 92       	push	r4
-    278e:	5f 92       	push	r5
-    2790:	6f 92       	push	r6
-    2792:	7f 92       	push	r7
-    2794:	8f 92       	push	r8
-    2796:	9f 92       	push	r9
-    2798:	af 92       	push	r10
-    279a:	bf 92       	push	r11
-    279c:	cf 92       	push	r12
-    279e:	df 92       	push	r13
-    27a0:	ef 92       	push	r14
-    27a2:	ff 92       	push	r15
-    27a4:	0f 93       	push	r16
-    27a6:	1f 93       	push	r17
-    27a8:	cf 93       	push	r28
-    27aa:	df 93       	push	r29
-    27ac:	cd b7       	in	r28, 0x3d	; 61
-    27ae:	de b7       	in	r29, 0x3e	; 62
-    27b0:	ca 1b       	sub	r28, r26
-    27b2:	db 0b       	sbc	r29, r27
-    27b4:	0f b6       	in	r0, 0x3f	; 63
-    27b6:	f8 94       	cli
-    27b8:	de bf       	out	0x3e, r29	; 62
-    27ba:	0f be       	out	0x3f, r0	; 63
-    27bc:	cd bf       	out	0x3d, r28	; 61
-    27be:	09 94       	ijmp
-
-000027c0 <__epilogue_restores__>:
-    27c0:	2a 88       	ldd	r2, Y+18	; 0x12
-    27c2:	39 88       	ldd	r3, Y+17	; 0x11
-    27c4:	48 88       	ldd	r4, Y+16	; 0x10
-    27c6:	5f 84       	ldd	r5, Y+15	; 0x0f
-    27c8:	6e 84       	ldd	r6, Y+14	; 0x0e
-    27ca:	7d 84       	ldd	r7, Y+13	; 0x0d
-    27cc:	8c 84       	ldd	r8, Y+12	; 0x0c
-    27ce:	9b 84       	ldd	r9, Y+11	; 0x0b
-    27d0:	aa 84       	ldd	r10, Y+10	; 0x0a
-    27d2:	b9 84       	ldd	r11, Y+9	; 0x09
-    27d4:	c8 84       	ldd	r12, Y+8	; 0x08
-    27d6:	df 80       	ldd	r13, Y+7	; 0x07
-    27d8:	ee 80       	ldd	r14, Y+6	; 0x06
-    27da:	fd 80       	ldd	r15, Y+5	; 0x05
-    27dc:	0c 81       	ldd	r16, Y+4	; 0x04
-    27de:	1b 81       	ldd	r17, Y+3	; 0x03
-    27e0:	aa 81       	ldd	r26, Y+2	; 0x02
-    27e2:	b9 81       	ldd	r27, Y+1	; 0x01
-    27e4:	ce 0f       	add	r28, r30
-    27e6:	d1 1d       	adc	r29, r1
-    27e8:	0f b6       	in	r0, 0x3f	; 63
-    27ea:	f8 94       	cli
-    27ec:	de bf       	out	0x3e, r29	; 62
-    27ee:	0f be       	out	0x3f, r0	; 63
-    27f0:	cd bf       	out	0x3d, r28	; 61
-    27f2:	ed 01       	movw	r28, r26
-    27f4:	08 95       	ret
-
-000027f6 <__udivmodhi4>:
-    27f6:	aa 1b       	sub	r26, r26
-    27f8:	bb 1b       	sub	r27, r27
-    27fa:	51 e1       	ldi	r21, 0x11	; 17
-    27fc:	07 c0       	rjmp	.+14     	; 0x280c <__udivmodhi4_ep>
-
-000027fe <__udivmodhi4_loop>:
-    27fe:	aa 1f       	adc	r26, r26
-    2800:	bb 1f       	adc	r27, r27
-    2802:	a6 17       	cp	r26, r22
-    2804:	b7 07       	cpc	r27, r23
-    2806:	10 f0       	brcs	.+4      	; 0x280c <__udivmodhi4_ep>
-    2808:	a6 1b       	sub	r26, r22
-    280a:	b7 0b       	sbc	r27, r23
-
-0000280c <__udivmodhi4_ep>:
-    280c:	88 1f       	adc	r24, r24
-    280e:	99 1f       	adc	r25, r25
-    2810:	5a 95       	dec	r21
-    2812:	a9 f7       	brne	.-22     	; 0x27fe <__udivmodhi4_loop>
-    2814:	80 95       	com	r24
-    2816:	90 95       	com	r25
-    2818:	bc 01       	movw	r22, r24
-    281a:	cd 01       	movw	r24, r26
-    281c:	08 95       	ret
-
-0000281e <__udivmodsi4>:
-    281e:	a1 e2       	ldi	r26, 0x21	; 33
-    2820:	1a 2e       	mov	r1, r26
-    2822:	aa 1b       	sub	r26, r26
-    2824:	bb 1b       	sub	r27, r27
-    2826:	fd 01       	movw	r30, r26
-    2828:	0d c0       	rjmp	.+26     	; 0x2844 <__udivmodsi4_ep>
-
-0000282a <__udivmodsi4_loop>:
-    282a:	aa 1f       	adc	r26, r26
-    282c:	bb 1f       	adc	r27, r27
-    282e:	ee 1f       	adc	r30, r30
-    2830:	ff 1f       	adc	r31, r31
-    2832:	a2 17       	cp	r26, r18
-    2834:	b3 07       	cpc	r27, r19
-    2836:	e4 07       	cpc	r30, r20
-    2838:	f5 07       	cpc	r31, r21
-    283a:	20 f0       	brcs	.+8      	; 0x2844 <__udivmodsi4_ep>
-    283c:	a2 1b       	sub	r26, r18
-    283e:	b3 0b       	sbc	r27, r19
-    2840:	e4 0b       	sbc	r30, r20
-    2842:	f5 0b       	sbc	r31, r21
-
-00002844 <__udivmodsi4_ep>:
-    2844:	66 1f       	adc	r22, r22
-    2846:	77 1f       	adc	r23, r23
-    2848:	88 1f       	adc	r24, r24
-    284a:	99 1f       	adc	r25, r25
-    284c:	1a 94       	dec	r1
-    284e:	69 f7       	brne	.-38     	; 0x282a <__udivmodsi4_loop>
-    2850:	60 95       	com	r22
-    2852:	70 95       	com	r23
-    2854:	80 95       	com	r24
-    2856:	90 95       	com	r25
-    2858:	9b 01       	movw	r18, r22
-    285a:	ac 01       	movw	r20, r24
-    285c:	bd 01       	movw	r22, r26
-    285e:	cf 01       	movw	r24, r30
-    2860:	08 95       	ret
-
-00002862 <_exit>:
-    2862:	f8 94       	cli
-
-00002864 <__stop_program>:
-    2864:	ff cf       	rjmp	.-2      	; 0x2864 <__stop_program>
Index: trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.c
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.c	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.c	(nonexistent)
@@ -1,23 +0,0 @@
-#include <dragonfly_lib.h>
-
-int main(void)
-{
-
-	/* initialize components, set wireless channel */
-	dragonfly_init(ALL_ON);
-
-	/* Turn the beacon on */
-	bom_on();
-	
-	/* Oscillate the orbs to remind you that your robot is on.
-	 * We don't want to waste batteries if we can avoid it. */
-	while (1) {
-		orbs_set_color(GREEN, BLUE);
-		delay_ms(1000);
-
-		orbs_set_color(BLUE, GREEN);
-		delay_ms(1000);
-	}
-
-	return 0;
-}
Index: trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.lst
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.lst	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/beacon/beacon_robot.lst	(nonexistent)
@@ -1,45 +0,0 @@
-   1               		.file	"beacon_robot.c"
-   2               	__SREG__ = 0x3f
-   3               	__SP_H__ = 0x3e
-   4               	__SP_L__ = 0x3d
-   5               	__CCP__  = 0x34
-   6               	__tmp_reg__ = 0
-   7               	__zero_reg__ = 1
-   8               		.text
-   9               	.global	main
-  11               	main:
-  12               	/* prologue: function */
-  13               	/* frame size = 0 */
-  14 0000 8FEF      		ldi r24,lo8(1023)
-  15 0002 93E0      		ldi r25,hi8(1023)
-  16 0004 0E94 0000 		call dragonfly_init
-  17 0008 0E94 0000 		call bom_on
-  18               	.L2:
-  19 000c 8CE1      		ldi r24,lo8(28)
-  20 000e 63E0      		ldi r22,lo8(3)
-  21 0010 0E94 0000 		call orbs_set_color
-  22 0014 88EE      		ldi r24,lo8(1000)
-  23 0016 93E0      		ldi r25,hi8(1000)
-  24 0018 0E94 0000 		call delay_ms
-  25 001c 83E0      		ldi r24,lo8(3)
-  26 001e 6CE1      		ldi r22,lo8(28)
-  27 0020 0E94 0000 		call orbs_set_color
-  28 0024 88EE      		ldi r24,lo8(1000)
-  29 0026 93E0      		ldi r25,hi8(1000)
-  30 0028 0E94 0000 		call delay_ms
-  31 002c 00C0      		rjmp .L2
-DEFINED SYMBOLS
-                            *ABS*:00000000 beacon_robot.c
-C:\Users\azirbel\AppData\Local\Temp/ccDeLYJX.s:2      *ABS*:0000003f __SREG__
-C:\Users\azirbel\AppData\Local\Temp/ccDeLYJX.s:3      *ABS*:0000003e __SP_H__
-C:\Users\azirbel\AppData\Local\Temp/ccDeLYJX.s:4      *ABS*:0000003d __SP_L__
-C:\Users\azirbel\AppData\Local\Temp/ccDeLYJX.s:5      *ABS*:00000034 __CCP__
-C:\Users\azirbel\AppData\Local\Temp/ccDeLYJX.s:6      *ABS*:00000000 __tmp_reg__
-C:\Users\azirbel\AppData\Local\Temp/ccDeLYJX.s:7      *ABS*:00000001 __zero_reg__
-C:\Users\azirbel\AppData\Local\Temp/ccDeLYJX.s:11     .text:00000000 main
-
-UNDEFINED SYMBOLS
-dragonfly_init
-bom_on
-orbs_set_color
-delay_ms
Index: trunk/code/behaviors/formation_control/Circle/Code/beacon/Makefile
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/beacon/Makefile	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/beacon/Makefile	(nonexistent)
@@ -1,520 +0,0 @@
-########Update This Section########
-#
-#
-
-# Relative path to the root directory (containing lib directory)
-ifndef COLONYROOT
-COLONYROOT = ../.
-endif
-
-# Target file name (without extension).
-TARGET = beacon_robot
-
-# Uncomment this to use the wireless library
-#USE_WIRELESS = 1
-
-# com1 = serial port. Use lpt1 to connect to parallel port.
-AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
-
-#
-###################################
-
-# Hey Emacs, this is a -*- makefile -*-
-#----------------------------------------------------------------------------
-# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al.
-#
-# Released to the Public Domain
-#
-# Additional material for this makefile was written by:
-# Peter Fleury
-# Tim Henigan
-# Colin O'Flynn
-# Reiner Patommel
-# Markus Pfaff
-# Sander Pool
-# Frederik Rouleau
-#
-#----------------------------------------------------------------------------
-# On command line:
-#
-# make all = Make software.
-#
-# make clean = Clean out built project files.
-#
-# make coff = Convert ELF to AVR COFF.
-#
-# make extcoff = Convert ELF to AVR Extended COFF.
-#
-# make program = Download the hex file to the device, using avrdude.
-#                Please customize the avrdude settings below first!
-#
-# make debug = Start either simulavr or avarice as specified for debugging,
-#              with avr-gdb or avr-insight as the front end for debugging.
-#
-# make filename.s = Just compile filename.c into the assembler code only.
-#
-# make filename.i = Create a preprocessed source file for use in submitting
-#                   bug reports to the GCC project.
-#
-# To rebuild project do "make clean" then "make all".
-#----------------------------------------------------------------------------
-
-#if you want your code to work on the Firefly++ and not Firefly+
-#then add the -DFFPP line to CDEFS
-CDEFS =
-#-DFFPP
-
-# MCU name
-MCU = atmega128
-
-# Processor frequency.
-#     This will define a symbol, F_CPU, in all source code files equal to the
-#     processor frequency. You can then use this symbol in your source code to
-#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
-#     automatically to create a 32-bit value in your source code.
-F_CPU = 8000000
-
-# Output format. (can be srec, ihex, binary)
-FORMAT = ihex
-
-# List C source files here. (C dependencies are automatically generated.)
-SRC = $(wildcard *.c)
-
-# List Assembler source files here.
-#     Make them always end in a capital .S.  Files ending in a lowercase .s
-#     will not be considered source files but generated files (assembler
-#     output from the compiler), and will be deleted upon "make clean"!
-#     Even though the DOS/Win* filesystem matches both .s and .S the same,
-#     it will preserve the spelling of the filenames, and gcc itself does
-#     care about how the name is spelled on its command-line.
-ASRC =
-
-# Optimization level, can be [0, 1, 2, 3, s].
-#     0 = turn off optimization. s = optimize for size.
-#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
-OPT = s
-
-# Debugging format.
-#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
-#     AVR Studio 4.10 requires dwarf-2.
-#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
-DEBUG =
-
-# Compiler flag to set the C Standard level.
-#     c89   = "ANSI" C
-#     gnu89 = c89 plus GCC extensions
-#     c99   = ISO C99 standard (not yet fully implemented)
-#     gnu99 = c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-
-# Place -D or -U options here
-CDEFS += -DF_CPU=$(F_CPU)UL
-CDEFS += -DFFP
-# for wireless library
-ifdef USE_WIRELESS
-	CDEFS += -DROBOT
-endif
-
-# Place -I, -L options here
-CINCS = -I$(COLONYROOT)/Library
-CINCS += -L$(COLONYROOT)/Library
-ifdef USE_WIRELESS
-	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless
-endif
-
-#---------------- Compiler Options ----------------
-#  -g*:          generate debugging information
-#  -O*:          optimization level
-#  -f...:        tuning, see GCC manual and avr-libc documentation
-#  -Wall...:     warning level
-#  -Wa,...:      tell GCC to pass this to the assembler.
-#    -adhlns...: create assembler listing
-CFLAGS =
-# CFLAGS = -g$(DEBUG)
-CFLAGS += $(CDEFS) $(CINCS)
-CFLAGS += -O$(OPT)
-CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-CFLAGS += -Wall -Wstrict-prototypes
-CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
-CFLAGS += $(CSTANDARD)
-
-#---------------- Assembler Options ----------------
-#  -Wa,...:   tell GCC to pass this to the assembler.
-#  -ahlms:    create listing
-#  -gstabs:   have the assembler create line number information; note that
-#             for use in COFF files, additional information about filenames
-#             and function names needs to be present in the assembler source
-#             files -- see avr-libc docs [FIXME: not yet described there]
-ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
-
-
-#---------------- Library Options ----------------
-# Minimalistic printf version
-PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
-
-# Floating point printf version (requires MATH_LIB = -lm below)
-PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
-
-# If this is left blank, then it will use the Standard printf version.
-#PRINTF_LIB =
-#PRINTF_LIB = $(PRINTF_LIB_MIN)
-PRINTF_LIB = $(PRINTF_LIB_FLOAT)
-
-
-# Minimalistic scanf version
-SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
-
-# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
-SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
-
-# If this is left blank, then it will use the Standard scanf version.
-SCANF_LIB =
-#SCANF_LIB = $(SCANF_LIB_MIN)
-#SCANF_LIB = $(SCANF_LIB_FLOAT)
-
-MATH_LIB = -lm
-
-#---------------- External Memory Options ----------------
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# used for variables (.data/.bss) and heap (malloc()).
-#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# only used for heap (malloc()).
-#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
-
-EXTMEMOPTS =
-
-#---------------- Linker Options ----------------
-#  -Wl,...:     tell GCC to pass this to linker.
-#    -Map:      create map file
-#    --cref:    add cross reference to  map file
-LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
-LDFLAGS += $(EXTMEMOPTS)
-LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
-ifdef USE_WIRELESS
-	LDFLAGS += -lwireless
-endif
-LDFLAGS += -ldragonfly
-
-
-
-#---------------- Programming Options (avrdude) ----------------
-
-# Programming hardware: alf avr910 avrisp bascom bsd
-# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
-#
-# Type: avrdude -c ?
-# to get a full listing.
-#
-AVRDUDE_PROGRAMMER = avrisp
-
-# programmer connected to serial device
-
-AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
-#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
-
-
-# Uncomment the following if you want avrdude's erase cycle counter.
-# Note that this counter needs to be initialized first using -Yn,
-# see avrdude manual.
-#AVRDUDE_ERASE_COUNTER = -y
-
-# Uncomment the following if you do /not/ wish a verification to be
-# performed after programming the device.
-#AVRDUDE_NO_VERIFY = -V
-
-# Increase verbosity level.  Please use this when submitting bug
-# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
-# to submit bug reports.
-#AVRDUDE_VERBOSE = -v -v
-
-AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
-AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
-AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
-AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
-
-#don't check for device signature
-AVRDUDE_FLAGS += -F
-
-
-
-#---------------- Debugging Options ----------------
-
-# For simulavr only - target MCU frequency.
-DEBUG_MFREQ = $(F_CPU)
-
-# Set the DEBUG_UI to either gdb or insight.
-# DEBUG_UI = gdb
-DEBUG_UI = insight
-
-# Set the debugging back-end to either avarice, simulavr.
-DEBUG_BACKEND = avarice
-#DEBUG_BACKEND = simulavr
-
-# GDB Init Filename.
-GDBINIT_FILE = __avr_gdbinit
-
-# When using avarice settings for the JTAG
-JTAG_DEV = /dev/com1
-
-# Debugging port used to communicate between GDB / avarice / simulavr.
-DEBUG_PORT = 4242
-
-# Debugging host used to communicate between GDB / avarice / simulavr, normally
-#     just set to localhost unless doing some sort of crazy debugging when
-#     avarice is running on a different computer.
-DEBUG_HOST = localhost
-
-
-
-#============================================================================
-
-
-# Define programs and commands.
-SHELL = sh
-CC = avr-gcc
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-NM = avr-nm
-AVRDUDE = avrdude
-REMOVE = rm -f
-REMOVEDIR = rm -rf
-COPY = cp
-WINSHELL = cmd
-
-
-# Define Messages
-# English
-MSG_ERRORS_NONE = Errors: none
-MSG_BEGIN = -------- begin --------
-MSG_END = --------  end  --------
-MSG_SIZE_BEFORE = Size before:
-MSG_SIZE_AFTER = Size after:
-MSG_COFF = Converting to AVR COFF:
-MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
-MSG_FLASH = Creating load file for Flash:
-MSG_EEPROM = Creating load file for EEPROM:
-MSG_EXTENDED_LISTING = Creating Extended Listing:
-MSG_SYMBOL_TABLE = Creating Symbol Table:
-MSG_LINKING = Linking:
-MSG_COMPILING = Compiling:
-MSG_ASSEMBLING = Assembling:
-MSG_CLEANING = Cleaning project:
-
-
-
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
-
-
-# Compiler flags to generate dependency files.
-GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
-
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-
-
-
-# Default target.
-all: begin gccversion sizebefore build sizeafter end
-
-build: elf hex eep lss sym
-
-elf: $(TARGET).elf
-hex: $(TARGET).hex
-eep: $(TARGET).eep
-lss: $(TARGET).lss
-sym: $(TARGET).sym
-
-
-
-# Eye candy.
-# AVR Studio 3.x does not check make's exit code but relies on
-# the following magic strings to be generated by the compile job.
-begin:
-	@echo
-	@echo $(MSG_BEGIN)
-
-end:
-	@echo $(MSG_END)
-	@echo
-
-
-# Display size of file.
-HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
-ELFSIZE = $(SIZE) -A $(TARGET).elf
-AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
-
-sizebefore:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
-	$(AVRMEM) 2>/dev/null; echo; fi
-
-sizeafter:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
-	$(AVRMEM) 2>/dev/null; echo; fi
-
-
-
-# Display compiler version information.
-gccversion :
-	@$(CC) --version
-
-
-
-# Program the device.
-program: $(TARGET).hex $(TARGET).eep
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
-
-
-# Generate avr-gdb config/init file which does the following:
-#     define the reset signal, load the target file, connect to target, and set
-#     a breakpoint at main().
-gdb-config:
-	@$(REMOVE) $(GDBINIT_FILE)
-	@echo define reset >> $(GDBINIT_FILE)
-	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
-	@echo end >> $(GDBINIT_FILE)
-	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
-	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
-ifeq ($(DEBUG_BACKEND),simulavr)
-	@echo load  >> $(GDBINIT_FILE)
-endif
-	@echo break main >> $(GDBINIT_FILE)
-
-debug: gdb-config $(TARGET).elf
-ifeq ($(DEBUG_BACKEND), avarice)
-	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
-	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
-	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
-	@$(WINSHELL) /c pause
-
-else
-	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
-	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
-endif
-	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
-
-
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000
-
-
-coff: $(TARGET).elf
-	@echo
-	@echo $(MSG_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
-
-
-extcoff: $(TARGET).elf
-	@echo
-	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
-
-
-
-# Create final output files (.hex, .eep) from ELF output file.
-%.hex: %.elf
-	@echo
-	@echo $(MSG_FLASH) $@
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-%.eep: %.elf
-	@echo
-	@echo $(MSG_EEPROM) $@
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-%.lss: %.elf
-	@echo
-	@echo $(MSG_EXTENDED_LISTING) $@
-	$(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-	@echo
-	@echo $(MSG_SYMBOL_TABLE) $@
-	$(NM) -n $< > $@
-
-
-
-# Link: create ELF output file from object files.
-.SECONDARY : $(TARGET).elf
-.PRECIOUS : $(OBJ)
-%.elf: $(OBJ)
-	@echo
-	@echo $(MSG_LINKING) $@
-	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
-
-
-# Compile: create object files from C source files.
-%.o : %.c
-	@echo
-	@echo $(MSG_COMPILING) $<
-	$(CC) -c $(ALL_CFLAGS) $< -o $@
-
-
-# Compile: create assembler files from C source files.
-%.s : %.c
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-%.o : %.S
-	@echo
-	@echo $(MSG_ASSEMBLING) $<
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-# Create preprocessed source for use in sending a bug report.
-%.i : %.c
-	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
-
-
-# Target: clean project.
-clean: begin clean_list end
-
-clean_list :
-	@echo
-	@echo $(MSG_CLEANING)
-	$(REMOVE) $(TARGET).hex
-	$(REMOVE) $(TARGET).eep
-	$(REMOVE) $(TARGET).cof
-	$(REMOVE) $(TARGET).elf
-	$(REMOVE) $(TARGET).map
-	$(REMOVE) $(TARGET).sym
-	$(REMOVE) $(TARGET).lss
-	$(REMOVE) $(OBJ)
-	$(REMOVE) $(LST)
-	$(REMOVE) $(SRC:.c=.s)
-	$(REMOVE) $(SRC:.c=.d)
-	$(REMOVEDIR) .dep
-
-
-
-# Include the dependency files.
--include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
-
-
-# Listing of phony targets.
-.PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex eep lss sym coff extcoff \
-clean clean_list program debug gdb-config
-
Index: trunk/code/behaviors/formation_control/Circle/Code/template/Makefile
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/template/Makefile	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/template/Makefile	(nonexistent)
@@ -1,520 +0,0 @@
-########Update This Section########
-#
-#
-
-# Relative path to the root directory (containing lib directory)
-ifndef COLONYROOT
-COLONYROOT = ../.
-endif
-
-# Target file name (without extension).
-TARGET = circle
-
-# Uncomment this to use the wireless library
-USE_WIRELESS = 1
-
-# com1 = serial port. Use lpt1 to connect to parallel port.
-AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
-
-#
-###################################
-
-# Hey Emacs, this is a -*- makefile -*-
-#----------------------------------------------------------------------------
-# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al.
-#
-# Released to the Public Domain
-#
-# Additional material for this makefile was written by:
-# Peter Fleury
-# Tim Henigan
-# Colin O'Flynn
-# Reiner Patommel
-# Markus Pfaff
-# Sander Pool
-# Frederik Rouleau
-#
-#----------------------------------------------------------------------------
-# On command line:
-#
-# make all = Make software.
-#
-# make clean = Clean out built project files.
-#
-# make coff = Convert ELF to AVR COFF.
-#
-# make extcoff = Convert ELF to AVR Extended COFF.
-#
-# make program = Download the hex file to the device, using avrdude.
-#                Please customize the avrdude settings below first!
-#
-# make debug = Start either simulavr or avarice as specified for debugging,
-#              with avr-gdb or avr-insight as the front end for debugging.
-#
-# make filename.s = Just compile filename.c into the assembler code only.
-#
-# make filename.i = Create a preprocessed source file for use in submitting
-#                   bug reports to the GCC project.
-#
-# To rebuild project do "make clean" then "make all".
-#----------------------------------------------------------------------------
-
-#if you want your code to work on the Firefly++ and not Firefly+
-#then add the -DFFPP line to CDEFS
-CDEFS =
-#-DFFPP
-
-# MCU name
-MCU = atmega128
-
-# Processor frequency.
-#     This will define a symbol, F_CPU, in all source code files equal to the
-#     processor frequency. You can then use this symbol in your source code to
-#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
-#     automatically to create a 32-bit value in your source code.
-F_CPU = 8000000
-
-# Output format. (can be srec, ihex, binary)
-FORMAT = ihex
-
-# List C source files here. (C dependencies are automatically generated.)
-SRC = $(wildcard *.c)
-
-# List Assembler source files here.
-#     Make them always end in a capital .S.  Files ending in a lowercase .s
-#     will not be considered source files but generated files (assembler
-#     output from the compiler), and will be deleted upon "make clean"!
-#     Even though the DOS/Win* filesystem matches both .s and .S the same,
-#     it will preserve the spelling of the filenames, and gcc itself does
-#     care about how the name is spelled on its command-line.
-ASRC =
-
-# Optimization level, can be [0, 1, 2, 3, s].
-#     0 = turn off optimization. s = optimize for size.
-#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
-OPT = s
-
-# Debugging format.
-#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
-#     AVR Studio 4.10 requires dwarf-2.
-#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
-DEBUG =
-
-# Compiler flag to set the C Standard level.
-#     c89   = "ANSI" C
-#     gnu89 = c89 plus GCC extensions
-#     c99   = ISO C99 standard (not yet fully implemented)
-#     gnu99 = c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-
-# Place -D or -U options here
-CDEFS += -DF_CPU=$(F_CPU)UL
-CDEFS += -DFFP
-# for wireless library
-ifdef USE_WIRELESS
-	CDEFS += -DROBOT
-endif
-
-# Place -I, -L options here
-CINCS = -I$(COLONYROOT)/Library/include/libdragonfly
-CINCS += -L$(COLONYROOT)/Library/bin
-ifdef USE_WIRELESS
-	CINCS += -I$(COLONYROOT)/Library/include/libwireless
-endif
-
-#---------------- Compiler Options ----------------
-#  -g*:          generate debugging information
-#  -O*:          optimization level
-#  -f...:        tuning, see GCC manual and avr-libc documentation
-#  -Wall...:     warning level
-#  -Wa,...:      tell GCC to pass this to the assembler.
-#    -adhlns...: create assembler listing
-CFLAGS =
-# CFLAGS = -g$(DEBUG)
-CFLAGS += $(CDEFS) $(CINCS)
-CFLAGS += -O$(OPT)
-CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-CFLAGS += -Wall -Wstrict-prototypes
-CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
-CFLAGS += $(CSTANDARD)
-
-#---------------- Assembler Options ----------------
-#  -Wa,...:   tell GCC to pass this to the assembler.
-#  -ahlms:    create listing
-#  -gstabs:   have the assembler create line number information; note that
-#             for use in COFF files, additional information about filenames
-#             and function names needs to be present in the assembler source
-#             files -- see avr-libc docs [FIXME: not yet described there]
-ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
-
-
-#---------------- Library Options ----------------
-# Minimalistic printf version
-PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
-
-# Floating point printf version (requires MATH_LIB = -lm below)
-PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
-
-# If this is left blank, then it will use the Standard printf version.
-#PRINTF_LIB =
-#PRINTF_LIB = $(PRINTF_LIB_MIN)
-PRINTF_LIB = $(PRINTF_LIB_FLOAT)
-
-
-# Minimalistic scanf version
-SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
-
-# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
-SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
-
-# If this is left blank, then it will use the Standard scanf version.
-SCANF_LIB =
-#SCANF_LIB = $(SCANF_LIB_MIN)
-#SCANF_LIB = $(SCANF_LIB_FLOAT)
-
-MATH_LIB = -lm
-
-#---------------- External Memory Options ----------------
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# used for variables (.data/.bss) and heap (malloc()).
-#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# only used for heap (malloc()).
-#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
-
-EXTMEMOPTS =
-
-#---------------- Linker Options ----------------
-#  -Wl,...:     tell GCC to pass this to linker.
-#    -Map:      create map file
-#    --cref:    add cross reference to  map file
-LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
-LDFLAGS += $(EXTMEMOPTS)
-LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
-ifdef USE_WIRELESS
-	LDFLAGS += -lwireless
-endif
-LDFLAGS += -ldragonfly
-
-
-
-#---------------- Programming Options (avrdude) ----------------
-
-# Programming hardware: alf avr910 avrisp bascom bsd
-# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
-#
-# Type: avrdude -c ?
-# to get a full listing.
-#
-AVRDUDE_PROGRAMMER = avrisp
-
-# programmer connected to serial device
-
-AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
-#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
-
-
-# Uncomment the following if you want avrdude's erase cycle counter.
-# Note that this counter needs to be initialized first using -Yn,
-# see avrdude manual.
-#AVRDUDE_ERASE_COUNTER = -y
-
-# Uncomment the following if you do /not/ wish a verification to be
-# performed after programming the device.
-#AVRDUDE_NO_VERIFY = -V
-
-# Increase verbosity level.  Please use this when submitting bug
-# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
-# to submit bug reports.
-#AVRDUDE_VERBOSE = -v -v
-
-AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
-AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
-AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
-AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
-
-#don't check for device signature
-AVRDUDE_FLAGS += -F
-
-
-
-#---------------- Debugging Options ----------------
-
-# For simulavr only - target MCU frequency.
-DEBUG_MFREQ = $(F_CPU)
-
-# Set the DEBUG_UI to either gdb or insight.
-# DEBUG_UI = gdb
-DEBUG_UI = insight
-
-# Set the debugging back-end to either avarice, simulavr.
-DEBUG_BACKEND = avarice
-#DEBUG_BACKEND = simulavr
-
-# GDB Init Filename.
-GDBINIT_FILE = __avr_gdbinit
-
-# When using avarice settings for the JTAG
-JTAG_DEV = /dev/com1
-
-# Debugging port used to communicate between GDB / avarice / simulavr.
-DEBUG_PORT = 4242
-
-# Debugging host used to communicate between GDB / avarice / simulavr, normally
-#     just set to localhost unless doing some sort of crazy debugging when
-#     avarice is running on a different computer.
-DEBUG_HOST = localhost
-
-
-
-#============================================================================
-
-
-# Define programs and commands.
-SHELL = sh
-CC = avr-gcc
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-NM = avr-nm
-AVRDUDE = avrdude
-REMOVE = rm -f
-REMOVEDIR = rm -rf
-COPY = cp
-WINSHELL = cmd
-
-
-# Define Messages
-# English
-MSG_ERRORS_NONE = Errors: none
-MSG_BEGIN = -------- begin --------
-MSG_END = --------  end  --------
-MSG_SIZE_BEFORE = Size before:
-MSG_SIZE_AFTER = Size after:
-MSG_COFF = Converting to AVR COFF:
-MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
-MSG_FLASH = Creating load file for Flash:
-MSG_EEPROM = Creating load file for EEPROM:
-MSG_EXTENDED_LISTING = Creating Extended Listing:
-MSG_SYMBOL_TABLE = Creating Symbol Table:
-MSG_LINKING = Linking:
-MSG_COMPILING = Compiling:
-MSG_ASSEMBLING = Assembling:
-MSG_CLEANING = Cleaning project:
-
-
-
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
-
-
-# Compiler flags to generate dependency files.
-GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
-
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-
-
-
-# Default target.
-all: begin gccversion sizebefore build sizeafter end
-
-build: elf hex eep lss sym
-
-elf: $(TARGET).elf
-hex: $(TARGET).hex
-eep: $(TARGET).eep
-lss: $(TARGET).lss
-sym: $(TARGET).sym
-
-
-
-# Eye candy.
-# AVR Studio 3.x does not check make's exit code but relies on
-# the following magic strings to be generated by the compile job.
-begin:
-	@echo
-	@echo $(MSG_BEGIN)
-
-end:
-	@echo $(MSG_END)
-	@echo
-
-
-# Display size of file.
-HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
-ELFSIZE = $(SIZE) -A $(TARGET).elf
-AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
-
-sizebefore:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
-	$(AVRMEM) 2>/dev/null; echo; fi
-
-sizeafter:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
-	$(AVRMEM) 2>/dev/null; echo; fi
-
-
-
-# Display compiler version information.
-gccversion :
-	@$(CC) --version
-
-
-
-# Program the device.
-program: $(TARGET).hex $(TARGET).eep
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
-
-
-# Generate avr-gdb config/init file which does the following:
-#     define the reset signal, load the target file, connect to target, and set
-#     a breakpoint at main().
-gdb-config:
-	@$(REMOVE) $(GDBINIT_FILE)
-	@echo define reset >> $(GDBINIT_FILE)
-	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
-	@echo end >> $(GDBINIT_FILE)
-	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
-	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
-ifeq ($(DEBUG_BACKEND),simulavr)
-	@echo load  >> $(GDBINIT_FILE)
-endif
-	@echo break main >> $(GDBINIT_FILE)
-
-debug: gdb-config $(TARGET).elf
-ifeq ($(DEBUG_BACKEND), avarice)
-	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
-	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
-	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
-	@$(WINSHELL) /c pause
-
-else
-	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
-	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
-endif
-	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
-
-
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000
-
-
-coff: $(TARGET).elf
-	@echo
-	@echo $(MSG_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
-
-
-extcoff: $(TARGET).elf
-	@echo
-	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
-
-
-
-# Create final output files (.hex, .eep) from ELF output file.
-%.hex: %.elf
-	@echo
-	@echo $(MSG_FLASH) $@
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-%.eep: %.elf
-	@echo
-	@echo $(MSG_EEPROM) $@
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-%.lss: %.elf
-	@echo
-	@echo $(MSG_EXTENDED_LISTING) $@
-	$(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-	@echo
-	@echo $(MSG_SYMBOL_TABLE) $@
-	$(NM) -n $< > $@
-
-
-
-# Link: create ELF output file from object files.
-.SECONDARY : $(TARGET).elf
-.PRECIOUS : $(OBJ)
-%.elf: $(OBJ)
-	@echo
-	@echo $(MSG_LINKING) $@
-	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
-
-
-# Compile: create object files from C source files.
-%.o : %.c
-	@echo
-	@echo $(MSG_COMPILING) $<
-	$(CC) -c $(ALL_CFLAGS) $< -o $@
-
-
-# Compile: create assembler files from C source files.
-%.s : %.c
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-%.o : %.S
-	@echo
-	@echo $(MSG_ASSEMBLING) $<
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-# Create preprocessed source for use in sending a bug report.
-%.i : %.c
-	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
-
-
-# Target: clean project.
-clean: begin clean_list end
-
-clean_list :
-	@echo
-	@echo $(MSG_CLEANING)
-	$(REMOVE) $(TARGET).hex
-	$(REMOVE) $(TARGET).eep
-	$(REMOVE) $(TARGET).cof
-	$(REMOVE) $(TARGET).elf
-	$(REMOVE) $(TARGET).map
-	$(REMOVE) $(TARGET).sym
-	$(REMOVE) $(TARGET).lss
-	$(REMOVE) $(OBJ)
-	$(REMOVE) $(LST)
-	$(REMOVE) $(SRC:.c=.s)
-	$(REMOVE) $(SRC:.c=.d)
-	$(REMOVEDIR) .dep
-
-
-
-# Include the dependency files.
--include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
-
-
-# Listing of phony targets.
-.PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex eep lss sym coff extcoff \
-clean clean_list program debug gdb-config
-
Index: trunk/code/behaviors/formation_control/Circle/Code/template/circle.c
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/template/circle.c	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/template/circle.c	(nonexistent)
@@ -1,182 +0,0 @@
-#include <dragonfly_lib.h>
-#include <encoders.h>
-
-#define RADIUS 300
-
-extern void blink(int);
-extern void search(void);
-extern void approach(void);
-extern void lastDrive(void);
-
-int main(void)
-{
-
-	/* Initialize dragonfly board */
-	dragonfly_init(ALL_ON);
-	encoders_init();
-
-	orb_set_color(GREEN);
-	delay_ms(300);
-		
-	search();
-	
-	approach();
-	
-	while(1); /* END HERE */
-
-	return 0;
-}
-
-
-
-void blink(int num)
-{
-	for(int i = 0; i<num; i++)
-	{
-		orb_set_color(ORB_OFF);
-		delay_ms(200);
-		orb_set_color(RED);
-		delay_ms(200);
-	}
-	orb_set_color(ORB_OFF);
-}
-void search()	//makes the robot face the beacon
-{
-	orb_set_color(YELLOW);	//show that the robot is searching
-	bom_refresh(BOM_ALL);
-	int top=bom_get_max();
-	
-	if ((top<4) || (top>11))	//determine which way to turn
-	{
-		motor_r_set(BACKWARD,200);
-		motor_l_set(FORWARD,200);
-	}
-	else if((top>4) && (top<12))
-	{
-		motor_r_set(FORWARD,200);
-		motor_l_set(BACKWARD,200);
-	}
-	while (top != 4)
-	{
-		bom_refresh(BOM_ALL);
-		top=bom_get_max();
-	}
-	motors_off();
-}
-void approach()
-{
-	int dist = 0;
-	int temp = 0;
-	int counter = 0;
-	int correct = 0;
-	
-	while(dist != RADIUS)	//puts the robots in the given distance RADIUS
-	{
-		temp=0;
-		counter = 0;
-		
-		while(counter<8)
-		{
-			if(range_read_distance(IR2) == -1){}
-			
-			else
-			{
-				temp += range_read_distance(IR2);
-				counter++;
-			}
-			delay_ms(20);
-		}
-		dist = temp/8;
-		
-		/*if (correct >2){
-			orb_set_color(RED);
-			break;
-			
-			}	// stop within the dead zone: it knows it is in the dead zone if it hits +- 15 from RADIUS 3 times*/
-		
-		if ( dist<(RADIUS+30) && dist>(RADIUS-30)) {	// the dead zone
-			orb_set_color(RED);
-			break;
-		}
-		
-		else if ((dist>RADIUS) || (dist==-1))
-		{			
-			///delay_ms(200);
-			search();
-			
-			motor_r_set(FORWARD,200);
-			motor_l_set(FORWARD,200);
-		}
-		else if ((dist<RADIUS))
-		{
-			//delay_ms(200);
-			search();
-			
-			motor_r_set(BACKWARD,200);
-			motor_l_set(BACKWARD,200);
-		}
-		
-	}
-	
-	orb_set_color(BLUE);
-	
-	motors_off();
-
-	/*usb_puti(range_read_distance(IR2));
-	usb_puts("\n\r");
-	motor_r_set(FORWARD,200);
-	motor_l_set(FORWARD,200);
-	delay_ms(300);
-	usb_puti(range_read_distance(IR2));
-	usb_puts("\n\r");
-	delay_ms(300);
-	usb_puti(range_read_distance(IR2));
-	usb_puts("\n\r");
-	delay_ms(300);
-	usb_puti(range_read_distance(IR2));
-	usb_puts("\n\r");*/
-}
-void lastDrive()
-{
-	int lspeed = 190;
-	int rspeed = 190;
-	int firstldist = encoder_get_x(LEFT);
-	int firstrdist = encoder_get_x(RIGHT);
-	int ldist = firstldist;
-	int rdist = firstrdist;
-	while ( (ldist-firstldist<800) && (rdist-firstrdist<800) )
-	{
-		motor_l_set(FORWARD,lspeed);
-		motor_r_set(FORWARD,rspeed);
-		
-		int lvel = encoder_get_v(LEFT);
-		int rvel = encoder_get_v(RIGHT);
-		
-		usb_puts("\n\rLeft distance: ");
-		usb_puti(ldist-firstldist);
-		usb_puts("\n\rRight distance: ");
-		usb_puti(rdist-firstrdist);
-		usb_puts("\n\rLeft velocity: ");
-		usb_puti(lvel);
-		usb_puts("\n\rRight velocity: ");
-		usb_puti(rvel);
-		usb_puts("\n\r\n\r");
-		
-		if (rvel<lvel)
-		{
-			rspeed += 1;
-			lspeed -= 1;
-		}
-		else if (rvel>lvel)
-		{
-			rspeed -= 1;
-			lspeed += 1;
-		}
-		ldist = encoder_get_x(LEFT);
-		rdist = encoder_get_x(RIGHT);
-		
-		delay_ms(25);
-	}
-	motors_off();
-	orb_set_color(GREEN);
-}
\ No newline at end of file
Index: trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.lss
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.lss	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.lss	(nonexistent)
@@ -1,5015 +0,0 @@
-
-bom_test.elf:     file format elf32-avr
-
-Sections:
-Idx Name          Size      VMA       LMA       File off  Algn
-  0 .data         0000030a  00800100  00002958  000029ec  2**0
-                  CONTENTS, ALLOC, LOAD, DATA
-  1 .text         00002958  00000000  00000000  00000094  2**1
-                  CONTENTS, ALLOC, LOAD, READONLY, CODE
-  2 .bss          0000008c  0080040a  0080040a  00002cf6  2**0
-                  ALLOC
-  3 .stab         000054b4  00000000  00000000  00002cf8  2**2
-                  CONTENTS, READONLY, DEBUGGING
-  4 .stabstr      00002168  00000000  00000000  000081ac  2**0
-                  CONTENTS, READONLY, DEBUGGING
-
-Disassembly of section .text:
-
-00000000 <__vectors>:
-       0:	0c 94 c7 00 	jmp	0x18e	; 0x18e <__ctors_end>
-       4:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-       8:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-       c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      10:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      14:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      18:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      1c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      20:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      24:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      28:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      2c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      30:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      34:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      38:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      3c:	0c 94 09 0b 	jmp	0x1612	; 0x1612 <__vector_15>
-      40:	0c 94 c0 0a 	jmp	0x1580	; 0x1580 <__vector_16>
-      44:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      48:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      4c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      50:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      54:	0c 94 b1 11 	jmp	0x2362	; 0x2362 <__vector_21>
-      58:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      5c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      60:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      64:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      68:	0c 94 b1 10 	jmp	0x2162	; 0x2162 <__vector_26>
-      6c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      70:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      74:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      78:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      7c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      80:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      84:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      88:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-
-0000008c <__c.1778>:
-      8c:	6e 61 6e 00                                         nan.
-
-00000090 <__c.1776>:
-      90:	69 6e 66 00 00 40 7a 10 f3 5a 00 a0 72 4e 18 09     inf..@z..Z..rN..
-      a0:	00 10 a5 d4 e8 00 00 e8 76 48 17 00 00 e4 0b 54     ........vH.....T
-      b0:	02 00 00 ca 9a 3b 00 00 00 e1 f5 05 00 00 80 96     .....;..........
-      c0:	98 00 00 00 40 42 0f 00 00 00 a0 86 01 00 00 00     ....@B..........
-      d0:	10 27 00 00 00 00 e8 03 00 00 00 00 64 00 00 00     .'..........d...
-      e0:	00 00 0a 00 00 00 00 00 01 00 00 00 00 00 2c 76     ..............,v
-      f0:	d8 88 dc 67 4f 08 23 df c1 df ae 59 e1 b1 b7 96     ...gO.#....Y....
-     100:	e5 e3 e4 53 c6 3a e6 51 99 76 96 e8 e6 c2 84 26     ...S.:.Q.v.....&
-     110:	eb 89 8c 9b 62 ed 40 7c 6f fc ef bc 9c 9f 40 f2     ....b.@|o.....@.
-     120:	ba a5 6f a5 f4 90 05 5a 2a f7 5c 93 6b 6c f9 67     ..o....Z*.\.kl.g
-     130:	6d c1 1b fc e0 e4 0d 47 fe f5 20 e6 b5 00 d0 ed     m......G.. .....
-     140:	90 2e 03 00 94 35 77 05 00 80 84 1e 08 00 00 20     .....5w........ 
-     150:	4e 0a 00 00 00 c8 0c 33 33 33 33 0f 98 6e 12 83     N......3333..n..
-     160:	11 41 ef 8d 21 14 89 3b e6 55 16 cf fe e6 db 18     .A..!..;.U......
-     170:	d1 84 4b 38 1b f7 7c 1d 90 1d a4 bb e4 24 20 32     ..K8..|......$ 2
-     180:	84 72 5e 22 81 00 c9 f1 24 ec a1 e5 3d 27           .r^"....$...='
-
-0000018e <__ctors_end>:
-     18e:	11 24       	eor	r1, r1
-     190:	1f be       	out	0x3f, r1	; 63
-     192:	cf ef       	ldi	r28, 0xFF	; 255
-     194:	d0 e1       	ldi	r29, 0x10	; 16
-     196:	de bf       	out	0x3e, r29	; 62
-     198:	cd bf       	out	0x3d, r28	; 61
-
-0000019a <__do_copy_data>:
-     19a:	14 e0       	ldi	r17, 0x04	; 4
-     19c:	a0 e0       	ldi	r26, 0x00	; 0
-     19e:	b1 e0       	ldi	r27, 0x01	; 1
-     1a0:	e8 e5       	ldi	r30, 0x58	; 88
-     1a2:	f9 e2       	ldi	r31, 0x29	; 41
-     1a4:	00 e0       	ldi	r16, 0x00	; 0
-     1a6:	0b bf       	out	0x3b, r16	; 59
-     1a8:	02 c0       	rjmp	.+4      	; 0x1ae <__do_copy_data+0x14>
-     1aa:	07 90       	elpm	r0, Z+
-     1ac:	0d 92       	st	X+, r0
-     1ae:	aa 30       	cpi	r26, 0x0A	; 10
-     1b0:	b1 07       	cpc	r27, r17
-     1b2:	d9 f7       	brne	.-10     	; 0x1aa <__do_copy_data+0x10>
-
-000001b4 <__do_clear_bss>:
-     1b4:	14 e0       	ldi	r17, 0x04	; 4
-     1b6:	aa e0       	ldi	r26, 0x0A	; 10
-     1b8:	b4 e0       	ldi	r27, 0x04	; 4
-     1ba:	01 c0       	rjmp	.+2      	; 0x1be <.do_clear_bss_start>
-
-000001bc <.do_clear_bss_loop>:
-     1bc:	1d 92       	st	X+, r1
-
-000001be <.do_clear_bss_start>:
-     1be:	a6 39       	cpi	r26, 0x96	; 150
-     1c0:	b1 07       	cpc	r27, r17
-     1c2:	e1 f7       	brne	.-8      	; 0x1bc <.do_clear_bss_loop>
-     1c4:	0e 94 e8 00 	call	0x1d0	; 0x1d0 <main>
-     1c8:	0c 94 aa 14 	jmp	0x2954	; 0x2954 <_exit>
-
-000001cc <__bad_interrupt>:
-     1cc:	0c 94 00 00 	jmp	0	; 0x0 <__vectors>
-
-000001d0 <main>:
-     1d0:	6f 92       	push	r6
-     1d2:	7f 92       	push	r7
-     1d4:	8f 92       	push	r8
-     1d6:	9f 92       	push	r9
-     1d8:	af 92       	push	r10
-     1da:	bf 92       	push	r11
-     1dc:	cf 92       	push	r12
-     1de:	df 92       	push	r13
-     1e0:	ef 92       	push	r14
-     1e2:	ff 92       	push	r15
-     1e4:	0f 93       	push	r16
-     1e6:	1f 93       	push	r17
-     1e8:	df 93       	push	r29
-     1ea:	cf 93       	push	r28
-     1ec:	cd b7       	in	r28, 0x3d	; 61
-     1ee:	de b7       	in	r29, 0x3e	; 62
-     1f0:	a0 97       	sbiw	r28, 0x20	; 32
-     1f2:	0f b6       	in	r0, 0x3f	; 63
-     1f4:	f8 94       	cli
-     1f6:	de bf       	out	0x3e, r29	; 62
-     1f8:	0f be       	out	0x3f, r0	; 63
-     1fa:	cd bf       	out	0x3d, r28	; 61
-     1fc:	8f ef       	ldi	r24, 0xFF	; 255
-     1fe:	93 e0       	ldi	r25, 0x03	; 3
-     200:	0e 94 02 09 	call	0x1204	; 0x1204 <dragonfly_init>
-     204:	80 ee       	ldi	r24, 0xE0	; 224
-     206:	60 ee       	ldi	r22, 0xE0	; 224
-     208:	0e 94 41 0e 	call	0x1c82	; 0x1c82 <orbs_set_color>
-     20c:	80 ed       	ldi	r24, 0xD0	; 208
-     20e:	97 e0       	ldi	r25, 0x07	; 7
-     210:	0e 94 7b 10 	call	0x20f6	; 0x20f6 <delay_ms>
-     214:	8c e1       	ldi	r24, 0x1C	; 28
-     216:	6c e1       	ldi	r22, 0x1C	; 28
-     218:	0e 94 41 0e 	call	0x1c82	; 0x1c82 <orbs_set_color>
-     21c:	aa 24       	eor	r10, r10
-     21e:	aa 94       	dec	r10
-     220:	ba 2c       	mov	r11, r10
-     222:	4e 01       	movw	r8, r28
-     224:	08 94       	sec
-     226:	81 1c       	adc	r8, r1
-     228:	91 1c       	adc	r9, r1
-     22a:	81 e2       	ldi	r24, 0x21	; 33
-     22c:	68 2e       	mov	r6, r24
-     22e:	71 2c       	mov	r7, r1
-     230:	6c 0e       	add	r6, r28
-     232:	7d 1e       	adc	r7, r29
-     234:	8f ef       	ldi	r24, 0xFF	; 255
-     236:	9f ef       	ldi	r25, 0xFF	; 255
-     238:	0e 94 ca 05 	call	0xb94	; 0xb94 <bom_refresh>
-     23c:	84 e6       	ldi	r24, 0x64	; 100
-     23e:	90 e0       	ldi	r25, 0x00	; 0
-     240:	0e 94 7b 10 	call	0x20f6	; 0x20f6 <delay_ms>
-     244:	64 01       	movw	r12, r8
-     246:	74 01       	movw	r14, r8
-     248:	00 e0       	ldi	r16, 0x00	; 0
-     24a:	10 e0       	ldi	r17, 0x00	; 0
-     24c:	c8 01       	movw	r24, r16
-     24e:	0e 94 01 05 	call	0xa02	; 0xa02 <bom_get>
-     252:	f7 01       	movw	r30, r14
-     254:	91 83       	std	Z+1, r25	; 0x01
-     256:	80 83       	st	Z, r24
-     258:	a8 16       	cp	r10, r24
-     25a:	b9 06       	cpc	r11, r25
-     25c:	0c f4       	brge	.+2      	; 0x260 <main+0x90>
-     25e:	5c 01       	movw	r10, r24
-     260:	0f 5f       	subi	r16, 0xFF	; 255
-     262:	1f 4f       	sbci	r17, 0xFF	; 255
-     264:	82 e0       	ldi	r24, 0x02	; 2
-     266:	90 e0       	ldi	r25, 0x00	; 0
-     268:	e8 0e       	add	r14, r24
-     26a:	f9 1e       	adc	r15, r25
-     26c:	00 31       	cpi	r16, 0x10	; 16
-     26e:	11 05       	cpc	r17, r1
-     270:	69 f7       	brne	.-38     	; 0x24c <main+0x7c>
-     272:	f6 01       	movw	r30, r12
-     274:	00 81       	ld	r16, Z
-     276:	11 81       	ldd	r17, Z+1	; 0x01
-     278:	c8 01       	movw	r24, r16
-     27a:	0e 94 ac 0f 	call	0x1f58	; 0x1f58 <usb_puti>
-     27e:	89 e0       	ldi	r24, 0x09	; 9
-     280:	0e 94 5e 0f 	call	0x1ebc	; 0x1ebc <usb_putc>
-     284:	c5 01       	movw	r24, r10
-     286:	80 1b       	sub	r24, r16
-     288:	91 0b       	sbc	r25, r17
-     28a:	65 e0       	ldi	r22, 0x05	; 5
-     28c:	70 e0       	ldi	r23, 0x00	; 0
-     28e:	0e 94 0f 14 	call	0x281e	; 0x281e <__divmodhi4>
-     292:	8b 01       	movw	r16, r22
-     294:	ee 24       	eor	r14, r14
-     296:	ff 24       	eor	r15, r15
-     298:	06 c0       	rjmp	.+12     	; 0x2a6 <main+0xd6>
-     29a:	83 e2       	ldi	r24, 0x23	; 35
-     29c:	0e 94 5e 0f 	call	0x1ebc	; 0x1ebc <usb_putc>
-     2a0:	08 94       	sec
-     2a2:	e1 1c       	adc	r14, r1
-     2a4:	f1 1c       	adc	r15, r1
-     2a6:	e0 16       	cp	r14, r16
-     2a8:	f1 06       	cpc	r15, r17
-     2aa:	bc f3       	brlt	.-18     	; 0x29a <main+0xca>
-     2ac:	80 e0       	ldi	r24, 0x00	; 0
-     2ae:	91 e0       	ldi	r25, 0x01	; 1
-     2b0:	0e 94 a0 0f 	call	0x1f40	; 0x1f40 <usb_puts>
-     2b4:	82 e0       	ldi	r24, 0x02	; 2
-     2b6:	90 e0       	ldi	r25, 0x00	; 0
-     2b8:	c8 0e       	add	r12, r24
-     2ba:	d9 1e       	adc	r13, r25
-     2bc:	c6 14       	cp	r12, r6
-     2be:	d7 04       	cpc	r13, r7
-     2c0:	c1 f6       	brne	.-80     	; 0x272 <main+0xa2>
-     2c2:	83 e0       	ldi	r24, 0x03	; 3
-     2c4:	91 e0       	ldi	r25, 0x01	; 1
-     2c6:	0e 94 a0 0f 	call	0x1f40	; 0x1f40 <usb_puts>
-     2ca:	0e 94 09 05 	call	0xa12	; 0xa12 <bom_get_max>
-     2ce:	0e 94 ac 0f 	call	0x1f58	; 0x1f58 <usb_puti>
-     2d2:	80 e0       	ldi	r24, 0x00	; 0
-     2d4:	91 e0       	ldi	r25, 0x01	; 1
-     2d6:	0e 94 a0 0f 	call	0x1f40	; 0x1f40 <usb_puts>
-     2da:	8d e0       	ldi	r24, 0x0D	; 13
-     2dc:	0e 94 5e 0f 	call	0x1ebc	; 0x1ebc <usb_putc>
-     2e0:	8a e0       	ldi	r24, 0x0A	; 10
-     2e2:	0e 94 5e 0f 	call	0x1ebc	; 0x1ebc <usb_putc>
-     2e6:	80 e9       	ldi	r24, 0x90	; 144
-     2e8:	91 e0       	ldi	r25, 0x01	; 1
-     2ea:	0e 94 7b 10 	call	0x20f6	; 0x20f6 <delay_ms>
-     2ee:	a2 cf       	rjmp	.-188    	; 0x234 <main+0x64>
-
-000002f0 <vfprintf>:
-     2f0:	a1 e1       	ldi	r26, 0x11	; 17
-     2f2:	b0 e0       	ldi	r27, 0x00	; 0
-     2f4:	ee e7       	ldi	r30, 0x7E	; 126
-     2f6:	f1 e0       	ldi	r31, 0x01	; 1
-     2f8:	0c 94 3d 14 	jmp	0x287a	; 0x287a <__prologue_saves__>
-     2fc:	3c 01       	movw	r6, r24
-     2fe:	7f 87       	std	Y+15, r23	; 0x0f
-     300:	6e 87       	std	Y+14, r22	; 0x0e
-     302:	6a 01       	movw	r12, r20
-     304:	fc 01       	movw	r30, r24
-     306:	17 82       	std	Z+7, r1	; 0x07
-     308:	16 82       	std	Z+6, r1	; 0x06
-     30a:	83 81       	ldd	r24, Z+3	; 0x03
-     30c:	81 fd       	sbrc	r24, 1
-     30e:	03 c0       	rjmp	.+6      	; 0x316 <vfprintf+0x26>
-     310:	6f ef       	ldi	r22, 0xFF	; 255
-     312:	7f ef       	ldi	r23, 0xFF	; 255
-     314:	71 c3       	rjmp	.+1762   	; 0x9f8 <vfprintf+0x708>
-     316:	9e 01       	movw	r18, r28
-     318:	2f 5f       	subi	r18, 0xFF	; 255
-     31a:	3f 4f       	sbci	r19, 0xFF	; 255
-     31c:	39 8b       	std	Y+17, r19	; 0x11
-     31e:	28 8b       	std	Y+16, r18	; 0x10
-     320:	f3 01       	movw	r30, r6
-     322:	23 81       	ldd	r18, Z+3	; 0x03
-     324:	ee 85       	ldd	r30, Y+14	; 0x0e
-     326:	ff 85       	ldd	r31, Y+15	; 0x0f
-     328:	23 fd       	sbrc	r18, 3
-     32a:	85 91       	lpm	r24, Z+
-     32c:	23 ff       	sbrs	r18, 3
-     32e:	81 91       	ld	r24, Z+
-     330:	ff 87       	std	Y+15, r31	; 0x0f
-     332:	ee 87       	std	Y+14, r30	; 0x0e
-     334:	88 23       	and	r24, r24
-     336:	09 f4       	brne	.+2      	; 0x33a <vfprintf+0x4a>
-     338:	5c c3       	rjmp	.+1720   	; 0x9f2 <vfprintf+0x702>
-     33a:	85 32       	cpi	r24, 0x25	; 37
-     33c:	51 f4       	brne	.+20     	; 0x352 <vfprintf+0x62>
-     33e:	ee 85       	ldd	r30, Y+14	; 0x0e
-     340:	ff 85       	ldd	r31, Y+15	; 0x0f
-     342:	23 fd       	sbrc	r18, 3
-     344:	85 91       	lpm	r24, Z+
-     346:	23 ff       	sbrs	r18, 3
-     348:	81 91       	ld	r24, Z+
-     34a:	ff 87       	std	Y+15, r31	; 0x0f
-     34c:	ee 87       	std	Y+14, r30	; 0x0e
-     34e:	85 32       	cpi	r24, 0x25	; 37
-     350:	29 f4       	brne	.+10     	; 0x35c <vfprintf+0x6c>
-     352:	90 e0       	ldi	r25, 0x00	; 0
-     354:	b3 01       	movw	r22, r6
-     356:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     35a:	e2 cf       	rjmp	.-60     	; 0x320 <vfprintf+0x30>
-     35c:	98 2f       	mov	r25, r24
-     35e:	10 e0       	ldi	r17, 0x00	; 0
-     360:	88 24       	eor	r8, r8
-     362:	99 24       	eor	r9, r9
-     364:	10 32       	cpi	r17, 0x20	; 32
-     366:	b0 f4       	brcc	.+44     	; 0x394 <vfprintf+0xa4>
-     368:	9b 32       	cpi	r25, 0x2B	; 43
-     36a:	69 f0       	breq	.+26     	; 0x386 <vfprintf+0x96>
-     36c:	9c 32       	cpi	r25, 0x2C	; 44
-     36e:	28 f4       	brcc	.+10     	; 0x37a <vfprintf+0x8a>
-     370:	90 32       	cpi	r25, 0x20	; 32
-     372:	51 f0       	breq	.+20     	; 0x388 <vfprintf+0x98>
-     374:	93 32       	cpi	r25, 0x23	; 35
-     376:	71 f4       	brne	.+28     	; 0x394 <vfprintf+0xa4>
-     378:	0b c0       	rjmp	.+22     	; 0x390 <vfprintf+0xa0>
-     37a:	9d 32       	cpi	r25, 0x2D	; 45
-     37c:	39 f0       	breq	.+14     	; 0x38c <vfprintf+0x9c>
-     37e:	90 33       	cpi	r25, 0x30	; 48
-     380:	49 f4       	brne	.+18     	; 0x394 <vfprintf+0xa4>
-     382:	11 60       	ori	r17, 0x01	; 1
-     384:	28 c0       	rjmp	.+80     	; 0x3d6 <vfprintf+0xe6>
-     386:	12 60       	ori	r17, 0x02	; 2
-     388:	14 60       	ori	r17, 0x04	; 4
-     38a:	25 c0       	rjmp	.+74     	; 0x3d6 <vfprintf+0xe6>
-     38c:	18 60       	ori	r17, 0x08	; 8
-     38e:	23 c0       	rjmp	.+70     	; 0x3d6 <vfprintf+0xe6>
-     390:	10 61       	ori	r17, 0x10	; 16
-     392:	21 c0       	rjmp	.+66     	; 0x3d6 <vfprintf+0xe6>
-     394:	17 fd       	sbrc	r17, 7
-     396:	2a c0       	rjmp	.+84     	; 0x3ec <vfprintf+0xfc>
-     398:	89 2f       	mov	r24, r25
-     39a:	80 53       	subi	r24, 0x30	; 48
-     39c:	8a 30       	cpi	r24, 0x0A	; 10
-     39e:	78 f4       	brcc	.+30     	; 0x3be <vfprintf+0xce>
-     3a0:	16 ff       	sbrs	r17, 6
-     3a2:	06 c0       	rjmp	.+12     	; 0x3b0 <vfprintf+0xc0>
-     3a4:	fa e0       	ldi	r31, 0x0A	; 10
-     3a6:	9f 9e       	mul	r9, r31
-     3a8:	90 2c       	mov	r9, r0
-     3aa:	11 24       	eor	r1, r1
-     3ac:	98 0e       	add	r9, r24
-     3ae:	13 c0       	rjmp	.+38     	; 0x3d6 <vfprintf+0xe6>
-     3b0:	3a e0       	ldi	r19, 0x0A	; 10
-     3b2:	83 9e       	mul	r8, r19
-     3b4:	80 2c       	mov	r8, r0
-     3b6:	11 24       	eor	r1, r1
-     3b8:	88 0e       	add	r8, r24
-     3ba:	10 62       	ori	r17, 0x20	; 32
-     3bc:	0c c0       	rjmp	.+24     	; 0x3d6 <vfprintf+0xe6>
-     3be:	9e 32       	cpi	r25, 0x2E	; 46
-     3c0:	21 f4       	brne	.+8      	; 0x3ca <vfprintf+0xda>
-     3c2:	16 fd       	sbrc	r17, 6
-     3c4:	16 c3       	rjmp	.+1580   	; 0x9f2 <vfprintf+0x702>
-     3c6:	10 64       	ori	r17, 0x40	; 64
-     3c8:	06 c0       	rjmp	.+12     	; 0x3d6 <vfprintf+0xe6>
-     3ca:	9c 36       	cpi	r25, 0x6C	; 108
-     3cc:	11 f4       	brne	.+4      	; 0x3d2 <vfprintf+0xe2>
-     3ce:	10 68       	ori	r17, 0x80	; 128
-     3d0:	02 c0       	rjmp	.+4      	; 0x3d6 <vfprintf+0xe6>
-     3d2:	98 36       	cpi	r25, 0x68	; 104
-     3d4:	59 f4       	brne	.+22     	; 0x3ec <vfprintf+0xfc>
-     3d6:	ee 85       	ldd	r30, Y+14	; 0x0e
-     3d8:	ff 85       	ldd	r31, Y+15	; 0x0f
-     3da:	23 fd       	sbrc	r18, 3
-     3dc:	95 91       	lpm	r25, Z+
-     3de:	23 ff       	sbrs	r18, 3
-     3e0:	91 91       	ld	r25, Z+
-     3e2:	ff 87       	std	Y+15, r31	; 0x0f
-     3e4:	ee 87       	std	Y+14, r30	; 0x0e
-     3e6:	99 23       	and	r25, r25
-     3e8:	09 f0       	breq	.+2      	; 0x3ec <vfprintf+0xfc>
-     3ea:	bc cf       	rjmp	.-136    	; 0x364 <vfprintf+0x74>
-     3ec:	89 2f       	mov	r24, r25
-     3ee:	85 54       	subi	r24, 0x45	; 69
-     3f0:	83 30       	cpi	r24, 0x03	; 3
-     3f2:	20 f4       	brcc	.+8      	; 0x3fc <vfprintf+0x10c>
-     3f4:	81 2f       	mov	r24, r17
-     3f6:	80 61       	ori	r24, 0x10	; 16
-     3f8:	90 5e       	subi	r25, 0xE0	; 224
-     3fa:	07 c0       	rjmp	.+14     	; 0x40a <vfprintf+0x11a>
-     3fc:	89 2f       	mov	r24, r25
-     3fe:	85 56       	subi	r24, 0x65	; 101
-     400:	83 30       	cpi	r24, 0x03	; 3
-     402:	08 f0       	brcs	.+2      	; 0x406 <vfprintf+0x116>
-     404:	a1 c1       	rjmp	.+834    	; 0x748 <vfprintf+0x458>
-     406:	81 2f       	mov	r24, r17
-     408:	8f 7e       	andi	r24, 0xEF	; 239
-     40a:	86 fd       	sbrc	r24, 6
-     40c:	02 c0       	rjmp	.+4      	; 0x412 <vfprintf+0x122>
-     40e:	76 e0       	ldi	r23, 0x06	; 6
-     410:	97 2e       	mov	r9, r23
-     412:	6f e3       	ldi	r22, 0x3F	; 63
-     414:	f6 2e       	mov	r15, r22
-     416:	f8 22       	and	r15, r24
-     418:	95 36       	cpi	r25, 0x65	; 101
-     41a:	19 f4       	brne	.+6      	; 0x422 <vfprintf+0x132>
-     41c:	f0 e4       	ldi	r31, 0x40	; 64
-     41e:	ff 2a       	or	r15, r31
-     420:	07 c0       	rjmp	.+14     	; 0x430 <vfprintf+0x140>
-     422:	96 36       	cpi	r25, 0x66	; 102
-     424:	19 f4       	brne	.+6      	; 0x42c <vfprintf+0x13c>
-     426:	20 e8       	ldi	r18, 0x80	; 128
-     428:	f2 2a       	or	r15, r18
-     42a:	02 c0       	rjmp	.+4      	; 0x430 <vfprintf+0x140>
-     42c:	91 10       	cpse	r9, r1
-     42e:	9a 94       	dec	r9
-     430:	f7 fe       	sbrs	r15, 7
-     432:	0b c0       	rjmp	.+22     	; 0x44a <vfprintf+0x15a>
-     434:	3b e3       	ldi	r19, 0x3B	; 59
-     436:	39 15       	cp	r19, r9
-     438:	20 f4       	brcc	.+8      	; 0x442 <vfprintf+0x152>
-     43a:	27 e0       	ldi	r18, 0x07	; 7
-     43c:	5c e3       	ldi	r21, 0x3C	; 60
-     43e:	b5 2e       	mov	r11, r21
-     440:	0e c0       	rjmp	.+28     	; 0x45e <vfprintf+0x16e>
-     442:	b9 2c       	mov	r11, r9
-     444:	b3 94       	inc	r11
-     446:	27 e0       	ldi	r18, 0x07	; 7
-     448:	0a c0       	rjmp	.+20     	; 0x45e <vfprintf+0x16e>
-     44a:	47 e0       	ldi	r20, 0x07	; 7
-     44c:	49 15       	cp	r20, r9
-     44e:	28 f4       	brcc	.+10     	; 0x45a <vfprintf+0x16a>
-     450:	27 e0       	ldi	r18, 0x07	; 7
-     452:	bb 24       	eor	r11, r11
-     454:	47 e0       	ldi	r20, 0x07	; 7
-     456:	94 2e       	mov	r9, r20
-     458:	02 c0       	rjmp	.+4      	; 0x45e <vfprintf+0x16e>
-     45a:	29 2d       	mov	r18, r9
-     45c:	bb 24       	eor	r11, r11
-     45e:	c6 01       	movw	r24, r12
-     460:	04 96       	adiw	r24, 0x04	; 4
-     462:	9d 87       	std	Y+13, r25	; 0x0d
-     464:	8c 87       	std	Y+12, r24	; 0x0c
-     466:	f6 01       	movw	r30, r12
-     468:	60 81       	ld	r22, Z
-     46a:	71 81       	ldd	r23, Z+1	; 0x01
-     46c:	82 81       	ldd	r24, Z+2	; 0x02
-     46e:	93 81       	ldd	r25, Z+3	; 0x03
-     470:	ae 01       	movw	r20, r28
-     472:	4f 5f       	subi	r20, 0xFF	; 255
-     474:	5f 4f       	sbci	r21, 0xFF	; 255
-     476:	0b 2d       	mov	r16, r11
-     478:	0e 94 8e 12 	call	0x251c	; 0x251c <__ftoa_engine>
-     47c:	6c 01       	movw	r12, r24
-     47e:	09 81       	ldd	r16, Y+1	; 0x01
-     480:	20 2e       	mov	r2, r16
-     482:	33 24       	eor	r3, r3
-     484:	00 ff       	sbrs	r16, 0
-     486:	04 c0       	rjmp	.+8      	; 0x490 <vfprintf+0x1a0>
-     488:	03 fd       	sbrc	r16, 3
-     48a:	02 c0       	rjmp	.+4      	; 0x490 <vfprintf+0x1a0>
-     48c:	1d e2       	ldi	r17, 0x2D	; 45
-     48e:	09 c0       	rjmp	.+18     	; 0x4a2 <vfprintf+0x1b2>
-     490:	f1 fe       	sbrs	r15, 1
-     492:	02 c0       	rjmp	.+4      	; 0x498 <vfprintf+0x1a8>
-     494:	1b e2       	ldi	r17, 0x2B	; 43
-     496:	05 c0       	rjmp	.+10     	; 0x4a2 <vfprintf+0x1b2>
-     498:	f2 fc       	sbrc	r15, 2
-     49a:	02 c0       	rjmp	.+4      	; 0x4a0 <vfprintf+0x1b0>
-     49c:	10 e0       	ldi	r17, 0x00	; 0
-     49e:	01 c0       	rjmp	.+2      	; 0x4a2 <vfprintf+0x1b2>
-     4a0:	10 e2       	ldi	r17, 0x20	; 32
-     4a2:	c1 01       	movw	r24, r2
-     4a4:	8c 70       	andi	r24, 0x0C	; 12
-     4a6:	90 70       	andi	r25, 0x00	; 0
-     4a8:	89 2b       	or	r24, r25
-     4aa:	b9 f1       	breq	.+110    	; 0x51a <vfprintf+0x22a>
-     4ac:	11 23       	and	r17, r17
-     4ae:	11 f4       	brne	.+4      	; 0x4b4 <vfprintf+0x1c4>
-     4b0:	83 e0       	ldi	r24, 0x03	; 3
-     4b2:	01 c0       	rjmp	.+2      	; 0x4b6 <vfprintf+0x1c6>
-     4b4:	84 e0       	ldi	r24, 0x04	; 4
-     4b6:	88 15       	cp	r24, r8
-     4b8:	10 f0       	brcs	.+4      	; 0x4be <vfprintf+0x1ce>
-     4ba:	88 24       	eor	r8, r8
-     4bc:	0a c0       	rjmp	.+20     	; 0x4d2 <vfprintf+0x1e2>
-     4be:	88 1a       	sub	r8, r24
-     4c0:	f3 fc       	sbrc	r15, 3
-     4c2:	07 c0       	rjmp	.+14     	; 0x4d2 <vfprintf+0x1e2>
-     4c4:	80 e2       	ldi	r24, 0x20	; 32
-     4c6:	90 e0       	ldi	r25, 0x00	; 0
-     4c8:	b3 01       	movw	r22, r6
-     4ca:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     4ce:	8a 94       	dec	r8
-     4d0:	c9 f7       	brne	.-14     	; 0x4c4 <vfprintf+0x1d4>
-     4d2:	11 23       	and	r17, r17
-     4d4:	29 f0       	breq	.+10     	; 0x4e0 <vfprintf+0x1f0>
-     4d6:	81 2f       	mov	r24, r17
-     4d8:	90 e0       	ldi	r25, 0x00	; 0
-     4da:	b3 01       	movw	r22, r6
-     4dc:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     4e0:	23 fe       	sbrs	r2, 3
-     4e2:	03 c0       	rjmp	.+6      	; 0x4ea <vfprintf+0x1fa>
-     4e4:	0c e8       	ldi	r16, 0x8C	; 140
-     4e6:	10 e0       	ldi	r17, 0x00	; 0
-     4e8:	0e c0       	rjmp	.+28     	; 0x506 <vfprintf+0x216>
-     4ea:	00 e9       	ldi	r16, 0x90	; 144
-     4ec:	10 e0       	ldi	r17, 0x00	; 0
-     4ee:	0b c0       	rjmp	.+22     	; 0x506 <vfprintf+0x216>
-     4f0:	e1 14       	cp	r14, r1
-     4f2:	f1 04       	cpc	r15, r1
-     4f4:	09 f0       	breq	.+2      	; 0x4f8 <vfprintf+0x208>
-     4f6:	80 52       	subi	r24, 0x20	; 32
-     4f8:	90 e0       	ldi	r25, 0x00	; 0
-     4fa:	b3 01       	movw	r22, r6
-     4fc:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     500:	0f 5f       	subi	r16, 0xFF	; 255
-     502:	1f 4f       	sbci	r17, 0xFF	; 255
-     504:	05 c0       	rjmp	.+10     	; 0x510 <vfprintf+0x220>
-     506:	ef 2c       	mov	r14, r15
-     508:	ff 24       	eor	r15, r15
-     50a:	f0 e1       	ldi	r31, 0x10	; 16
-     50c:	ef 22       	and	r14, r31
-     50e:	ff 24       	eor	r15, r15
-     510:	f8 01       	movw	r30, r16
-     512:	84 91       	lpm	r24, Z+
-     514:	88 23       	and	r24, r24
-     516:	61 f7       	brne	.-40     	; 0x4f0 <vfprintf+0x200>
-     518:	14 c1       	rjmp	.+552    	; 0x742 <vfprintf+0x452>
-     51a:	f7 fe       	sbrs	r15, 7
-     51c:	12 c0       	rjmp	.+36     	; 0x542 <vfprintf+0x252>
-     51e:	bc 0c       	add	r11, r12
-     520:	24 fe       	sbrs	r2, 4
-     522:	04 c0       	rjmp	.+8      	; 0x52c <vfprintf+0x23c>
-     524:	8a 81       	ldd	r24, Y+2	; 0x02
-     526:	81 33       	cpi	r24, 0x31	; 49
-     528:	09 f4       	brne	.+2      	; 0x52c <vfprintf+0x23c>
-     52a:	ba 94       	dec	r11
-     52c:	1b 14       	cp	r1, r11
-     52e:	1c f0       	brlt	.+6      	; 0x536 <vfprintf+0x246>
-     530:	bb 24       	eor	r11, r11
-     532:	b3 94       	inc	r11
-     534:	2d c0       	rjmp	.+90     	; 0x590 <vfprintf+0x2a0>
-     536:	f8 e0       	ldi	r31, 0x08	; 8
-     538:	fb 15       	cp	r31, r11
-     53a:	50 f5       	brcc	.+84     	; 0x590 <vfprintf+0x2a0>
-     53c:	38 e0       	ldi	r19, 0x08	; 8
-     53e:	b3 2e       	mov	r11, r19
-     540:	27 c0       	rjmp	.+78     	; 0x590 <vfprintf+0x2a0>
-     542:	f6 fc       	sbrc	r15, 6
-     544:	25 c0       	rjmp	.+74     	; 0x590 <vfprintf+0x2a0>
-     546:	89 2d       	mov	r24, r9
-     548:	90 e0       	ldi	r25, 0x00	; 0
-     54a:	8c 15       	cp	r24, r12
-     54c:	9d 05       	cpc	r25, r13
-     54e:	4c f0       	brlt	.+18     	; 0x562 <vfprintf+0x272>
-     550:	2c ef       	ldi	r18, 0xFC	; 252
-     552:	c2 16       	cp	r12, r18
-     554:	2f ef       	ldi	r18, 0xFF	; 255
-     556:	d2 06       	cpc	r13, r18
-     558:	24 f0       	brlt	.+8      	; 0x562 <vfprintf+0x272>
-     55a:	30 e8       	ldi	r19, 0x80	; 128
-     55c:	f3 2a       	or	r15, r19
-     55e:	01 c0       	rjmp	.+2      	; 0x562 <vfprintf+0x272>
-     560:	9a 94       	dec	r9
-     562:	99 20       	and	r9, r9
-     564:	49 f0       	breq	.+18     	; 0x578 <vfprintf+0x288>
-     566:	e2 e0       	ldi	r30, 0x02	; 2
-     568:	f0 e0       	ldi	r31, 0x00	; 0
-     56a:	ec 0f       	add	r30, r28
-     56c:	fd 1f       	adc	r31, r29
-     56e:	e9 0d       	add	r30, r9
-     570:	f1 1d       	adc	r31, r1
-     572:	80 81       	ld	r24, Z
-     574:	80 33       	cpi	r24, 0x30	; 48
-     576:	a1 f3       	breq	.-24     	; 0x560 <vfprintf+0x270>
-     578:	f7 fe       	sbrs	r15, 7
-     57a:	0a c0       	rjmp	.+20     	; 0x590 <vfprintf+0x2a0>
-     57c:	b9 2c       	mov	r11, r9
-     57e:	b3 94       	inc	r11
-     580:	89 2d       	mov	r24, r9
-     582:	90 e0       	ldi	r25, 0x00	; 0
-     584:	c8 16       	cp	r12, r24
-     586:	d9 06       	cpc	r13, r25
-     588:	14 f0       	brlt	.+4      	; 0x58e <vfprintf+0x29e>
-     58a:	99 24       	eor	r9, r9
-     58c:	01 c0       	rjmp	.+2      	; 0x590 <vfprintf+0x2a0>
-     58e:	9c 18       	sub	r9, r12
-     590:	f7 fc       	sbrc	r15, 7
-     592:	03 c0       	rjmp	.+6      	; 0x59a <vfprintf+0x2aa>
-     594:	25 e0       	ldi	r18, 0x05	; 5
-     596:	30 e0       	ldi	r19, 0x00	; 0
-     598:	09 c0       	rjmp	.+18     	; 0x5ac <vfprintf+0x2bc>
-     59a:	1c 14       	cp	r1, r12
-     59c:	1d 04       	cpc	r1, r13
-     59e:	1c f0       	brlt	.+6      	; 0x5a6 <vfprintf+0x2b6>
-     5a0:	21 e0       	ldi	r18, 0x01	; 1
-     5a2:	30 e0       	ldi	r19, 0x00	; 0
-     5a4:	03 c0       	rjmp	.+6      	; 0x5ac <vfprintf+0x2bc>
-     5a6:	96 01       	movw	r18, r12
-     5a8:	2f 5f       	subi	r18, 0xFF	; 255
-     5aa:	3f 4f       	sbci	r19, 0xFF	; 255
-     5ac:	11 23       	and	r17, r17
-     5ae:	11 f0       	breq	.+4      	; 0x5b4 <vfprintf+0x2c4>
-     5b0:	2f 5f       	subi	r18, 0xFF	; 255
-     5b2:	3f 4f       	sbci	r19, 0xFF	; 255
-     5b4:	99 20       	and	r9, r9
-     5b6:	29 f0       	breq	.+10     	; 0x5c2 <vfprintf+0x2d2>
-     5b8:	89 2d       	mov	r24, r9
-     5ba:	90 e0       	ldi	r25, 0x00	; 0
-     5bc:	01 96       	adiw	r24, 0x01	; 1
-     5be:	28 0f       	add	r18, r24
-     5c0:	39 1f       	adc	r19, r25
-     5c2:	88 2d       	mov	r24, r8
-     5c4:	90 e0       	ldi	r25, 0x00	; 0
-     5c6:	28 17       	cp	r18, r24
-     5c8:	39 07       	cpc	r19, r25
-     5ca:	14 f0       	brlt	.+4      	; 0x5d0 <vfprintf+0x2e0>
-     5cc:	88 24       	eor	r8, r8
-     5ce:	01 c0       	rjmp	.+2      	; 0x5d2 <vfprintf+0x2e2>
-     5d0:	82 1a       	sub	r8, r18
-     5d2:	4f 2c       	mov	r4, r15
-     5d4:	55 24       	eor	r5, r5
-     5d6:	c2 01       	movw	r24, r4
-     5d8:	89 70       	andi	r24, 0x09	; 9
-     5da:	90 70       	andi	r25, 0x00	; 0
-     5dc:	89 2b       	or	r24, r25
-     5de:	39 f0       	breq	.+14     	; 0x5ee <vfprintf+0x2fe>
-     5e0:	08 c0       	rjmp	.+16     	; 0x5f2 <vfprintf+0x302>
-     5e2:	80 e2       	ldi	r24, 0x20	; 32
-     5e4:	90 e0       	ldi	r25, 0x00	; 0
-     5e6:	b3 01       	movw	r22, r6
-     5e8:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     5ec:	8a 94       	dec	r8
-     5ee:	88 20       	and	r8, r8
-     5f0:	c1 f7       	brne	.-16     	; 0x5e2 <vfprintf+0x2f2>
-     5f2:	11 23       	and	r17, r17
-     5f4:	29 f0       	breq	.+10     	; 0x600 <vfprintf+0x310>
-     5f6:	81 2f       	mov	r24, r17
-     5f8:	90 e0       	ldi	r25, 0x00	; 0
-     5fa:	b3 01       	movw	r22, r6
-     5fc:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     600:	43 fe       	sbrs	r4, 3
-     602:	07 c0       	rjmp	.+14     	; 0x612 <vfprintf+0x322>
-     604:	08 c0       	rjmp	.+16     	; 0x616 <vfprintf+0x326>
-     606:	80 e3       	ldi	r24, 0x30	; 48
-     608:	90 e0       	ldi	r25, 0x00	; 0
-     60a:	b3 01       	movw	r22, r6
-     60c:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     610:	8a 94       	dec	r8
-     612:	88 20       	and	r8, r8
-     614:	c1 f7       	brne	.-16     	; 0x606 <vfprintf+0x316>
-     616:	f7 fe       	sbrs	r15, 7
-     618:	46 c0       	rjmp	.+140    	; 0x6a6 <vfprintf+0x3b6>
-     61a:	86 01       	movw	r16, r12
-     61c:	d7 fe       	sbrs	r13, 7
-     61e:	02 c0       	rjmp	.+4      	; 0x624 <vfprintf+0x334>
-     620:	00 e0       	ldi	r16, 0x00	; 0
-     622:	10 e0       	ldi	r17, 0x00	; 0
-     624:	76 01       	movw	r14, r12
-     626:	08 94       	sec
-     628:	e1 1c       	adc	r14, r1
-     62a:	f1 1c       	adc	r15, r1
-     62c:	e0 1a       	sub	r14, r16
-     62e:	f1 0a       	sbc	r15, r17
-     630:	41 e0       	ldi	r20, 0x01	; 1
-     632:	50 e0       	ldi	r21, 0x00	; 0
-     634:	4c 0f       	add	r20, r28
-     636:	5d 1f       	adc	r21, r29
-     638:	e4 0e       	add	r14, r20
-     63a:	f5 1e       	adc	r15, r21
-     63c:	26 01       	movw	r4, r12
-     63e:	4b 18       	sub	r4, r11
-     640:	51 08       	sbc	r5, r1
-     642:	89 2d       	mov	r24, r9
-     644:	90 e0       	ldi	r25, 0x00	; 0
-     646:	aa 24       	eor	r10, r10
-     648:	bb 24       	eor	r11, r11
-     64a:	a8 1a       	sub	r10, r24
-     64c:	b9 0a       	sbc	r11, r25
-     64e:	5f ef       	ldi	r21, 0xFF	; 255
-     650:	0f 3f       	cpi	r16, 0xFF	; 255
-     652:	15 07       	cpc	r17, r21
-     654:	29 f4       	brne	.+10     	; 0x660 <vfprintf+0x370>
-     656:	8e e2       	ldi	r24, 0x2E	; 46
-     658:	90 e0       	ldi	r25, 0x00	; 0
-     65a:	b3 01       	movw	r22, r6
-     65c:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     660:	c0 16       	cp	r12, r16
-     662:	d1 06       	cpc	r13, r17
-     664:	34 f0       	brlt	.+12     	; 0x672 <vfprintf+0x382>
-     666:	40 16       	cp	r4, r16
-     668:	51 06       	cpc	r5, r17
-     66a:	1c f4       	brge	.+6      	; 0x672 <vfprintf+0x382>
-     66c:	f7 01       	movw	r30, r14
-     66e:	80 81       	ld	r24, Z
-     670:	01 c0       	rjmp	.+2      	; 0x674 <vfprintf+0x384>
-     672:	80 e3       	ldi	r24, 0x30	; 48
-     674:	01 50       	subi	r16, 0x01	; 1
-     676:	10 40       	sbci	r17, 0x00	; 0
-     678:	08 94       	sec
-     67a:	e1 1c       	adc	r14, r1
-     67c:	f1 1c       	adc	r15, r1
-     67e:	0a 15       	cp	r16, r10
-     680:	1b 05       	cpc	r17, r11
-     682:	2c f0       	brlt	.+10     	; 0x68e <vfprintf+0x39e>
-     684:	90 e0       	ldi	r25, 0x00	; 0
-     686:	b3 01       	movw	r22, r6
-     688:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     68c:	e0 cf       	rjmp	.-64     	; 0x64e <vfprintf+0x35e>
-     68e:	0c 15       	cp	r16, r12
-     690:	1d 05       	cpc	r17, r13
-     692:	39 f4       	brne	.+14     	; 0x6a2 <vfprintf+0x3b2>
-     694:	9a 81       	ldd	r25, Y+2	; 0x02
-     696:	96 33       	cpi	r25, 0x36	; 54
-     698:	18 f4       	brcc	.+6      	; 0x6a0 <vfprintf+0x3b0>
-     69a:	95 33       	cpi	r25, 0x35	; 53
-     69c:	11 f4       	brne	.+4      	; 0x6a2 <vfprintf+0x3b2>
-     69e:	24 fe       	sbrs	r2, 4
-     6a0:	81 e3       	ldi	r24, 0x31	; 49
-     6a2:	90 e0       	ldi	r25, 0x00	; 0
-     6a4:	4b c0       	rjmp	.+150    	; 0x73c <vfprintf+0x44c>
-     6a6:	8a 81       	ldd	r24, Y+2	; 0x02
-     6a8:	81 33       	cpi	r24, 0x31	; 49
-     6aa:	09 f0       	breq	.+2      	; 0x6ae <vfprintf+0x3be>
-     6ac:	0f 7e       	andi	r16, 0xEF	; 239
-     6ae:	90 e0       	ldi	r25, 0x00	; 0
-     6b0:	b3 01       	movw	r22, r6
-     6b2:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     6b6:	99 20       	and	r9, r9
-     6b8:	a1 f0       	breq	.+40     	; 0x6e2 <vfprintf+0x3f2>
-     6ba:	8e e2       	ldi	r24, 0x2E	; 46
-     6bc:	90 e0       	ldi	r25, 0x00	; 0
-     6be:	b3 01       	movw	r22, r6
-     6c0:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     6c4:	12 e0       	ldi	r17, 0x02	; 2
-     6c6:	e1 e0       	ldi	r30, 0x01	; 1
-     6c8:	f0 e0       	ldi	r31, 0x00	; 0
-     6ca:	ec 0f       	add	r30, r28
-     6cc:	fd 1f       	adc	r31, r29
-     6ce:	e1 0f       	add	r30, r17
-     6d0:	f1 1d       	adc	r31, r1
-     6d2:	1f 5f       	subi	r17, 0xFF	; 255
-     6d4:	80 81       	ld	r24, Z
-     6d6:	90 e0       	ldi	r25, 0x00	; 0
-     6d8:	b3 01       	movw	r22, r6
-     6da:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     6de:	9a 94       	dec	r9
-     6e0:	91 f7       	brne	.-28     	; 0x6c6 <vfprintf+0x3d6>
-     6e2:	44 fc       	sbrc	r4, 4
-     6e4:	03 c0       	rjmp	.+6      	; 0x6ec <vfprintf+0x3fc>
-     6e6:	85 e6       	ldi	r24, 0x65	; 101
-     6e8:	90 e0       	ldi	r25, 0x00	; 0
-     6ea:	02 c0       	rjmp	.+4      	; 0x6f0 <vfprintf+0x400>
-     6ec:	85 e4       	ldi	r24, 0x45	; 69
-     6ee:	90 e0       	ldi	r25, 0x00	; 0
-     6f0:	b3 01       	movw	r22, r6
-     6f2:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     6f6:	d7 fc       	sbrc	r13, 7
-     6f8:	05 c0       	rjmp	.+10     	; 0x704 <vfprintf+0x414>
-     6fa:	c1 14       	cp	r12, r1
-     6fc:	d1 04       	cpc	r13, r1
-     6fe:	41 f4       	brne	.+16     	; 0x710 <vfprintf+0x420>
-     700:	04 ff       	sbrs	r16, 4
-     702:	06 c0       	rjmp	.+12     	; 0x710 <vfprintf+0x420>
-     704:	d0 94       	com	r13
-     706:	c1 94       	neg	r12
-     708:	d1 08       	sbc	r13, r1
-     70a:	d3 94       	inc	r13
-     70c:	8d e2       	ldi	r24, 0x2D	; 45
-     70e:	01 c0       	rjmp	.+2      	; 0x712 <vfprintf+0x422>
-     710:	8b e2       	ldi	r24, 0x2B	; 43
-     712:	90 e0       	ldi	r25, 0x00	; 0
-     714:	b3 01       	movw	r22, r6
-     716:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     71a:	80 e3       	ldi	r24, 0x30	; 48
-     71c:	05 c0       	rjmp	.+10     	; 0x728 <vfprintf+0x438>
-     71e:	8f 5f       	subi	r24, 0xFF	; 255
-     720:	26 ef       	ldi	r18, 0xF6	; 246
-     722:	3f ef       	ldi	r19, 0xFF	; 255
-     724:	c2 0e       	add	r12, r18
-     726:	d3 1e       	adc	r13, r19
-     728:	3a e0       	ldi	r19, 0x0A	; 10
-     72a:	c3 16       	cp	r12, r19
-     72c:	d1 04       	cpc	r13, r1
-     72e:	bc f7       	brge	.-18     	; 0x71e <vfprintf+0x42e>
-     730:	90 e0       	ldi	r25, 0x00	; 0
-     732:	b3 01       	movw	r22, r6
-     734:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     738:	c6 01       	movw	r24, r12
-     73a:	c0 96       	adiw	r24, 0x30	; 48
-     73c:	b3 01       	movw	r22, r6
-     73e:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     742:	cc 84       	ldd	r12, Y+12	; 0x0c
-     744:	dd 84       	ldd	r13, Y+13	; 0x0d
-     746:	52 c1       	rjmp	.+676    	; 0x9ec <vfprintf+0x6fc>
-     748:	93 36       	cpi	r25, 0x63	; 99
-     74a:	31 f0       	breq	.+12     	; 0x758 <vfprintf+0x468>
-     74c:	93 37       	cpi	r25, 0x73	; 115
-     74e:	99 f0       	breq	.+38     	; 0x776 <vfprintf+0x486>
-     750:	93 35       	cpi	r25, 0x53	; 83
-     752:	09 f0       	breq	.+2      	; 0x756 <vfprintf+0x466>
-     754:	59 c0       	rjmp	.+178    	; 0x808 <vfprintf+0x518>
-     756:	23 c0       	rjmp	.+70     	; 0x79e <vfprintf+0x4ae>
-     758:	f6 01       	movw	r30, r12
-     75a:	80 81       	ld	r24, Z
-     75c:	89 83       	std	Y+1, r24	; 0x01
-     75e:	5e 01       	movw	r10, r28
-     760:	08 94       	sec
-     762:	a1 1c       	adc	r10, r1
-     764:	b1 1c       	adc	r11, r1
-     766:	22 e0       	ldi	r18, 0x02	; 2
-     768:	30 e0       	ldi	r19, 0x00	; 0
-     76a:	c2 0e       	add	r12, r18
-     76c:	d3 1e       	adc	r13, r19
-     76e:	21 e0       	ldi	r18, 0x01	; 1
-     770:	e2 2e       	mov	r14, r18
-     772:	f1 2c       	mov	r15, r1
-     774:	12 c0       	rjmp	.+36     	; 0x79a <vfprintf+0x4aa>
-     776:	f6 01       	movw	r30, r12
-     778:	a0 80       	ld	r10, Z
-     77a:	b1 80       	ldd	r11, Z+1	; 0x01
-     77c:	16 fd       	sbrc	r17, 6
-     77e:	03 c0       	rjmp	.+6      	; 0x786 <vfprintf+0x496>
-     780:	6f ef       	ldi	r22, 0xFF	; 255
-     782:	7f ef       	ldi	r23, 0xFF	; 255
-     784:	02 c0       	rjmp	.+4      	; 0x78a <vfprintf+0x49a>
-     786:	69 2d       	mov	r22, r9
-     788:	70 e0       	ldi	r23, 0x00	; 0
-     78a:	22 e0       	ldi	r18, 0x02	; 2
-     78c:	30 e0       	ldi	r19, 0x00	; 0
-     78e:	c2 0e       	add	r12, r18
-     790:	d3 1e       	adc	r13, r19
-     792:	c5 01       	movw	r24, r10
-     794:	0e 94 7a 13 	call	0x26f4	; 0x26f4 <strnlen>
-     798:	7c 01       	movw	r14, r24
-     79a:	1f 77       	andi	r17, 0x7F	; 127
-     79c:	13 c0       	rjmp	.+38     	; 0x7c4 <vfprintf+0x4d4>
-     79e:	f6 01       	movw	r30, r12
-     7a0:	a0 80       	ld	r10, Z
-     7a2:	b1 80       	ldd	r11, Z+1	; 0x01
-     7a4:	16 fd       	sbrc	r17, 6
-     7a6:	03 c0       	rjmp	.+6      	; 0x7ae <vfprintf+0x4be>
-     7a8:	6f ef       	ldi	r22, 0xFF	; 255
-     7aa:	7f ef       	ldi	r23, 0xFF	; 255
-     7ac:	02 c0       	rjmp	.+4      	; 0x7b2 <vfprintf+0x4c2>
-     7ae:	69 2d       	mov	r22, r9
-     7b0:	70 e0       	ldi	r23, 0x00	; 0
-     7b2:	22 e0       	ldi	r18, 0x02	; 2
-     7b4:	30 e0       	ldi	r19, 0x00	; 0
-     7b6:	c2 0e       	add	r12, r18
-     7b8:	d3 1e       	adc	r13, r19
-     7ba:	c5 01       	movw	r24, r10
-     7bc:	0e 94 6f 13 	call	0x26de	; 0x26de <strnlen_P>
-     7c0:	7c 01       	movw	r14, r24
-     7c2:	10 68       	ori	r17, 0x80	; 128
-     7c4:	13 ff       	sbrs	r17, 3
-     7c6:	07 c0       	rjmp	.+14     	; 0x7d6 <vfprintf+0x4e6>
-     7c8:	1b c0       	rjmp	.+54     	; 0x800 <vfprintf+0x510>
-     7ca:	80 e2       	ldi	r24, 0x20	; 32
-     7cc:	90 e0       	ldi	r25, 0x00	; 0
-     7ce:	b3 01       	movw	r22, r6
-     7d0:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     7d4:	8a 94       	dec	r8
-     7d6:	88 2d       	mov	r24, r8
-     7d8:	90 e0       	ldi	r25, 0x00	; 0
-     7da:	e8 16       	cp	r14, r24
-     7dc:	f9 06       	cpc	r15, r25
-     7de:	a8 f3       	brcs	.-22     	; 0x7ca <vfprintf+0x4da>
-     7e0:	0f c0       	rjmp	.+30     	; 0x800 <vfprintf+0x510>
-     7e2:	f5 01       	movw	r30, r10
-     7e4:	17 fd       	sbrc	r17, 7
-     7e6:	85 91       	lpm	r24, Z+
-     7e8:	17 ff       	sbrs	r17, 7
-     7ea:	81 91       	ld	r24, Z+
-     7ec:	5f 01       	movw	r10, r30
-     7ee:	90 e0       	ldi	r25, 0x00	; 0
-     7f0:	b3 01       	movw	r22, r6
-     7f2:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     7f6:	81 10       	cpse	r8, r1
-     7f8:	8a 94       	dec	r8
-     7fa:	08 94       	sec
-     7fc:	e1 08       	sbc	r14, r1
-     7fe:	f1 08       	sbc	r15, r1
-     800:	e1 14       	cp	r14, r1
-     802:	f1 04       	cpc	r15, r1
-     804:	71 f7       	brne	.-36     	; 0x7e2 <vfprintf+0x4f2>
-     806:	f2 c0       	rjmp	.+484    	; 0x9ec <vfprintf+0x6fc>
-     808:	94 36       	cpi	r25, 0x64	; 100
-     80a:	11 f0       	breq	.+4      	; 0x810 <vfprintf+0x520>
-     80c:	99 36       	cpi	r25, 0x69	; 105
-     80e:	89 f5       	brne	.+98     	; 0x872 <vfprintf+0x582>
-     810:	17 ff       	sbrs	r17, 7
-     812:	08 c0       	rjmp	.+16     	; 0x824 <vfprintf+0x534>
-     814:	f6 01       	movw	r30, r12
-     816:	20 81       	ld	r18, Z
-     818:	31 81       	ldd	r19, Z+1	; 0x01
-     81a:	42 81       	ldd	r20, Z+2	; 0x02
-     81c:	53 81       	ldd	r21, Z+3	; 0x03
-     81e:	84 e0       	ldi	r24, 0x04	; 4
-     820:	90 e0       	ldi	r25, 0x00	; 0
-     822:	0a c0       	rjmp	.+20     	; 0x838 <vfprintf+0x548>
-     824:	f6 01       	movw	r30, r12
-     826:	80 81       	ld	r24, Z
-     828:	91 81       	ldd	r25, Z+1	; 0x01
-     82a:	9c 01       	movw	r18, r24
-     82c:	44 27       	eor	r20, r20
-     82e:	37 fd       	sbrc	r19, 7
-     830:	40 95       	com	r20
-     832:	54 2f       	mov	r21, r20
-     834:	82 e0       	ldi	r24, 0x02	; 2
-     836:	90 e0       	ldi	r25, 0x00	; 0
-     838:	c8 0e       	add	r12, r24
-     83a:	d9 1e       	adc	r13, r25
-     83c:	9f e6       	ldi	r25, 0x6F	; 111
-     83e:	f9 2e       	mov	r15, r25
-     840:	f1 22       	and	r15, r17
-     842:	57 ff       	sbrs	r21, 7
-     844:	09 c0       	rjmp	.+18     	; 0x858 <vfprintf+0x568>
-     846:	50 95       	com	r21
-     848:	40 95       	com	r20
-     84a:	30 95       	com	r19
-     84c:	21 95       	neg	r18
-     84e:	3f 4f       	sbci	r19, 0xFF	; 255
-     850:	4f 4f       	sbci	r20, 0xFF	; 255
-     852:	5f 4f       	sbci	r21, 0xFF	; 255
-     854:	90 e8       	ldi	r25, 0x80	; 128
-     856:	f9 2a       	or	r15, r25
-     858:	ca 01       	movw	r24, r20
-     85a:	b9 01       	movw	r22, r18
-     85c:	ae 01       	movw	r20, r28
-     85e:	4f 5f       	subi	r20, 0xFF	; 255
-     860:	5f 4f       	sbci	r21, 0xFF	; 255
-     862:	2a e0       	ldi	r18, 0x0A	; 10
-     864:	30 e0       	ldi	r19, 0x00	; 0
-     866:	0e 94 b1 13 	call	0x2762	; 0x2762 <__ultoa_invert>
-     86a:	e8 2e       	mov	r14, r24
-     86c:	e8 89       	ldd	r30, Y+16	; 0x10
-     86e:	ee 1a       	sub	r14, r30
-     870:	41 c0       	rjmp	.+130    	; 0x8f4 <vfprintf+0x604>
-     872:	95 37       	cpi	r25, 0x75	; 117
-     874:	21 f4       	brne	.+8      	; 0x87e <vfprintf+0x58e>
-     876:	1f 7e       	andi	r17, 0xEF	; 239
-     878:	2a e0       	ldi	r18, 0x0A	; 10
-     87a:	30 e0       	ldi	r19, 0x00	; 0
-     87c:	1c c0       	rjmp	.+56     	; 0x8b6 <vfprintf+0x5c6>
-     87e:	19 7f       	andi	r17, 0xF9	; 249
-     880:	9f 36       	cpi	r25, 0x6F	; 111
-     882:	61 f0       	breq	.+24     	; 0x89c <vfprintf+0x5ac>
-     884:	90 37       	cpi	r25, 0x70	; 112
-     886:	20 f4       	brcc	.+8      	; 0x890 <vfprintf+0x5a0>
-     888:	98 35       	cpi	r25, 0x58	; 88
-     88a:	09 f0       	breq	.+2      	; 0x88e <vfprintf+0x59e>
-     88c:	b2 c0       	rjmp	.+356    	; 0x9f2 <vfprintf+0x702>
-     88e:	0f c0       	rjmp	.+30     	; 0x8ae <vfprintf+0x5be>
-     890:	90 37       	cpi	r25, 0x70	; 112
-     892:	39 f0       	breq	.+14     	; 0x8a2 <vfprintf+0x5b2>
-     894:	98 37       	cpi	r25, 0x78	; 120
-     896:	09 f0       	breq	.+2      	; 0x89a <vfprintf+0x5aa>
-     898:	ac c0       	rjmp	.+344    	; 0x9f2 <vfprintf+0x702>
-     89a:	04 c0       	rjmp	.+8      	; 0x8a4 <vfprintf+0x5b4>
-     89c:	28 e0       	ldi	r18, 0x08	; 8
-     89e:	30 e0       	ldi	r19, 0x00	; 0
-     8a0:	0a c0       	rjmp	.+20     	; 0x8b6 <vfprintf+0x5c6>
-     8a2:	10 61       	ori	r17, 0x10	; 16
-     8a4:	14 fd       	sbrc	r17, 4
-     8a6:	14 60       	ori	r17, 0x04	; 4
-     8a8:	20 e1       	ldi	r18, 0x10	; 16
-     8aa:	30 e0       	ldi	r19, 0x00	; 0
-     8ac:	04 c0       	rjmp	.+8      	; 0x8b6 <vfprintf+0x5c6>
-     8ae:	14 fd       	sbrc	r17, 4
-     8b0:	16 60       	ori	r17, 0x06	; 6
-     8b2:	20 e1       	ldi	r18, 0x10	; 16
-     8b4:	32 e0       	ldi	r19, 0x02	; 2
-     8b6:	17 ff       	sbrs	r17, 7
-     8b8:	08 c0       	rjmp	.+16     	; 0x8ca <vfprintf+0x5da>
-     8ba:	f6 01       	movw	r30, r12
-     8bc:	60 81       	ld	r22, Z
-     8be:	71 81       	ldd	r23, Z+1	; 0x01
-     8c0:	82 81       	ldd	r24, Z+2	; 0x02
-     8c2:	93 81       	ldd	r25, Z+3	; 0x03
-     8c4:	44 e0       	ldi	r20, 0x04	; 4
-     8c6:	50 e0       	ldi	r21, 0x00	; 0
-     8c8:	08 c0       	rjmp	.+16     	; 0x8da <vfprintf+0x5ea>
-     8ca:	f6 01       	movw	r30, r12
-     8cc:	80 81       	ld	r24, Z
-     8ce:	91 81       	ldd	r25, Z+1	; 0x01
-     8d0:	bc 01       	movw	r22, r24
-     8d2:	80 e0       	ldi	r24, 0x00	; 0
-     8d4:	90 e0       	ldi	r25, 0x00	; 0
-     8d6:	42 e0       	ldi	r20, 0x02	; 2
-     8d8:	50 e0       	ldi	r21, 0x00	; 0
-     8da:	c4 0e       	add	r12, r20
-     8dc:	d5 1e       	adc	r13, r21
-     8de:	ae 01       	movw	r20, r28
-     8e0:	4f 5f       	subi	r20, 0xFF	; 255
-     8e2:	5f 4f       	sbci	r21, 0xFF	; 255
-     8e4:	0e 94 b1 13 	call	0x2762	; 0x2762 <__ultoa_invert>
-     8e8:	e8 2e       	mov	r14, r24
-     8ea:	58 89       	ldd	r21, Y+16	; 0x10
-     8ec:	e5 1a       	sub	r14, r21
-     8ee:	8f e7       	ldi	r24, 0x7F	; 127
-     8f0:	f8 2e       	mov	r15, r24
-     8f2:	f1 22       	and	r15, r17
-     8f4:	f6 fe       	sbrs	r15, 6
-     8f6:	0b c0       	rjmp	.+22     	; 0x90e <vfprintf+0x61e>
-     8f8:	8e ef       	ldi	r24, 0xFE	; 254
-     8fa:	f8 22       	and	r15, r24
-     8fc:	e9 14       	cp	r14, r9
-     8fe:	38 f4       	brcc	.+14     	; 0x90e <vfprintf+0x61e>
-     900:	f4 fe       	sbrs	r15, 4
-     902:	07 c0       	rjmp	.+14     	; 0x912 <vfprintf+0x622>
-     904:	f2 fc       	sbrc	r15, 2
-     906:	05 c0       	rjmp	.+10     	; 0x912 <vfprintf+0x622>
-     908:	9f ee       	ldi	r25, 0xEF	; 239
-     90a:	f9 22       	and	r15, r25
-     90c:	02 c0       	rjmp	.+4      	; 0x912 <vfprintf+0x622>
-     90e:	1e 2d       	mov	r17, r14
-     910:	01 c0       	rjmp	.+2      	; 0x914 <vfprintf+0x624>
-     912:	19 2d       	mov	r17, r9
-     914:	f4 fe       	sbrs	r15, 4
-     916:	0d c0       	rjmp	.+26     	; 0x932 <vfprintf+0x642>
-     918:	fe 01       	movw	r30, r28
-     91a:	ee 0d       	add	r30, r14
-     91c:	f1 1d       	adc	r31, r1
-     91e:	80 81       	ld	r24, Z
-     920:	80 33       	cpi	r24, 0x30	; 48
-     922:	19 f4       	brne	.+6      	; 0x92a <vfprintf+0x63a>
-     924:	e9 ee       	ldi	r30, 0xE9	; 233
-     926:	fe 22       	and	r15, r30
-     928:	08 c0       	rjmp	.+16     	; 0x93a <vfprintf+0x64a>
-     92a:	1f 5f       	subi	r17, 0xFF	; 255
-     92c:	f2 fe       	sbrs	r15, 2
-     92e:	05 c0       	rjmp	.+10     	; 0x93a <vfprintf+0x64a>
-     930:	03 c0       	rjmp	.+6      	; 0x938 <vfprintf+0x648>
-     932:	8f 2d       	mov	r24, r15
-     934:	86 78       	andi	r24, 0x86	; 134
-     936:	09 f0       	breq	.+2      	; 0x93a <vfprintf+0x64a>
-     938:	1f 5f       	subi	r17, 0xFF	; 255
-     93a:	0f 2d       	mov	r16, r15
-     93c:	f3 fc       	sbrc	r15, 3
-     93e:	14 c0       	rjmp	.+40     	; 0x968 <vfprintf+0x678>
-     940:	f0 fe       	sbrs	r15, 0
-     942:	0f c0       	rjmp	.+30     	; 0x962 <vfprintf+0x672>
-     944:	18 15       	cp	r17, r8
-     946:	10 f0       	brcs	.+4      	; 0x94c <vfprintf+0x65c>
-     948:	9e 2c       	mov	r9, r14
-     94a:	0b c0       	rjmp	.+22     	; 0x962 <vfprintf+0x672>
-     94c:	9e 2c       	mov	r9, r14
-     94e:	98 0c       	add	r9, r8
-     950:	91 1a       	sub	r9, r17
-     952:	18 2d       	mov	r17, r8
-     954:	06 c0       	rjmp	.+12     	; 0x962 <vfprintf+0x672>
-     956:	80 e2       	ldi	r24, 0x20	; 32
-     958:	90 e0       	ldi	r25, 0x00	; 0
-     95a:	b3 01       	movw	r22, r6
-     95c:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     960:	1f 5f       	subi	r17, 0xFF	; 255
-     962:	18 15       	cp	r17, r8
-     964:	c0 f3       	brcs	.-16     	; 0x956 <vfprintf+0x666>
-     966:	04 c0       	rjmp	.+8      	; 0x970 <vfprintf+0x680>
-     968:	18 15       	cp	r17, r8
-     96a:	10 f4       	brcc	.+4      	; 0x970 <vfprintf+0x680>
-     96c:	81 1a       	sub	r8, r17
-     96e:	01 c0       	rjmp	.+2      	; 0x972 <vfprintf+0x682>
-     970:	88 24       	eor	r8, r8
-     972:	04 ff       	sbrs	r16, 4
-     974:	0f c0       	rjmp	.+30     	; 0x994 <vfprintf+0x6a4>
-     976:	80 e3       	ldi	r24, 0x30	; 48
-     978:	90 e0       	ldi	r25, 0x00	; 0
-     97a:	b3 01       	movw	r22, r6
-     97c:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     980:	02 ff       	sbrs	r16, 2
-     982:	1d c0       	rjmp	.+58     	; 0x9be <vfprintf+0x6ce>
-     984:	01 fd       	sbrc	r16, 1
-     986:	03 c0       	rjmp	.+6      	; 0x98e <vfprintf+0x69e>
-     988:	88 e7       	ldi	r24, 0x78	; 120
-     98a:	90 e0       	ldi	r25, 0x00	; 0
-     98c:	0e c0       	rjmp	.+28     	; 0x9aa <vfprintf+0x6ba>
-     98e:	88 e5       	ldi	r24, 0x58	; 88
-     990:	90 e0       	ldi	r25, 0x00	; 0
-     992:	0b c0       	rjmp	.+22     	; 0x9aa <vfprintf+0x6ba>
-     994:	80 2f       	mov	r24, r16
-     996:	86 78       	andi	r24, 0x86	; 134
-     998:	91 f0       	breq	.+36     	; 0x9be <vfprintf+0x6ce>
-     99a:	01 ff       	sbrs	r16, 1
-     99c:	02 c0       	rjmp	.+4      	; 0x9a2 <vfprintf+0x6b2>
-     99e:	8b e2       	ldi	r24, 0x2B	; 43
-     9a0:	01 c0       	rjmp	.+2      	; 0x9a4 <vfprintf+0x6b4>
-     9a2:	80 e2       	ldi	r24, 0x20	; 32
-     9a4:	f7 fc       	sbrc	r15, 7
-     9a6:	8d e2       	ldi	r24, 0x2D	; 45
-     9a8:	90 e0       	ldi	r25, 0x00	; 0
-     9aa:	b3 01       	movw	r22, r6
-     9ac:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     9b0:	06 c0       	rjmp	.+12     	; 0x9be <vfprintf+0x6ce>
-     9b2:	80 e3       	ldi	r24, 0x30	; 48
-     9b4:	90 e0       	ldi	r25, 0x00	; 0
-     9b6:	b3 01       	movw	r22, r6
-     9b8:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     9bc:	9a 94       	dec	r9
-     9be:	e9 14       	cp	r14, r9
-     9c0:	c0 f3       	brcs	.-16     	; 0x9b2 <vfprintf+0x6c2>
-     9c2:	ea 94       	dec	r14
-     9c4:	e1 e0       	ldi	r30, 0x01	; 1
-     9c6:	f0 e0       	ldi	r31, 0x00	; 0
-     9c8:	ec 0f       	add	r30, r28
-     9ca:	fd 1f       	adc	r31, r29
-     9cc:	ee 0d       	add	r30, r14
-     9ce:	f1 1d       	adc	r31, r1
-     9d0:	80 81       	ld	r24, Z
-     9d2:	90 e0       	ldi	r25, 0x00	; 0
-     9d4:	b3 01       	movw	r22, r6
-     9d6:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     9da:	ee 20       	and	r14, r14
-     9dc:	91 f7       	brne	.-28     	; 0x9c2 <vfprintf+0x6d2>
-     9de:	06 c0       	rjmp	.+12     	; 0x9ec <vfprintf+0x6fc>
-     9e0:	80 e2       	ldi	r24, 0x20	; 32
-     9e2:	90 e0       	ldi	r25, 0x00	; 0
-     9e4:	b3 01       	movw	r22, r6
-     9e6:	0e 94 85 13 	call	0x270a	; 0x270a <fputc>
-     9ea:	8a 94       	dec	r8
-     9ec:	88 20       	and	r8, r8
-     9ee:	c1 f7       	brne	.-16     	; 0x9e0 <vfprintf+0x6f0>
-     9f0:	97 cc       	rjmp	.-1746   	; 0x320 <vfprintf+0x30>
-     9f2:	f3 01       	movw	r30, r6
-     9f4:	66 81       	ldd	r22, Z+6	; 0x06
-     9f6:	77 81       	ldd	r23, Z+7	; 0x07
-     9f8:	cb 01       	movw	r24, r22
-     9fa:	61 96       	adiw	r28, 0x11	; 17
-     9fc:	e2 e1       	ldi	r30, 0x12	; 18
-     9fe:	0c 94 59 14 	jmp	0x28b2	; 0x28b2 <__epilogue_restores__>
-
-00000a02 <bom_get>:
-     a02:	fc 01       	movw	r30, r24
-     a04:	ee 0f       	add	r30, r30
-     a06:	ff 1f       	adc	r31, r31
-     a08:	e5 5f       	subi	r30, 0xF5	; 245
-     a0a:	fb 4f       	sbci	r31, 0xFB	; 251
-     a0c:	80 81       	ld	r24, Z
-     a0e:	91 81       	ldd	r25, Z+1	; 0x01
-     a10:	08 95       	ret
-
-00000a12 <bom_get_max>:
-     a12:	eb e0       	ldi	r30, 0x0B	; 11
-     a14:	f4 e0       	ldi	r31, 0x04	; 4
-     a16:	40 e0       	ldi	r20, 0x00	; 0
-     a18:	50 e0       	ldi	r21, 0x00	; 0
-     a1a:	6f ef       	ldi	r22, 0xFF	; 255
-     a1c:	70 e0       	ldi	r23, 0x00	; 0
-     a1e:	8f ef       	ldi	r24, 0xFF	; 255
-     a20:	9f ef       	ldi	r25, 0xFF	; 255
-     a22:	20 81       	ld	r18, Z
-     a24:	31 81       	ldd	r19, Z+1	; 0x01
-     a26:	26 17       	cp	r18, r22
-     a28:	37 07       	cpc	r19, r23
-     a2a:	10 f4       	brcc	.+4      	; 0xa30 <bom_get_max+0x1e>
-     a2c:	b9 01       	movw	r22, r18
-     a2e:	ca 01       	movw	r24, r20
-     a30:	4f 5f       	subi	r20, 0xFF	; 255
-     a32:	5f 4f       	sbci	r21, 0xFF	; 255
-     a34:	32 96       	adiw	r30, 0x02	; 2
-     a36:	40 31       	cpi	r20, 0x10	; 16
-     a38:	51 05       	cpc	r21, r1
-     a3a:	99 f7       	brne	.-26     	; 0xa22 <bom_get_max+0x10>
-     a3c:	66 39       	cpi	r22, 0x96	; 150
-     a3e:	71 05       	cpc	r23, r1
-     a40:	14 f0       	brlt	.+4      	; 0xa46 <bom_get_max+0x34>
-     a42:	8f ef       	ldi	r24, 0xFF	; 255
-     a44:	9f ef       	ldi	r25, 0xFF	; 255
-     a46:	08 95       	ret
-
-00000a48 <bom_off>:
-     a48:	80 91 0a 04 	lds	r24, 0x040A
-     a4c:	88 23       	and	r24, r24
-     a4e:	19 f0       	breq	.+6      	; 0xa56 <bom_off+0xe>
-     a50:	81 30       	cpi	r24, 0x01	; 1
-     a52:	71 f4       	brne	.+28     	; 0xa70 <bom_off+0x28>
-     a54:	07 c0       	rjmp	.+14     	; 0xa64 <bom_off+0x1c>
-     a56:	60 e0       	ldi	r22, 0x00	; 0
-     a58:	70 e0       	ldi	r23, 0x00	; 0
-     a5a:	8a e2       	ldi	r24, 0x2A	; 42
-     a5c:	90 e0       	ldi	r25, 0x00	; 0
-     a5e:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     a62:	08 95       	ret
-     a64:	60 e0       	ldi	r22, 0x00	; 0
-     a66:	70 e0       	ldi	r23, 0x00	; 0
-     a68:	8b e2       	ldi	r24, 0x2B	; 43
-     a6a:	90 e0       	ldi	r25, 0x00	; 0
-     a6c:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     a70:	08 95       	ret
-
-00000a72 <bom_on>:
-     a72:	80 91 0a 04 	lds	r24, 0x040A
-     a76:	88 23       	and	r24, r24
-     a78:	19 f0       	breq	.+6      	; 0xa80 <bom_on+0xe>
-     a7a:	81 30       	cpi	r24, 0x01	; 1
-     a7c:	71 f4       	brne	.+28     	; 0xa9a <bom_on+0x28>
-     a7e:	07 c0       	rjmp	.+14     	; 0xa8e <bom_on+0x1c>
-     a80:	61 e0       	ldi	r22, 0x01	; 1
-     a82:	70 e0       	ldi	r23, 0x00	; 0
-     a84:	8a e2       	ldi	r24, 0x2A	; 42
-     a86:	90 e0       	ldi	r25, 0x00	; 0
-     a88:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     a8c:	08 95       	ret
-     a8e:	61 e0       	ldi	r22, 0x01	; 1
-     a90:	70 e0       	ldi	r23, 0x00	; 0
-     a92:	8b e2       	ldi	r24, 0x2B	; 43
-     a94:	90 e0       	ldi	r25, 0x00	; 0
-     a96:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     a9a:	08 95       	ret
-
-00000a9c <bom_set_leds>:
-     a9c:	ef 92       	push	r14
-     a9e:	ff 92       	push	r15
-     aa0:	0f 93       	push	r16
-     aa2:	1f 93       	push	r17
-     aa4:	cf 93       	push	r28
-     aa6:	df 93       	push	r29
-     aa8:	7c 01       	movw	r14, r24
-     aaa:	80 91 0a 04 	lds	r24, 0x040A
-     aae:	81 30       	cpi	r24, 0x01	; 1
-     ab0:	e1 f4       	brne	.+56     	; 0xaea <bom_set_leds+0x4e>
-     ab2:	00 e1       	ldi	r16, 0x10	; 16
-     ab4:	10 e0       	ldi	r17, 0x00	; 0
-     ab6:	c0 e0       	ldi	r28, 0x00	; 0
-     ab8:	d0 e8       	ldi	r29, 0x80	; 128
-     aba:	be 01       	movw	r22, r28
-     abc:	6e 21       	and	r22, r14
-     abe:	7f 21       	and	r23, r15
-     ac0:	88 e0       	ldi	r24, 0x08	; 8
-     ac2:	90 e0       	ldi	r25, 0x00	; 0
-     ac4:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     ac8:	61 e0       	ldi	r22, 0x01	; 1
-     aca:	70 e0       	ldi	r23, 0x00	; 0
-     acc:	89 e0       	ldi	r24, 0x09	; 9
-     ace:	90 e0       	ldi	r25, 0x00	; 0
-     ad0:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     ad4:	60 e0       	ldi	r22, 0x00	; 0
-     ad6:	70 e0       	ldi	r23, 0x00	; 0
-     ad8:	89 e0       	ldi	r24, 0x09	; 9
-     ada:	90 e0       	ldi	r25, 0x00	; 0
-     adc:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     ae0:	d6 95       	lsr	r29
-     ae2:	c7 95       	ror	r28
-     ae4:	01 50       	subi	r16, 0x01	; 1
-     ae6:	10 40       	sbci	r17, 0x00	; 0
-     ae8:	41 f7       	brne	.-48     	; 0xaba <bom_set_leds+0x1e>
-     aea:	df 91       	pop	r29
-     aec:	cf 91       	pop	r28
-     aee:	1f 91       	pop	r17
-     af0:	0f 91       	pop	r16
-     af2:	ff 90       	pop	r15
-     af4:	ef 90       	pop	r14
-     af6:	08 95       	ret
-
-00000af8 <bom_init>:
-     af8:	80 93 0a 04 	sts	0x040A, r24
-     afc:	80 91 0a 04 	lds	r24, 0x040A
-     b00:	88 23       	and	r24, r24
-     b02:	21 f0       	breq	.+8      	; 0xb0c <bom_init+0x14>
-     b04:	81 30       	cpi	r24, 0x01	; 1
-     b06:	09 f0       	breq	.+2      	; 0xb0a <bom_init+0x12>
-     b08:	44 c0       	rjmp	.+136    	; 0xb92 <bom_init+0x9a>
-     b0a:	1d c0       	rjmp	.+58     	; 0xb46 <bom_init+0x4e>
-     b0c:	8c e2       	ldi	r24, 0x2C	; 44
-     b0e:	90 e0       	ldi	r25, 0x00	; 0
-     b10:	90 93 2c 04 	sts	0x042C, r25
-     b14:	80 93 2b 04 	sts	0x042B, r24
-     b18:	8b e2       	ldi	r24, 0x2B	; 43
-     b1a:	90 e0       	ldi	r25, 0x00	; 0
-     b1c:	90 93 2e 04 	sts	0x042E, r25
-     b20:	80 93 2d 04 	sts	0x042D, r24
-     b24:	8f e2       	ldi	r24, 0x2F	; 47
-     b26:	90 e0       	ldi	r25, 0x00	; 0
-     b28:	90 93 30 04 	sts	0x0430, r25
-     b2c:	80 93 2f 04 	sts	0x042F, r24
-     b30:	8e e2       	ldi	r24, 0x2E	; 46
-     b32:	90 e0       	ldi	r25, 0x00	; 0
-     b34:	90 93 32 04 	sts	0x0432, r25
-     b38:	80 93 31 04 	sts	0x0431, r24
-     b3c:	10 92 34 04 	sts	0x0434, r1
-     b40:	10 92 33 04 	sts	0x0433, r1
-     b44:	08 95       	ret
-     b46:	60 e0       	ldi	r22, 0x00	; 0
-     b48:	70 e0       	ldi	r23, 0x00	; 0
-     b4a:	8a e2       	ldi	r24, 0x2A	; 42
-     b4c:	90 e0       	ldi	r25, 0x00	; 0
-     b4e:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     b52:	8d e2       	ldi	r24, 0x2D	; 45
-     b54:	90 e0       	ldi	r25, 0x00	; 0
-     b56:	90 93 2c 04 	sts	0x042C, r25
-     b5a:	80 93 2b 04 	sts	0x042B, r24
-     b5e:	8c e2       	ldi	r24, 0x2C	; 44
-     b60:	90 e0       	ldi	r25, 0x00	; 0
-     b62:	90 93 2e 04 	sts	0x042E, r25
-     b66:	80 93 2d 04 	sts	0x042D, r24
-     b6a:	8f e2       	ldi	r24, 0x2F	; 47
-     b6c:	90 e0       	ldi	r25, 0x00	; 0
-     b6e:	90 93 30 04 	sts	0x0430, r25
-     b72:	80 93 2f 04 	sts	0x042F, r24
-     b76:	8e e2       	ldi	r24, 0x2E	; 46
-     b78:	90 e0       	ldi	r25, 0x00	; 0
-     b7a:	90 93 32 04 	sts	0x0432, r25
-     b7e:	80 93 31 04 	sts	0x0431, r24
-     b82:	8f ef       	ldi	r24, 0xFF	; 255
-     b84:	9f ef       	ldi	r25, 0xFF	; 255
-     b86:	0e 94 4e 05 	call	0xa9c	; 0xa9c <bom_set_leds>
-     b8a:	10 92 34 04 	sts	0x0434, r1
-     b8e:	10 92 33 04 	sts	0x0433, r1
-     b92:	08 95       	ret
-
-00000b94 <bom_refresh>:
-     b94:	af 92       	push	r10
-     b96:	bf 92       	push	r11
-     b98:	cf 92       	push	r12
-     b9a:	df 92       	push	r13
-     b9c:	ef 92       	push	r14
-     b9e:	ff 92       	push	r15
-     ba0:	0f 93       	push	r16
-     ba2:	1f 93       	push	r17
-     ba4:	cf 93       	push	r28
-     ba6:	df 93       	push	r29
-     ba8:	8c 01       	movw	r16, r24
-     baa:	0e 94 31 11 	call	0x2262	; 0x2262 <analog_loop_status>
-     bae:	01 97       	sbiw	r24, 0x01	; 1
-     bb0:	19 f0       	breq	.+6      	; 0xbb8 <bom_refresh+0x24>
-     bb2:	aa 24       	eor	r10, r10
-     bb4:	bb 24       	eor	r11, r11
-     bb6:	05 c0       	rjmp	.+10     	; 0xbc2 <bom_refresh+0x2e>
-     bb8:	0e 94 2a 11 	call	0x2254	; 0x2254 <analog_stop_loop>
-     bbc:	41 e0       	ldi	r20, 0x01	; 1
-     bbe:	a4 2e       	mov	r10, r20
-     bc0:	b1 2c       	mov	r11, r1
-     bc2:	3b e0       	ldi	r19, 0x0B	; 11
-     bc4:	c3 2e       	mov	r12, r19
-     bc6:	34 e0       	ldi	r19, 0x04	; 4
-     bc8:	d3 2e       	mov	r13, r19
-     bca:	ee 24       	eor	r14, r14
-     bcc:	ff 24       	eor	r15, r15
-     bce:	00 ff       	sbrs	r16, 0
-     bd0:	48 c0       	rjmp	.+144    	; 0xc62 <bom_refresh+0xce>
-     bd2:	ee 2d       	mov	r30, r14
-     bd4:	80 91 0a 04 	lds	r24, 0x040A
-     bd8:	88 23       	and	r24, r24
-     bda:	21 f4       	brne	.+8      	; 0xbe4 <bom_refresh+0x50>
-     bdc:	f7 01       	movw	r30, r14
-     bde:	e7 5f       	subi	r30, 0xF7	; 247
-     be0:	fe 4f       	sbci	r31, 0xFE	; 254
-     be2:	e0 81       	ld	r30, Z
-     be4:	ce 2f       	mov	r28, r30
-     be6:	dd 27       	eor	r29, r29
-     be8:	80 91 31 04 	lds	r24, 0x0431
-     bec:	90 91 32 04 	lds	r25, 0x0432
-     bf0:	c3 ff       	sbrs	r28, 3
-     bf2:	03 c0       	rjmp	.+6      	; 0xbfa <bom_refresh+0x66>
-     bf4:	61 e0       	ldi	r22, 0x01	; 1
-     bf6:	70 e0       	ldi	r23, 0x00	; 0
-     bf8:	02 c0       	rjmp	.+4      	; 0xbfe <bom_refresh+0x6a>
-     bfa:	60 e0       	ldi	r22, 0x00	; 0
-     bfc:	70 e0       	ldi	r23, 0x00	; 0
-     bfe:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     c02:	80 91 2f 04 	lds	r24, 0x042F
-     c06:	90 91 30 04 	lds	r25, 0x0430
-     c0a:	c2 ff       	sbrs	r28, 2
-     c0c:	03 c0       	rjmp	.+6      	; 0xc14 <bom_refresh+0x80>
-     c0e:	61 e0       	ldi	r22, 0x01	; 1
-     c10:	70 e0       	ldi	r23, 0x00	; 0
-     c12:	02 c0       	rjmp	.+4      	; 0xc18 <bom_refresh+0x84>
-     c14:	60 e0       	ldi	r22, 0x00	; 0
-     c16:	70 e0       	ldi	r23, 0x00	; 0
-     c18:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     c1c:	80 91 2d 04 	lds	r24, 0x042D
-     c20:	90 91 2e 04 	lds	r25, 0x042E
-     c24:	c1 ff       	sbrs	r28, 1
-     c26:	03 c0       	rjmp	.+6      	; 0xc2e <bom_refresh+0x9a>
-     c28:	61 e0       	ldi	r22, 0x01	; 1
-     c2a:	70 e0       	ldi	r23, 0x00	; 0
-     c2c:	02 c0       	rjmp	.+4      	; 0xc32 <bom_refresh+0x9e>
-     c2e:	60 e0       	ldi	r22, 0x00	; 0
-     c30:	70 e0       	ldi	r23, 0x00	; 0
-     c32:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     c36:	80 91 2b 04 	lds	r24, 0x042B
-     c3a:	90 91 2c 04 	lds	r25, 0x042C
-     c3e:	c0 ff       	sbrs	r28, 0
-     c40:	03 c0       	rjmp	.+6      	; 0xc48 <bom_refresh+0xb4>
-     c42:	61 e0       	ldi	r22, 0x01	; 1
-     c44:	70 e0       	ldi	r23, 0x00	; 0
-     c46:	02 c0       	rjmp	.+4      	; 0xc4c <bom_refresh+0xb8>
-     c48:	60 e0       	ldi	r22, 0x00	; 0
-     c4a:	70 e0       	ldi	r23, 0x00	; 0
-     c4c:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-     c50:	80 91 33 04 	lds	r24, 0x0433
-     c54:	90 91 34 04 	lds	r25, 0x0434
-     c58:	0e 94 6a 11 	call	0x22d4	; 0x22d4 <analog_get8>
-     c5c:	f6 01       	movw	r30, r12
-     c5e:	91 83       	std	Z+1, r25	; 0x01
-     c60:	80 83       	st	Z, r24
-     c62:	08 94       	sec
-     c64:	e1 1c       	adc	r14, r1
-     c66:	f1 1c       	adc	r15, r1
-     c68:	82 e0       	ldi	r24, 0x02	; 2
-     c6a:	90 e0       	ldi	r25, 0x00	; 0
-     c6c:	c8 0e       	add	r12, r24
-     c6e:	d9 1e       	adc	r13, r25
-     c70:	90 e1       	ldi	r25, 0x10	; 16
-     c72:	e9 16       	cp	r14, r25
-     c74:	f1 04       	cpc	r15, r1
-     c76:	19 f0       	breq	.+6      	; 0xc7e <bom_refresh+0xea>
-     c78:	15 95       	asr	r17
-     c7a:	07 95       	ror	r16
-     c7c:	a8 cf       	rjmp	.-176    	; 0xbce <bom_refresh+0x3a>
-     c7e:	ab 28       	or	r10, r11
-     c80:	11 f0       	breq	.+4      	; 0xc86 <bom_refresh+0xf2>
-     c82:	0e 94 1b 11 	call	0x2236	; 0x2236 <analog_start_loop>
-     c86:	df 91       	pop	r29
-     c88:	cf 91       	pop	r28
-     c8a:	1f 91       	pop	r17
-     c8c:	0f 91       	pop	r16
-     c8e:	ff 90       	pop	r15
-     c90:	ef 90       	pop	r14
-     c92:	df 90       	pop	r13
-     c94:	cf 90       	pop	r12
-     c96:	bf 90       	pop	r11
-     c98:	af 90       	pop	r10
-     c9a:	08 95       	ret
-
-00000c9c <get_max_bom>:
-     c9c:	8f ef       	ldi	r24, 0xFF	; 255
-     c9e:	9f ef       	ldi	r25, 0xFF	; 255
-     ca0:	0e 94 ca 05 	call	0xb94	; 0xb94 <bom_refresh>
-     ca4:	0e 94 09 05 	call	0xa12	; 0xa12 <bom_get_max>
-     ca8:	08 95       	ret
-
-00000caa <digital_input>:
-     caa:	ac 01       	movw	r20, r24
-     cac:	47 70       	andi	r20, 0x07	; 7
-     cae:	50 70       	andi	r21, 0x00	; 0
-     cb0:	9c 01       	movw	r18, r24
-     cb2:	83 e0       	ldi	r24, 0x03	; 3
-     cb4:	35 95       	asr	r19
-     cb6:	27 95       	ror	r18
-     cb8:	8a 95       	dec	r24
-     cba:	e1 f7       	brne	.-8      	; 0xcb4 <digital_input+0xa>
-     cbc:	24 30       	cpi	r18, 0x04	; 4
-     cbe:	31 05       	cpc	r19, r1
-     cc0:	09 f4       	brne	.+2      	; 0xcc4 <digital_input+0x1a>
-     cc2:	44 c0       	rjmp	.+136    	; 0xd4c <digital_input+0xa2>
-     cc4:	25 30       	cpi	r18, 0x05	; 5
-     cc6:	31 05       	cpc	r19, r1
-     cc8:	54 f4       	brge	.+20     	; 0xcde <digital_input+0x34>
-     cca:	22 30       	cpi	r18, 0x02	; 2
-     ccc:	31 05       	cpc	r19, r1
-     cce:	11 f1       	breq	.+68     	; 0xd14 <digital_input+0x6a>
-     cd0:	23 30       	cpi	r18, 0x03	; 3
-     cd2:	31 05       	cpc	r19, r1
-     cd4:	6c f5       	brge	.+90     	; 0xd30 <digital_input+0x86>
-     cd6:	21 30       	cpi	r18, 0x01	; 1
-     cd8:	31 05       	cpc	r19, r1
-     cda:	61 f4       	brne	.+24     	; 0xcf4 <digital_input+0x4a>
-     cdc:	0e c0       	rjmp	.+28     	; 0xcfa <digital_input+0x50>
-     cde:	26 30       	cpi	r18, 0x06	; 6
-     ce0:	31 05       	cpc	r19, r1
-     ce2:	09 f4       	brne	.+2      	; 0xce6 <digital_input+0x3c>
-     ce4:	4f c0       	rjmp	.+158    	; 0xd84 <digital_input+0xda>
-     ce6:	26 30       	cpi	r18, 0x06	; 6
-     ce8:	31 05       	cpc	r19, r1
-     cea:	f4 f1       	brlt	.+124    	; 0xd68 <digital_input+0xbe>
-     cec:	27 30       	cpi	r18, 0x07	; 7
-     cee:	31 05       	cpc	r19, r1
-     cf0:	09 f4       	brne	.+2      	; 0xcf4 <digital_input+0x4a>
-     cf2:	69 c0       	rjmp	.+210    	; 0xdc6 <digital_input+0x11c>
-     cf4:	8f ef       	ldi	r24, 0xFF	; 255
-     cf6:	9f ef       	ldi	r25, 0xFF	; 255
-     cf8:	08 95       	ret
-     cfa:	8a b3       	in	r24, 0x1a	; 26
-     cfc:	04 2e       	mov	r0, r20
-     cfe:	02 c0       	rjmp	.+4      	; 0xd04 <digital_input+0x5a>
-     d00:	22 0f       	add	r18, r18
-     d02:	33 1f       	adc	r19, r19
-     d04:	0a 94       	dec	r0
-     d06:	e2 f7       	brpl	.-8      	; 0xd00 <digital_input+0x56>
-     d08:	92 2f       	mov	r25, r18
-     d0a:	90 95       	com	r25
-     d0c:	98 23       	and	r25, r24
-     d0e:	9a bb       	out	0x1a, r25	; 26
-     d10:	89 b3       	in	r24, 0x19	; 25
-     d12:	50 c0       	rjmp	.+160    	; 0xdb4 <digital_input+0x10a>
-     d14:	87 b3       	in	r24, 0x17	; 23
-     d16:	21 e0       	ldi	r18, 0x01	; 1
-     d18:	30 e0       	ldi	r19, 0x00	; 0
-     d1a:	04 2e       	mov	r0, r20
-     d1c:	02 c0       	rjmp	.+4      	; 0xd22 <digital_input+0x78>
-     d1e:	22 0f       	add	r18, r18
-     d20:	33 1f       	adc	r19, r19
-     d22:	0a 94       	dec	r0
-     d24:	e2 f7       	brpl	.-8      	; 0xd1e <digital_input+0x74>
-     d26:	20 95       	com	r18
-     d28:	28 23       	and	r18, r24
-     d2a:	27 bb       	out	0x17, r18	; 23
-     d2c:	86 b3       	in	r24, 0x16	; 22
-     d2e:	42 c0       	rjmp	.+132    	; 0xdb4 <digital_input+0x10a>
-     d30:	84 b3       	in	r24, 0x14	; 20
-     d32:	21 e0       	ldi	r18, 0x01	; 1
-     d34:	30 e0       	ldi	r19, 0x00	; 0
-     d36:	04 2e       	mov	r0, r20
-     d38:	02 c0       	rjmp	.+4      	; 0xd3e <digital_input+0x94>
-     d3a:	22 0f       	add	r18, r18
-     d3c:	33 1f       	adc	r19, r19
-     d3e:	0a 94       	dec	r0
-     d40:	e2 f7       	brpl	.-8      	; 0xd3a <digital_input+0x90>
-     d42:	20 95       	com	r18
-     d44:	28 23       	and	r18, r24
-     d46:	24 bb       	out	0x14, r18	; 20
-     d48:	83 b3       	in	r24, 0x13	; 19
-     d4a:	34 c0       	rjmp	.+104    	; 0xdb4 <digital_input+0x10a>
-     d4c:	81 b3       	in	r24, 0x11	; 17
-     d4e:	21 e0       	ldi	r18, 0x01	; 1
-     d50:	30 e0       	ldi	r19, 0x00	; 0
-     d52:	04 2e       	mov	r0, r20
-     d54:	02 c0       	rjmp	.+4      	; 0xd5a <digital_input+0xb0>
-     d56:	22 0f       	add	r18, r18
-     d58:	33 1f       	adc	r19, r19
-     d5a:	0a 94       	dec	r0
-     d5c:	e2 f7       	brpl	.-8      	; 0xd56 <digital_input+0xac>
-     d5e:	20 95       	com	r18
-     d60:	28 23       	and	r18, r24
-     d62:	21 bb       	out	0x11, r18	; 17
-     d64:	80 b3       	in	r24, 0x10	; 16
-     d66:	26 c0       	rjmp	.+76     	; 0xdb4 <digital_input+0x10a>
-     d68:	82 b1       	in	r24, 0x02	; 2
-     d6a:	21 e0       	ldi	r18, 0x01	; 1
-     d6c:	30 e0       	ldi	r19, 0x00	; 0
-     d6e:	04 2e       	mov	r0, r20
-     d70:	02 c0       	rjmp	.+4      	; 0xd76 <digital_input+0xcc>
-     d72:	22 0f       	add	r18, r18
-     d74:	33 1f       	adc	r19, r19
-     d76:	0a 94       	dec	r0
-     d78:	e2 f7       	brpl	.-8      	; 0xd72 <digital_input+0xc8>
-     d7a:	20 95       	com	r18
-     d7c:	28 23       	and	r18, r24
-     d7e:	22 b9       	out	0x02, r18	; 2
-     d80:	81 b1       	in	r24, 0x01	; 1
-     d82:	18 c0       	rjmp	.+48     	; 0xdb4 <digital_input+0x10a>
-     d84:	44 30       	cpi	r20, 0x04	; 4
-     d86:	51 05       	cpc	r21, r1
-     d88:	34 f0       	brlt	.+12     	; 0xd96 <digital_input+0xec>
-     d8a:	84 b7       	in	r24, 0x34	; 52
-     d8c:	80 68       	ori	r24, 0x80	; 128
-     d8e:	84 bf       	out	0x34, r24	; 52
-     d90:	84 b7       	in	r24, 0x34	; 52
-     d92:	80 68       	ori	r24, 0x80	; 128
-     d94:	84 bf       	out	0x34, r24	; 52
-     d96:	80 91 61 00 	lds	r24, 0x0061
-     d9a:	21 e0       	ldi	r18, 0x01	; 1
-     d9c:	30 e0       	ldi	r19, 0x00	; 0
-     d9e:	04 2e       	mov	r0, r20
-     da0:	02 c0       	rjmp	.+4      	; 0xda6 <digital_input+0xfc>
-     da2:	22 0f       	add	r18, r18
-     da4:	33 1f       	adc	r19, r19
-     da6:	0a 94       	dec	r0
-     da8:	e2 f7       	brpl	.-8      	; 0xda2 <digital_input+0xf8>
-     daa:	20 95       	com	r18
-     dac:	28 23       	and	r18, r24
-     dae:	20 93 61 00 	sts	0x0061, r18
-     db2:	80 b1       	in	r24, 0x00	; 0
-     db4:	99 27       	eor	r25, r25
-     db6:	02 c0       	rjmp	.+4      	; 0xdbc <digital_input+0x112>
-     db8:	95 95       	asr	r25
-     dba:	87 95       	ror	r24
-     dbc:	4a 95       	dec	r20
-     dbe:	e2 f7       	brpl	.-8      	; 0xdb8 <digital_input+0x10e>
-     dc0:	81 70       	andi	r24, 0x01	; 1
-     dc2:	90 70       	andi	r25, 0x00	; 0
-     dc4:	08 95       	ret
-     dc6:	80 91 64 00 	lds	r24, 0x0064
-     dca:	21 e0       	ldi	r18, 0x01	; 1
-     dcc:	30 e0       	ldi	r19, 0x00	; 0
-     dce:	04 2e       	mov	r0, r20
-     dd0:	02 c0       	rjmp	.+4      	; 0xdd6 <digital_input+0x12c>
-     dd2:	22 0f       	add	r18, r18
-     dd4:	33 1f       	adc	r19, r19
-     dd6:	0a 94       	dec	r0
-     dd8:	e2 f7       	brpl	.-8      	; 0xdd2 <digital_input+0x128>
-     dda:	20 95       	com	r18
-     ddc:	28 23       	and	r18, r24
-     dde:	20 93 64 00 	sts	0x0064, r18
-     de2:	80 91 63 00 	lds	r24, 0x0063
-     de6:	99 27       	eor	r25, r25
-     de8:	02 c0       	rjmp	.+4      	; 0xdee <digital_input+0x144>
-     dea:	95 95       	asr	r25
-     dec:	87 95       	ror	r24
-     dee:	4a 95       	dec	r20
-     df0:	e2 f7       	brpl	.-8      	; 0xdea <digital_input+0x140>
-     df2:	81 70       	andi	r24, 0x01	; 1
-     df4:	90 70       	andi	r25, 0x00	; 0
-     df6:	08 95       	ret
-
-00000df8 <digital_pull_up>:
-     df8:	ac 01       	movw	r20, r24
-     dfa:	47 70       	andi	r20, 0x07	; 7
-     dfc:	50 70       	andi	r21, 0x00	; 0
-     dfe:	9c 01       	movw	r18, r24
-     e00:	93 e0       	ldi	r25, 0x03	; 3
-     e02:	35 95       	asr	r19
-     e04:	27 95       	ror	r18
-     e06:	9a 95       	dec	r25
-     e08:	e1 f7       	brne	.-8      	; 0xe02 <digital_pull_up+0xa>
-     e0a:	24 30       	cpi	r18, 0x04	; 4
-     e0c:	31 05       	cpc	r19, r1
-     e0e:	c9 f1       	breq	.+114    	; 0xe82 <digital_pull_up+0x8a>
-     e10:	25 30       	cpi	r18, 0x05	; 5
-     e12:	31 05       	cpc	r19, r1
-     e14:	5c f4       	brge	.+22     	; 0xe2c <digital_pull_up+0x34>
-     e16:	22 30       	cpi	r18, 0x02	; 2
-     e18:	31 05       	cpc	r19, r1
-     e1a:	e9 f0       	breq	.+58     	; 0xe56 <digital_pull_up+0x5e>
-     e1c:	23 30       	cpi	r18, 0x03	; 3
-     e1e:	31 05       	cpc	r19, r1
-     e20:	2c f5       	brge	.+74     	; 0xe6c <digital_pull_up+0x74>
-     e22:	21 30       	cpi	r18, 0x01	; 1
-     e24:	31 05       	cpc	r19, r1
-     e26:	09 f0       	breq	.+2      	; 0xe2a <digital_pull_up+0x32>
-     e28:	5b c0       	rjmp	.+182    	; 0xee0 <digital_pull_up+0xe8>
-     e2a:	0c c0       	rjmp	.+24     	; 0xe44 <digital_pull_up+0x4c>
-     e2c:	26 30       	cpi	r18, 0x06	; 6
-     e2e:	31 05       	cpc	r19, r1
-     e30:	09 f4       	brne	.+2      	; 0xe34 <digital_pull_up+0x3c>
-     e32:	3d c0       	rjmp	.+122    	; 0xeae <digital_pull_up+0xb6>
-     e34:	26 30       	cpi	r18, 0x06	; 6
-     e36:	31 05       	cpc	r19, r1
-     e38:	7c f1       	brlt	.+94     	; 0xe98 <digital_pull_up+0xa0>
-     e3a:	27 30       	cpi	r18, 0x07	; 7
-     e3c:	31 05       	cpc	r19, r1
-     e3e:	09 f0       	breq	.+2      	; 0xe42 <digital_pull_up+0x4a>
-     e40:	4f c0       	rjmp	.+158    	; 0xee0 <digital_pull_up+0xe8>
-     e42:	42 c0       	rjmp	.+132    	; 0xec8 <digital_pull_up+0xd0>
-     e44:	8b b3       	in	r24, 0x1b	; 27
-     e46:	02 c0       	rjmp	.+4      	; 0xe4c <digital_pull_up+0x54>
-     e48:	22 0f       	add	r18, r18
-     e4a:	33 1f       	adc	r19, r19
-     e4c:	4a 95       	dec	r20
-     e4e:	e2 f7       	brpl	.-8      	; 0xe48 <digital_pull_up+0x50>
-     e50:	82 2b       	or	r24, r18
-     e52:	8b bb       	out	0x1b, r24	; 27
-     e54:	08 95       	ret
-     e56:	28 b3       	in	r18, 0x18	; 24
-     e58:	81 e0       	ldi	r24, 0x01	; 1
-     e5a:	90 e0       	ldi	r25, 0x00	; 0
-     e5c:	02 c0       	rjmp	.+4      	; 0xe62 <digital_pull_up+0x6a>
-     e5e:	88 0f       	add	r24, r24
-     e60:	99 1f       	adc	r25, r25
-     e62:	4a 95       	dec	r20
-     e64:	e2 f7       	brpl	.-8      	; 0xe5e <digital_pull_up+0x66>
-     e66:	28 2b       	or	r18, r24
-     e68:	28 bb       	out	0x18, r18	; 24
-     e6a:	08 95       	ret
-     e6c:	25 b3       	in	r18, 0x15	; 21
-     e6e:	81 e0       	ldi	r24, 0x01	; 1
-     e70:	90 e0       	ldi	r25, 0x00	; 0
-     e72:	02 c0       	rjmp	.+4      	; 0xe78 <digital_pull_up+0x80>
-     e74:	88 0f       	add	r24, r24
-     e76:	99 1f       	adc	r25, r25
-     e78:	4a 95       	dec	r20
-     e7a:	e2 f7       	brpl	.-8      	; 0xe74 <digital_pull_up+0x7c>
-     e7c:	28 2b       	or	r18, r24
-     e7e:	25 bb       	out	0x15, r18	; 21
-     e80:	08 95       	ret
-     e82:	22 b3       	in	r18, 0x12	; 18
-     e84:	81 e0       	ldi	r24, 0x01	; 1
-     e86:	90 e0       	ldi	r25, 0x00	; 0
-     e88:	02 c0       	rjmp	.+4      	; 0xe8e <digital_pull_up+0x96>
-     e8a:	88 0f       	add	r24, r24
-     e8c:	99 1f       	adc	r25, r25
-     e8e:	4a 95       	dec	r20
-     e90:	e2 f7       	brpl	.-8      	; 0xe8a <digital_pull_up+0x92>
-     e92:	28 2b       	or	r18, r24
-     e94:	22 bb       	out	0x12, r18	; 18
-     e96:	08 95       	ret
-     e98:	23 b1       	in	r18, 0x03	; 3
-     e9a:	81 e0       	ldi	r24, 0x01	; 1
-     e9c:	90 e0       	ldi	r25, 0x00	; 0
-     e9e:	02 c0       	rjmp	.+4      	; 0xea4 <digital_pull_up+0xac>
-     ea0:	88 0f       	add	r24, r24
-     ea2:	99 1f       	adc	r25, r25
-     ea4:	4a 95       	dec	r20
-     ea6:	e2 f7       	brpl	.-8      	; 0xea0 <digital_pull_up+0xa8>
-     ea8:	28 2b       	or	r18, r24
-     eaa:	23 b9       	out	0x03, r18	; 3
-     eac:	08 95       	ret
-     eae:	20 91 62 00 	lds	r18, 0x0062
-     eb2:	81 e0       	ldi	r24, 0x01	; 1
-     eb4:	90 e0       	ldi	r25, 0x00	; 0
-     eb6:	02 c0       	rjmp	.+4      	; 0xebc <digital_pull_up+0xc4>
-     eb8:	88 0f       	add	r24, r24
-     eba:	99 1f       	adc	r25, r25
-     ebc:	4a 95       	dec	r20
-     ebe:	e2 f7       	brpl	.-8      	; 0xeb8 <digital_pull_up+0xc0>
-     ec0:	28 2b       	or	r18, r24
-     ec2:	20 93 62 00 	sts	0x0062, r18
-     ec6:	08 95       	ret
-     ec8:	20 91 65 00 	lds	r18, 0x0065
-     ecc:	81 e0       	ldi	r24, 0x01	; 1
-     ece:	90 e0       	ldi	r25, 0x00	; 0
-     ed0:	02 c0       	rjmp	.+4      	; 0xed6 <digital_pull_up+0xde>
-     ed2:	88 0f       	add	r24, r24
-     ed4:	99 1f       	adc	r25, r25
-     ed6:	4a 95       	dec	r20
-     ed8:	e2 f7       	brpl	.-8      	; 0xed2 <digital_pull_up+0xda>
-     eda:	28 2b       	or	r18, r24
-     edc:	20 93 65 00 	sts	0x0065, r18
-     ee0:	08 95       	ret
-
-00000ee2 <digital_output>:
-     ee2:	ac 01       	movw	r20, r24
-     ee4:	47 70       	andi	r20, 0x07	; 7
-     ee6:	50 70       	andi	r21, 0x00	; 0
-     ee8:	9c 01       	movw	r18, r24
-     eea:	53 e0       	ldi	r21, 0x03	; 3
-     eec:	35 95       	asr	r19
-     eee:	27 95       	ror	r18
-     ef0:	5a 95       	dec	r21
-     ef2:	e1 f7       	brne	.-8      	; 0xeec <digital_output+0xa>
-     ef4:	67 2b       	or	r22, r23
-     ef6:	09 f0       	breq	.+2      	; 0xefa <digital_output+0x18>
-     ef8:	88 c0       	rjmp	.+272    	; 0x100a <digital_output+0x128>
-     efa:	24 30       	cpi	r18, 0x04	; 4
-     efc:	31 05       	cpc	r19, r1
-     efe:	09 f4       	brne	.+2      	; 0xf02 <digital_output+0x20>
-     f00:	44 c0       	rjmp	.+136    	; 0xf8a <digital_output+0xa8>
-     f02:	25 30       	cpi	r18, 0x05	; 5
-     f04:	31 05       	cpc	r19, r1
-     f06:	5c f4       	brge	.+22     	; 0xf1e <digital_output+0x3c>
-     f08:	22 30       	cpi	r18, 0x02	; 2
-     f0a:	31 05       	cpc	r19, r1
-     f0c:	11 f1       	breq	.+68     	; 0xf52 <digital_output+0x70>
-     f0e:	23 30       	cpi	r18, 0x03	; 3
-     f10:	31 05       	cpc	r19, r1
-     f12:	6c f5       	brge	.+90     	; 0xf6e <digital_output+0x8c>
-     f14:	21 30       	cpi	r18, 0x01	; 1
-     f16:	31 05       	cpc	r19, r1
-     f18:	09 f0       	breq	.+2      	; 0xf1c <digital_output+0x3a>
-     f1a:	fe c0       	rjmp	.+508    	; 0x1118 <__stack+0x19>
-     f1c:	0d c0       	rjmp	.+26     	; 0xf38 <digital_output+0x56>
-     f1e:	26 30       	cpi	r18, 0x06	; 6
-     f20:	31 05       	cpc	r19, r1
-     f22:	09 f4       	brne	.+2      	; 0xf26 <digital_output+0x44>
-     f24:	4e c0       	rjmp	.+156    	; 0xfc2 <digital_output+0xe0>
-     f26:	26 30       	cpi	r18, 0x06	; 6
-     f28:	31 05       	cpc	r19, r1
-     f2a:	0c f4       	brge	.+2      	; 0xf2e <digital_output+0x4c>
-     f2c:	3c c0       	rjmp	.+120    	; 0xfa6 <digital_output+0xc4>
-     f2e:	27 30       	cpi	r18, 0x07	; 7
-     f30:	31 05       	cpc	r19, r1
-     f32:	09 f0       	breq	.+2      	; 0xf36 <digital_output+0x54>
-     f34:	f1 c0       	rjmp	.+482    	; 0x1118 <__stack+0x19>
-     f36:	56 c0       	rjmp	.+172    	; 0xfe4 <digital_output+0x102>
-     f38:	8a b3       	in	r24, 0x1a	; 26
-     f3a:	02 c0       	rjmp	.+4      	; 0xf40 <digital_output+0x5e>
-     f3c:	22 0f       	add	r18, r18
-     f3e:	33 1f       	adc	r19, r19
-     f40:	4a 95       	dec	r20
-     f42:	e2 f7       	brpl	.-8      	; 0xf3c <digital_output+0x5a>
-     f44:	82 2b       	or	r24, r18
-     f46:	8a bb       	out	0x1a, r24	; 26
-     f48:	8b b3       	in	r24, 0x1b	; 27
-     f4a:	20 95       	com	r18
-     f4c:	28 23       	and	r18, r24
-     f4e:	2b bb       	out	0x1b, r18	; 27
-     f50:	08 95       	ret
-     f52:	87 b3       	in	r24, 0x17	; 23
-     f54:	21 e0       	ldi	r18, 0x01	; 1
-     f56:	30 e0       	ldi	r19, 0x00	; 0
-     f58:	02 c0       	rjmp	.+4      	; 0xf5e <digital_output+0x7c>
-     f5a:	22 0f       	add	r18, r18
-     f5c:	33 1f       	adc	r19, r19
-     f5e:	4a 95       	dec	r20
-     f60:	e2 f7       	brpl	.-8      	; 0xf5a <digital_output+0x78>
-     f62:	82 2b       	or	r24, r18
-     f64:	87 bb       	out	0x17, r24	; 23
-     f66:	88 b3       	in	r24, 0x18	; 24
-     f68:	20 95       	com	r18
-     f6a:	28 23       	and	r18, r24
-     f6c:	86 c0       	rjmp	.+268    	; 0x107a <digital_output+0x198>
-     f6e:	84 b3       	in	r24, 0x14	; 20
-     f70:	21 e0       	ldi	r18, 0x01	; 1
-     f72:	30 e0       	ldi	r19, 0x00	; 0
-     f74:	02 c0       	rjmp	.+4      	; 0xf7a <digital_output+0x98>
-     f76:	22 0f       	add	r18, r18
-     f78:	33 1f       	adc	r19, r19
-     f7a:	4a 95       	dec	r20
-     f7c:	e2 f7       	brpl	.-8      	; 0xf76 <digital_output+0x94>
-     f7e:	82 2b       	or	r24, r18
-     f80:	84 bb       	out	0x14, r24	; 20
-     f82:	85 b3       	in	r24, 0x15	; 21
-     f84:	20 95       	com	r18
-     f86:	28 23       	and	r18, r24
-     f88:	86 c0       	rjmp	.+268    	; 0x1096 <digital_output+0x1b4>
-     f8a:	81 b3       	in	r24, 0x11	; 17
-     f8c:	21 e0       	ldi	r18, 0x01	; 1
-     f8e:	30 e0       	ldi	r19, 0x00	; 0
-     f90:	02 c0       	rjmp	.+4      	; 0xf96 <digital_output+0xb4>
-     f92:	22 0f       	add	r18, r18
-     f94:	33 1f       	adc	r19, r19
-     f96:	4a 95       	dec	r20
-     f98:	e2 f7       	brpl	.-8      	; 0xf92 <digital_output+0xb0>
-     f9a:	82 2b       	or	r24, r18
-     f9c:	81 bb       	out	0x11, r24	; 17
-     f9e:	82 b3       	in	r24, 0x12	; 18
-     fa0:	20 95       	com	r18
-     fa2:	28 23       	and	r18, r24
-     fa4:	86 c0       	rjmp	.+268    	; 0x10b2 <digital_output+0x1d0>
-     fa6:	82 b1       	in	r24, 0x02	; 2
-     fa8:	21 e0       	ldi	r18, 0x01	; 1
-     faa:	30 e0       	ldi	r19, 0x00	; 0
-     fac:	02 c0       	rjmp	.+4      	; 0xfb2 <digital_output+0xd0>
-     fae:	22 0f       	add	r18, r18
-     fb0:	33 1f       	adc	r19, r19
-     fb2:	4a 95       	dec	r20
-     fb4:	e2 f7       	brpl	.-8      	; 0xfae <digital_output+0xcc>
-     fb6:	82 2b       	or	r24, r18
-     fb8:	82 b9       	out	0x02, r24	; 2
-     fba:	83 b1       	in	r24, 0x03	; 3
-     fbc:	20 95       	com	r18
-     fbe:	28 23       	and	r18, r24
-     fc0:	86 c0       	rjmp	.+268    	; 0x10ce <digital_output+0x1ec>
-     fc2:	80 91 61 00 	lds	r24, 0x0061
-     fc6:	21 e0       	ldi	r18, 0x01	; 1
-     fc8:	30 e0       	ldi	r19, 0x00	; 0
-     fca:	02 c0       	rjmp	.+4      	; 0xfd0 <digital_output+0xee>
-     fcc:	22 0f       	add	r18, r18
-     fce:	33 1f       	adc	r19, r19
-     fd0:	4a 95       	dec	r20
-     fd2:	e2 f7       	brpl	.-8      	; 0xfcc <digital_output+0xea>
-     fd4:	82 2b       	or	r24, r18
-     fd6:	80 93 61 00 	sts	0x0061, r24
-     fda:	80 91 62 00 	lds	r24, 0x0062
-     fde:	20 95       	com	r18
-     fe0:	28 23       	and	r18, r24
-     fe2:	86 c0       	rjmp	.+268    	; 0x10f0 <digital_output+0x20e>
-     fe4:	80 91 64 00 	lds	r24, 0x0064
-     fe8:	21 e0       	ldi	r18, 0x01	; 1
-     fea:	30 e0       	ldi	r19, 0x00	; 0
-     fec:	02 c0       	rjmp	.+4      	; 0xff2 <digital_output+0x110>
-     fee:	22 0f       	add	r18, r18
-     ff0:	33 1f       	adc	r19, r19
-     ff2:	4a 95       	dec	r20
-     ff4:	e2 f7       	brpl	.-8      	; 0xfee <digital_output+0x10c>
-     ff6:	82 2b       	or	r24, r18
-     ff8:	80 93 64 00 	sts	0x0064, r24
-     ffc:	80 91 65 00 	lds	r24, 0x0065
-    1000:	20 95       	com	r18
-    1002:	28 23       	and	r18, r24
-    1004:	20 93 65 00 	sts	0x0065, r18
-    1008:	08 95       	ret
-    100a:	24 30       	cpi	r18, 0x04	; 4
-    100c:	31 05       	cpc	r19, r1
-    100e:	09 f4       	brne	.+2      	; 0x1012 <digital_output+0x130>
-    1010:	44 c0       	rjmp	.+136    	; 0x109a <digital_output+0x1b8>
-    1012:	25 30       	cpi	r18, 0x05	; 5
-    1014:	31 05       	cpc	r19, r1
-    1016:	5c f4       	brge	.+22     	; 0x102e <digital_output+0x14c>
-    1018:	22 30       	cpi	r18, 0x02	; 2
-    101a:	31 05       	cpc	r19, r1
-    101c:	11 f1       	breq	.+68     	; 0x1062 <digital_output+0x180>
-    101e:	23 30       	cpi	r18, 0x03	; 3
-    1020:	31 05       	cpc	r19, r1
-    1022:	6c f5       	brge	.+90     	; 0x107e <digital_output+0x19c>
-    1024:	21 30       	cpi	r18, 0x01	; 1
-    1026:	31 05       	cpc	r19, r1
-    1028:	09 f0       	breq	.+2      	; 0x102c <digital_output+0x14a>
-    102a:	76 c0       	rjmp	.+236    	; 0x1118 <__stack+0x19>
-    102c:	0d c0       	rjmp	.+26     	; 0x1048 <digital_output+0x166>
-    102e:	26 30       	cpi	r18, 0x06	; 6
-    1030:	31 05       	cpc	r19, r1
-    1032:	09 f4       	brne	.+2      	; 0x1036 <digital_output+0x154>
-    1034:	4e c0       	rjmp	.+156    	; 0x10d2 <digital_output+0x1f0>
-    1036:	26 30       	cpi	r18, 0x06	; 6
-    1038:	31 05       	cpc	r19, r1
-    103a:	0c f4       	brge	.+2      	; 0x103e <digital_output+0x15c>
-    103c:	3c c0       	rjmp	.+120    	; 0x10b6 <digital_output+0x1d4>
-    103e:	27 30       	cpi	r18, 0x07	; 7
-    1040:	31 05       	cpc	r19, r1
-    1042:	09 f0       	breq	.+2      	; 0x1046 <digital_output+0x164>
-    1044:	69 c0       	rjmp	.+210    	; 0x1118 <__stack+0x19>
-    1046:	57 c0       	rjmp	.+174    	; 0x10f6 <digital_output+0x214>
-    1048:	8a b3       	in	r24, 0x1a	; 26
-    104a:	02 c0       	rjmp	.+4      	; 0x1050 <digital_output+0x16e>
-    104c:	22 0f       	add	r18, r18
-    104e:	33 1f       	adc	r19, r19
-    1050:	4a 95       	dec	r20
-    1052:	e2 f7       	brpl	.-8      	; 0x104c <digital_output+0x16a>
-    1054:	92 2f       	mov	r25, r18
-    1056:	82 2b       	or	r24, r18
-    1058:	8a bb       	out	0x1a, r24	; 26
-    105a:	8b b3       	in	r24, 0x1b	; 27
-    105c:	98 2b       	or	r25, r24
-    105e:	9b bb       	out	0x1b, r25	; 27
-    1060:	08 95       	ret
-    1062:	87 b3       	in	r24, 0x17	; 23
-    1064:	21 e0       	ldi	r18, 0x01	; 1
-    1066:	30 e0       	ldi	r19, 0x00	; 0
-    1068:	02 c0       	rjmp	.+4      	; 0x106e <digital_output+0x18c>
-    106a:	22 0f       	add	r18, r18
-    106c:	33 1f       	adc	r19, r19
-    106e:	4a 95       	dec	r20
-    1070:	e2 f7       	brpl	.-8      	; 0x106a <digital_output+0x188>
-    1072:	82 2b       	or	r24, r18
-    1074:	87 bb       	out	0x17, r24	; 23
-    1076:	88 b3       	in	r24, 0x18	; 24
-    1078:	28 2b       	or	r18, r24
-    107a:	28 bb       	out	0x18, r18	; 24
-    107c:	08 95       	ret
-    107e:	84 b3       	in	r24, 0x14	; 20
-    1080:	21 e0       	ldi	r18, 0x01	; 1
-    1082:	30 e0       	ldi	r19, 0x00	; 0
-    1084:	02 c0       	rjmp	.+4      	; 0x108a <digital_output+0x1a8>
-    1086:	22 0f       	add	r18, r18
-    1088:	33 1f       	adc	r19, r19
-    108a:	4a 95       	dec	r20
-    108c:	e2 f7       	brpl	.-8      	; 0x1086 <digital_output+0x1a4>
-    108e:	82 2b       	or	r24, r18
-    1090:	84 bb       	out	0x14, r24	; 20
-    1092:	85 b3       	in	r24, 0x15	; 21
-    1094:	28 2b       	or	r18, r24
-    1096:	25 bb       	out	0x15, r18	; 21
-    1098:	08 95       	ret
-    109a:	81 b3       	in	r24, 0x11	; 17
-    109c:	21 e0       	ldi	r18, 0x01	; 1
-    109e:	30 e0       	ldi	r19, 0x00	; 0
-    10a0:	02 c0       	rjmp	.+4      	; 0x10a6 <digital_output+0x1c4>
-    10a2:	22 0f       	add	r18, r18
-    10a4:	33 1f       	adc	r19, r19
-    10a6:	4a 95       	dec	r20
-    10a8:	e2 f7       	brpl	.-8      	; 0x10a2 <digital_output+0x1c0>
-    10aa:	82 2b       	or	r24, r18
-    10ac:	81 bb       	out	0x11, r24	; 17
-    10ae:	82 b3       	in	r24, 0x12	; 18
-    10b0:	28 2b       	or	r18, r24
-    10b2:	22 bb       	out	0x12, r18	; 18
-    10b4:	08 95       	ret
-    10b6:	82 b1       	in	r24, 0x02	; 2
-    10b8:	21 e0       	ldi	r18, 0x01	; 1
-    10ba:	30 e0       	ldi	r19, 0x00	; 0
-    10bc:	02 c0       	rjmp	.+4      	; 0x10c2 <digital_output+0x1e0>
-    10be:	22 0f       	add	r18, r18
-    10c0:	33 1f       	adc	r19, r19
-    10c2:	4a 95       	dec	r20
-    10c4:	e2 f7       	brpl	.-8      	; 0x10be <digital_output+0x1dc>
-    10c6:	82 2b       	or	r24, r18
-    10c8:	82 b9       	out	0x02, r24	; 2
-    10ca:	83 b1       	in	r24, 0x03	; 3
-    10cc:	28 2b       	or	r18, r24
-    10ce:	23 b9       	out	0x03, r18	; 3
-    10d0:	08 95       	ret
-    10d2:	80 91 61 00 	lds	r24, 0x0061
-    10d6:	21 e0       	ldi	r18, 0x01	; 1
-    10d8:	30 e0       	ldi	r19, 0x00	; 0
-    10da:	02 c0       	rjmp	.+4      	; 0x10e0 <digital_output+0x1fe>
-    10dc:	22 0f       	add	r18, r18
-    10de:	33 1f       	adc	r19, r19
-    10e0:	4a 95       	dec	r20
-    10e2:	e2 f7       	brpl	.-8      	; 0x10dc <digital_output+0x1fa>
-    10e4:	82 2b       	or	r24, r18
-    10e6:	80 93 61 00 	sts	0x0061, r24
-    10ea:	80 91 62 00 	lds	r24, 0x0062
-    10ee:	28 2b       	or	r18, r24
-    10f0:	20 93 62 00 	sts	0x0062, r18
-    10f4:	08 95       	ret
-    10f6:	80 91 64 00 	lds	r24, 0x0064
-    10fa:	21 e0       	ldi	r18, 0x01	; 1
-    10fc:	30 e0       	ldi	r19, 0x00	; 0
-    10fe:	02 c0       	rjmp	.+4      	; 0x1104 <__stack+0x5>
-    1100:	22 0f       	add	r18, r18
-    1102:	33 1f       	adc	r19, r19
-    1104:	4a 95       	dec	r20
-    1106:	e2 f7       	brpl	.-8      	; 0x1100 <__stack+0x1>
-    1108:	82 2b       	or	r24, r18
-    110a:	80 93 64 00 	sts	0x0064, r24
-    110e:	80 91 65 00 	lds	r24, 0x0065
-    1112:	28 2b       	or	r18, r24
-    1114:	20 93 65 00 	sts	0x0065, r18
-    1118:	08 95       	ret
-
-0000111a <button1_read>:
-    111a:	e4 e6       	ldi	r30, 0x64	; 100
-    111c:	f0 e0       	ldi	r31, 0x00	; 0
-    111e:	80 81       	ld	r24, Z
-    1120:	8e 7f       	andi	r24, 0xFE	; 254
-    1122:	80 83       	st	Z, r24
-    1124:	e5 e6       	ldi	r30, 0x65	; 101
-    1126:	f0 e0       	ldi	r31, 0x00	; 0
-    1128:	80 81       	ld	r24, Z
-    112a:	81 60       	ori	r24, 0x01	; 1
-    112c:	80 83       	st	Z, r24
-    112e:	80 91 63 00 	lds	r24, 0x0063
-    1132:	99 27       	eor	r25, r25
-    1134:	80 95       	com	r24
-    1136:	90 95       	com	r25
-    1138:	81 70       	andi	r24, 0x01	; 1
-    113a:	90 70       	andi	r25, 0x00	; 0
-    113c:	08 95       	ret
-
-0000113e <button1_click>:
-    113e:	0e 94 8d 08 	call	0x111a	; 0x111a <button1_read>
-    1142:	89 2b       	or	r24, r25
-    1144:	19 f4       	brne	.+6      	; 0x114c <button1_click+0xe>
-    1146:	80 e0       	ldi	r24, 0x00	; 0
-    1148:	90 e0       	ldi	r25, 0x00	; 0
-    114a:	08 95       	ret
-    114c:	0e 94 8d 08 	call	0x111a	; 0x111a <button1_read>
-    1150:	89 2b       	or	r24, r25
-    1152:	e1 f7       	brne	.-8      	; 0x114c <button1_click+0xe>
-    1154:	81 e0       	ldi	r24, 0x01	; 1
-    1156:	90 e0       	ldi	r25, 0x00	; 0
-    1158:	08 95       	ret
-
-0000115a <button2_read>:
-    115a:	e4 e6       	ldi	r30, 0x64	; 100
-    115c:	f0 e0       	ldi	r31, 0x00	; 0
-    115e:	80 81       	ld	r24, Z
-    1160:	8d 7f       	andi	r24, 0xFD	; 253
-    1162:	80 83       	st	Z, r24
-    1164:	e5 e6       	ldi	r30, 0x65	; 101
-    1166:	f0 e0       	ldi	r31, 0x00	; 0
-    1168:	80 81       	ld	r24, Z
-    116a:	82 60       	ori	r24, 0x02	; 2
-    116c:	80 83       	st	Z, r24
-    116e:	80 91 63 00 	lds	r24, 0x0063
-    1172:	99 27       	eor	r25, r25
-    1174:	96 95       	lsr	r25
-    1176:	87 95       	ror	r24
-    1178:	80 95       	com	r24
-    117a:	90 95       	com	r25
-    117c:	81 70       	andi	r24, 0x01	; 1
-    117e:	90 70       	andi	r25, 0x00	; 0
-    1180:	08 95       	ret
-
-00001182 <button2_click>:
-    1182:	0e 94 ad 08 	call	0x115a	; 0x115a <button2_read>
-    1186:	89 2b       	or	r24, r25
-    1188:	19 f4       	brne	.+6      	; 0x1190 <button2_click+0xe>
-    118a:	80 e0       	ldi	r24, 0x00	; 0
-    118c:	90 e0       	ldi	r25, 0x00	; 0
-    118e:	08 95       	ret
-    1190:	0e 94 ad 08 	call	0x115a	; 0x115a <button2_read>
-    1194:	89 2b       	or	r24, r25
-    1196:	e1 f7       	brne	.-8      	; 0x1190 <button2_click+0xe>
-    1198:	81 e0       	ldi	r24, 0x01	; 1
-    119a:	90 e0       	ldi	r25, 0x00	; 0
-    119c:	08 95       	ret
-
-0000119e <button2_wait>:
-    119e:	04 c0       	rjmp	.+8      	; 0x11a8 <button2_wait+0xa>
-    11a0:	8f e0       	ldi	r24, 0x0F	; 15
-    11a2:	90 e0       	ldi	r25, 0x00	; 0
-    11a4:	0e 94 7b 10 	call	0x20f6	; 0x20f6 <delay_ms>
-    11a8:	0e 94 ad 08 	call	0x115a	; 0x115a <button2_read>
-    11ac:	89 2b       	or	r24, r25
-    11ae:	c1 f3       	breq	.-16     	; 0x11a0 <button2_wait+0x2>
-    11b0:	08 95       	ret
-
-000011b2 <button1_wait>:
-    11b2:	04 c0       	rjmp	.+8      	; 0x11bc <button1_wait+0xa>
-    11b4:	8f e0       	ldi	r24, 0x0F	; 15
-    11b6:	90 e0       	ldi	r25, 0x00	; 0
-    11b8:	0e 94 7b 10 	call	0x20f6	; 0x20f6 <delay_ms>
-    11bc:	0e 94 8d 08 	call	0x111a	; 0x111a <button1_read>
-    11c0:	89 2b       	or	r24, r25
-    11c2:	c1 f3       	breq	.-16     	; 0x11b4 <button1_wait+0x2>
-    11c4:	08 95       	ret
-
-000011c6 <flash_red>:
-    11c6:	ff 92       	push	r15
-    11c8:	0f 93       	push	r16
-    11ca:	1f 93       	push	r17
-    11cc:	f8 94       	cli
-    11ce:	f4 b2       	in	r15, 0x14	; 20
-    11d0:	05 b3       	in	r16, 0x15	; 21
-    11d2:	87 e7       	ldi	r24, 0x77	; 119
-    11d4:	84 bb       	out	0x14, r24	; 20
-    11d6:	10 e0       	ldi	r17, 0x00	; 0
-    11d8:	87 e7       	ldi	r24, 0x77	; 119
-    11da:	85 bb       	out	0x15, r24	; 21
-    11dc:	8c e2       	ldi	r24, 0x2C	; 44
-    11de:	91 e0       	ldi	r25, 0x01	; 1
-    11e0:	0e 94 7b 10 	call	0x20f6	; 0x20f6 <delay_ms>
-    11e4:	86 e6       	ldi	r24, 0x66	; 102
-    11e6:	85 bb       	out	0x15, r24	; 21
-    11e8:	8c e2       	ldi	r24, 0x2C	; 44
-    11ea:	91 e0       	ldi	r25, 0x01	; 1
-    11ec:	0e 94 7b 10 	call	0x20f6	; 0x20f6 <delay_ms>
-    11f0:	1f 5f       	subi	r17, 0xFF	; 255
-    11f2:	13 30       	cpi	r17, 0x03	; 3
-    11f4:	89 f7       	brne	.-30     	; 0x11d8 <flash_red+0x12>
-    11f6:	f4 ba       	out	0x14, r15	; 20
-    11f8:	05 bb       	out	0x15, r16	; 21
-    11fa:	78 94       	sei
-    11fc:	1f 91       	pop	r17
-    11fe:	0f 91       	pop	r16
-    1200:	ff 90       	pop	r15
-    1202:	08 95       	ret
-
-00001204 <dragonfly_init>:
-    1204:	cf 93       	push	r28
-    1206:	df 93       	push	r29
-    1208:	ec 01       	movw	r28, r24
-    120a:	78 94       	sei
-    120c:	80 91 64 00 	lds	r24, 0x0064
-    1210:	8c 7f       	andi	r24, 0xFC	; 252
-    1212:	80 93 64 00 	sts	0x0064, r24
-    1216:	80 91 65 00 	lds	r24, 0x0065
-    121a:	83 60       	ori	r24, 0x03	; 3
-    121c:	80 93 65 00 	sts	0x0065, r24
-    1220:	c0 ff       	sbrs	r28, 0
-    1222:	04 c0       	rjmp	.+8      	; 0x122c <dragonfly_init+0x28>
-    1224:	81 e0       	ldi	r24, 0x01	; 1
-    1226:	90 e0       	ldi	r25, 0x00	; 0
-    1228:	0e 94 80 11 	call	0x2300	; 0x2300 <analog_init>
-    122c:	c1 ff       	sbrs	r28, 1
-    122e:	04 c0       	rjmp	.+8      	; 0x1238 <dragonfly_init+0x34>
-    1230:	0e 94 3b 0f 	call	0x1e76	; 0x1e76 <usb_init>
-    1234:	0e 94 49 0f 	call	0x1e92	; 0x1e92 <xbee_init>
-    1238:	c6 ff       	sbrs	r28, 6
-    123a:	03 c0       	rjmp	.+6      	; 0x1242 <dragonfly_init+0x3e>
-    123c:	78 94       	sei
-    123e:	0e 94 5b 12 	call	0x24b6	; 0x24b6 <buzzer_init>
-    1242:	c2 ff       	sbrs	r28, 2
-    1244:	03 c0       	rjmp	.+6      	; 0x124c <dragonfly_init+0x48>
-    1246:	78 94       	sei
-    1248:	0e 94 d0 0e 	call	0x1da0	; 0x1da0 <orb_init>
-    124c:	c3 ff       	sbrs	r28, 3
-    124e:	02 c0       	rjmp	.+4      	; 0x1254 <dragonfly_init+0x50>
-    1250:	0e 94 d3 0e 	call	0x1da6	; 0x1da6 <motors_init>
-    1254:	c7 ff       	sbrs	r28, 7
-    1256:	02 c0       	rjmp	.+4      	; 0x125c <dragonfly_init+0x58>
-    1258:	0e 94 5f 0a 	call	0x14be	; 0x14be <lcd_init>
-    125c:	d0 ff       	sbrs	r29, 0
-    125e:	02 c0       	rjmp	.+4      	; 0x1264 <dragonfly_init+0x60>
-    1260:	0e 94 34 0f 	call	0x1e68	; 0x1e68 <range_init>
-    1264:	d1 ff       	sbrs	r29, 1
-    1266:	09 c0       	rjmp	.+18     	; 0x127a <dragonfly_init+0x76>
-    1268:	0e 94 8c 09 	call	0x1318	; 0x1318 <get_bom_type>
-    126c:	8f 3f       	cpi	r24, 0xFF	; 255
-    126e:	19 f4       	brne	.+6      	; 0x1276 <dragonfly_init+0x72>
-    1270:	0e 94 e3 08 	call	0x11c6	; 0x11c6 <flash_red>
-    1274:	02 c0       	rjmp	.+4      	; 0x127a <dragonfly_init+0x76>
-    1276:	0e 94 7c 05 	call	0xaf8	; 0xaf8 <bom_init>
-    127a:	80 ea       	ldi	r24, 0xA0	; 160
-    127c:	9f e0       	ldi	r25, 0x0F	; 15
-    127e:	01 97       	sbiw	r24, 0x01	; 1
-    1280:	f1 f7       	brne	.-4      	; 0x127e <dragonfly_init+0x7a>
-    1282:	df 91       	pop	r29
-    1284:	cf 91       	pop	r28
-    1286:	08 95       	ret
-
-00001288 <eeprom_put_byte>:
-    1288:	e1 99       	sbic	0x1c, 1	; 28
-    128a:	fe cf       	rjmp	.-4      	; 0x1288 <eeprom_put_byte>
-    128c:	9f bb       	out	0x1f, r25	; 31
-    128e:	8e bb       	out	0x1e, r24	; 30
-    1290:	6d bb       	out	0x1d, r22	; 29
-    1292:	e2 9a       	sbi	0x1c, 2	; 28
-    1294:	e1 9a       	sbi	0x1c, 1	; 28
-    1296:	80 e0       	ldi	r24, 0x00	; 0
-    1298:	90 e0       	ldi	r25, 0x00	; 0
-    129a:	08 95       	ret
-
-0000129c <eeprom_get_byte>:
-    129c:	fb 01       	movw	r30, r22
-    129e:	e1 99       	sbic	0x1c, 1	; 28
-    12a0:	fe cf       	rjmp	.-4      	; 0x129e <eeprom_get_byte+0x2>
-    12a2:	9f bb       	out	0x1f, r25	; 31
-    12a4:	8e bb       	out	0x1e, r24	; 30
-    12a6:	e0 9a       	sbi	0x1c, 0	; 28
-    12a8:	8d b3       	in	r24, 0x1d	; 29
-    12aa:	80 83       	st	Z, r24
-    12ac:	80 e0       	ldi	r24, 0x00	; 0
-    12ae:	90 e0       	ldi	r25, 0x00	; 0
-    12b0:	08 95       	ret
-
-000012b2 <get_robotid>:
-    12b2:	cf 93       	push	r28
-    12b4:	df 93       	push	r29
-    12b6:	cd b7       	in	r28, 0x3d	; 61
-    12b8:	de b7       	in	r29, 0x3e	; 62
-    12ba:	23 97       	sbiw	r28, 0x03	; 3
-    12bc:	0f b6       	in	r0, 0x3f	; 63
-    12be:	f8 94       	cli
-    12c0:	de bf       	out	0x3e, r29	; 62
-    12c2:	0f be       	out	0x3f, r0	; 63
-    12c4:	cd bf       	out	0x3d, r28	; 61
-    12c6:	be 01       	movw	r22, r28
-    12c8:	6f 5f       	subi	r22, 0xFF	; 255
-    12ca:	7f 4f       	sbci	r23, 0xFF	; 255
-    12cc:	80 e1       	ldi	r24, 0x10	; 16
-    12ce:	90 e0       	ldi	r25, 0x00	; 0
-    12d0:	0e 94 4e 09 	call	0x129c	; 0x129c <eeprom_get_byte>
-    12d4:	be 01       	movw	r22, r28
-    12d6:	6e 5f       	subi	r22, 0xFE	; 254
-    12d8:	7f 4f       	sbci	r23, 0xFF	; 255
-    12da:	81 e1       	ldi	r24, 0x11	; 17
-    12dc:	90 e0       	ldi	r25, 0x00	; 0
-    12de:	0e 94 4e 09 	call	0x129c	; 0x129c <eeprom_get_byte>
-    12e2:	be 01       	movw	r22, r28
-    12e4:	6d 5f       	subi	r22, 0xFD	; 253
-    12e6:	7f 4f       	sbci	r23, 0xFF	; 255
-    12e8:	82 e1       	ldi	r24, 0x12	; 18
-    12ea:	90 e0       	ldi	r25, 0x00	; 0
-    12ec:	0e 94 4e 09 	call	0x129c	; 0x129c <eeprom_get_byte>
-    12f0:	89 81       	ldd	r24, Y+1	; 0x01
-    12f2:	89 34       	cpi	r24, 0x49	; 73
-    12f4:	31 f4       	brne	.+12     	; 0x1302 <get_robotid+0x50>
-    12f6:	8a 81       	ldd	r24, Y+2	; 0x02
-    12f8:	84 34       	cpi	r24, 0x44	; 68
-    12fa:	19 f4       	brne	.+6      	; 0x1302 <get_robotid+0x50>
-    12fc:	8b 81       	ldd	r24, Y+3	; 0x03
-    12fe:	99 27       	eor	r25, r25
-    1300:	02 c0       	rjmp	.+4      	; 0x1306 <get_robotid+0x54>
-    1302:	8f ef       	ldi	r24, 0xFF	; 255
-    1304:	90 e0       	ldi	r25, 0x00	; 0
-    1306:	23 96       	adiw	r28, 0x03	; 3
-    1308:	0f b6       	in	r0, 0x3f	; 63
-    130a:	f8 94       	cli
-    130c:	de bf       	out	0x3e, r29	; 62
-    130e:	0f be       	out	0x3f, r0	; 63
-    1310:	cd bf       	out	0x3d, r28	; 61
-    1312:	df 91       	pop	r29
-    1314:	cf 91       	pop	r28
-    1316:	08 95       	ret
-
-00001318 <get_bom_type>:
-    1318:	cf 93       	push	r28
-    131a:	df 93       	push	r29
-    131c:	cd b7       	in	r28, 0x3d	; 61
-    131e:	de b7       	in	r29, 0x3e	; 62
-    1320:	24 97       	sbiw	r28, 0x04	; 4
-    1322:	0f b6       	in	r0, 0x3f	; 63
-    1324:	f8 94       	cli
-    1326:	de bf       	out	0x3e, r29	; 62
-    1328:	0f be       	out	0x3f, r0	; 63
-    132a:	cd bf       	out	0x3d, r28	; 61
-    132c:	be 01       	movw	r22, r28
-    132e:	6f 5f       	subi	r22, 0xFF	; 255
-    1330:	7f 4f       	sbci	r23, 0xFF	; 255
-    1332:	84 e1       	ldi	r24, 0x14	; 20
-    1334:	90 e0       	ldi	r25, 0x00	; 0
-    1336:	0e 94 4e 09 	call	0x129c	; 0x129c <eeprom_get_byte>
-    133a:	be 01       	movw	r22, r28
-    133c:	6e 5f       	subi	r22, 0xFE	; 254
-    133e:	7f 4f       	sbci	r23, 0xFF	; 255
-    1340:	85 e1       	ldi	r24, 0x15	; 21
-    1342:	90 e0       	ldi	r25, 0x00	; 0
-    1344:	0e 94 4e 09 	call	0x129c	; 0x129c <eeprom_get_byte>
-    1348:	be 01       	movw	r22, r28
-    134a:	6d 5f       	subi	r22, 0xFD	; 253
-    134c:	7f 4f       	sbci	r23, 0xFF	; 255
-    134e:	86 e1       	ldi	r24, 0x16	; 22
-    1350:	90 e0       	ldi	r25, 0x00	; 0
-    1352:	0e 94 4e 09 	call	0x129c	; 0x129c <eeprom_get_byte>
-    1356:	be 01       	movw	r22, r28
-    1358:	6c 5f       	subi	r22, 0xFC	; 252
-    135a:	7f 4f       	sbci	r23, 0xFF	; 255
-    135c:	87 e1       	ldi	r24, 0x17	; 23
-    135e:	90 e0       	ldi	r25, 0x00	; 0
-    1360:	0e 94 4e 09 	call	0x129c	; 0x129c <eeprom_get_byte>
-    1364:	89 81       	ldd	r24, Y+1	; 0x01
-    1366:	82 34       	cpi	r24, 0x42	; 66
-    1368:	49 f4       	brne	.+18     	; 0x137c <get_bom_type+0x64>
-    136a:	8a 81       	ldd	r24, Y+2	; 0x02
-    136c:	8f 34       	cpi	r24, 0x4F	; 79
-    136e:	31 f4       	brne	.+12     	; 0x137c <get_bom_type+0x64>
-    1370:	8b 81       	ldd	r24, Y+3	; 0x03
-    1372:	8d 34       	cpi	r24, 0x4D	; 77
-    1374:	19 f4       	brne	.+6      	; 0x137c <get_bom_type+0x64>
-    1376:	8c 81       	ldd	r24, Y+4	; 0x04
-    1378:	99 27       	eor	r25, r25
-    137a:	02 c0       	rjmp	.+4      	; 0x1380 <get_bom_type+0x68>
-    137c:	8f ef       	ldi	r24, 0xFF	; 255
-    137e:	90 e0       	ldi	r25, 0x00	; 0
-    1380:	24 96       	adiw	r28, 0x04	; 4
-    1382:	0f b6       	in	r0, 0x3f	; 63
-    1384:	f8 94       	cli
-    1386:	de bf       	out	0x3e, r29	; 62
-    1388:	0f be       	out	0x3f, r0	; 63
-    138a:	cd bf       	out	0x3d, r28	; 61
-    138c:	df 91       	pop	r29
-    138e:	cf 91       	pop	r28
-    1390:	08 95       	ret
-
-00001392 <lcd_putc>:
-    1392:	95 e0       	ldi	r25, 0x05	; 5
-    1394:	89 9f       	mul	r24, r25
-    1396:	f0 01       	movw	r30, r0
-    1398:	11 24       	eor	r1, r1
-    139a:	e1 58       	subi	r30, 0x81	; 129
-    139c:	ff 4f       	sbci	r31, 0xFF	; 255
-    139e:	20 e0       	ldi	r18, 0x00	; 0
-    13a0:	30 e0       	ldi	r19, 0x00	; 0
-    13a2:	80 81       	ld	r24, Z
-    13a4:	8f b9       	out	0x0f, r24	; 15
-    13a6:	77 9b       	sbis	0x0e, 7	; 14
-    13a8:	fe cf       	rjmp	.-4      	; 0x13a6 <lcd_putc+0x14>
-    13aa:	2f 5f       	subi	r18, 0xFF	; 255
-    13ac:	3f 4f       	sbci	r19, 0xFF	; 255
-    13ae:	31 96       	adiw	r30, 0x01	; 1
-    13b0:	25 30       	cpi	r18, 0x05	; 5
-    13b2:	31 05       	cpc	r19, r1
-    13b4:	b1 f7       	brne	.-20     	; 0x13a2 <lcd_putc+0x10>
-    13b6:	1f b8       	out	0x0f, r1	; 15
-    13b8:	77 9b       	sbis	0x0e, 7	; 14
-    13ba:	fe cf       	rjmp	.-4      	; 0x13b8 <lcd_putc+0x26>
-    13bc:	08 95       	ret
-
-000013be <lcd_puts>:
-    13be:	cf 93       	push	r28
-    13c0:	df 93       	push	r29
-    13c2:	ec 01       	movw	r28, r24
-    13c4:	03 c0       	rjmp	.+6      	; 0x13cc <lcd_puts+0xe>
-    13c6:	0e 94 c9 09 	call	0x1392	; 0x1392 <lcd_putc>
-    13ca:	21 96       	adiw	r28, 0x01	; 1
-    13cc:	88 81       	ld	r24, Y
-    13ce:	88 23       	and	r24, r24
-    13d0:	d1 f7       	brne	.-12     	; 0x13c6 <lcd_puts+0x8>
-    13d2:	df 91       	pop	r29
-    13d4:	cf 91       	pop	r28
-    13d6:	08 95       	ret
-
-000013d8 <lcd_gotoxy>:
-    13d8:	95 98       	cbi	0x12, 5	; 18
-    13da:	67 70       	andi	r22, 0x07	; 7
-    13dc:	60 64       	ori	r22, 0x40	; 64
-    13de:	6f b9       	out	0x0f, r22	; 15
-    13e0:	77 9b       	sbis	0x0e, 7	; 14
-    13e2:	fe cf       	rjmp	.-4      	; 0x13e0 <lcd_gotoxy+0x8>
-    13e4:	80 68       	ori	r24, 0x80	; 128
-    13e6:	8f b9       	out	0x0f, r24	; 15
-    13e8:	77 9b       	sbis	0x0e, 7	; 14
-    13ea:	fe cf       	rjmp	.-4      	; 0x13e8 <lcd_gotoxy+0x10>
-    13ec:	95 9a       	sbi	0x12, 5	; 18
-    13ee:	08 95       	ret
-
-000013f0 <lcd_clear_screen>:
-    13f0:	80 e0       	ldi	r24, 0x00	; 0
-    13f2:	90 e0       	ldi	r25, 0x00	; 0
-    13f4:	1f b8       	out	0x0f, r1	; 15
-    13f6:	77 9b       	sbis	0x0e, 7	; 14
-    13f8:	fe cf       	rjmp	.-4      	; 0x13f6 <lcd_clear_screen+0x6>
-    13fa:	01 96       	adiw	r24, 0x01	; 1
-    13fc:	21 e0       	ldi	r18, 0x01	; 1
-    13fe:	88 3f       	cpi	r24, 0xF8	; 248
-    1400:	92 07       	cpc	r25, r18
-    1402:	c1 f7       	brne	.-16     	; 0x13f4 <lcd_clear_screen+0x4>
-    1404:	60 e0       	ldi	r22, 0x00	; 0
-    1406:	70 e0       	ldi	r23, 0x00	; 0
-    1408:	80 e0       	ldi	r24, 0x00	; 0
-    140a:	90 e0       	ldi	r25, 0x00	; 0
-    140c:	0e 94 ec 09 	call	0x13d8	; 0x13d8 <lcd_gotoxy>
-    1410:	08 95       	ret
-
-00001412 <lcd_puti>:
-    1412:	ff 92       	push	r15
-    1414:	0f 93       	push	r16
-    1416:	1f 93       	push	r17
-    1418:	cf 93       	push	r28
-    141a:	df 93       	push	r29
-    141c:	cd b7       	in	r28, 0x3d	; 61
-    141e:	de b7       	in	r29, 0x3e	; 62
-    1420:	26 97       	sbiw	r28, 0x06	; 6
-    1422:	0f b6       	in	r0, 0x3f	; 63
-    1424:	f8 94       	cli
-    1426:	de bf       	out	0x3e, r29	; 62
-    1428:	0f be       	out	0x3f, r0	; 63
-    142a:	cd bf       	out	0x3d, r28	; 61
-    142c:	8c 01       	movw	r16, r24
-    142e:	de 01       	movw	r26, r28
-    1430:	11 96       	adiw	r26, 0x01	; 1
-    1432:	e9 e1       	ldi	r30, 0x19	; 25
-    1434:	f1 e0       	ldi	r31, 0x01	; 1
-    1436:	86 e0       	ldi	r24, 0x06	; 6
-    1438:	01 90       	ld	r0, Z+
-    143a:	0d 92       	st	X+, r0
-    143c:	81 50       	subi	r24, 0x01	; 1
-    143e:	e1 f7       	brne	.-8      	; 0x1438 <lcd_puti+0x26>
-    1440:	17 ff       	sbrs	r17, 7
-    1442:	06 c0       	rjmp	.+12     	; 0x1450 <lcd_puti+0x3e>
-    1444:	8d e2       	ldi	r24, 0x2D	; 45
-    1446:	0e 94 c9 09 	call	0x1392	; 0x1392 <lcd_putc>
-    144a:	10 95       	com	r17
-    144c:	01 95       	neg	r16
-    144e:	1f 4f       	sbci	r17, 0xFF	; 255
-    1450:	86 e0       	ldi	r24, 0x06	; 6
-    1452:	f8 2e       	mov	r15, r24
-    1454:	9e 01       	movw	r18, r28
-    1456:	2f 5f       	subi	r18, 0xFF	; 255
-    1458:	3f 4f       	sbci	r19, 0xFF	; 255
-    145a:	fa 94       	dec	r15
-    145c:	f9 01       	movw	r30, r18
-    145e:	ef 0d       	add	r30, r15
-    1460:	f1 1d       	adc	r31, r1
-    1462:	c8 01       	movw	r24, r16
-    1464:	6a e0       	ldi	r22, 0x0A	; 10
-    1466:	70 e0       	ldi	r23, 0x00	; 0
-    1468:	0e 94 0f 14 	call	0x281e	; 0x281e <__divmodhi4>
-    146c:	80 5d       	subi	r24, 0xD0	; 208
-    146e:	80 83       	st	Z, r24
-    1470:	c8 01       	movw	r24, r16
-    1472:	6a e0       	ldi	r22, 0x0A	; 10
-    1474:	70 e0       	ldi	r23, 0x00	; 0
-    1476:	0e 94 0f 14 	call	0x281e	; 0x281e <__divmodhi4>
-    147a:	8b 01       	movw	r16, r22
-    147c:	67 2b       	or	r22, r23
-    147e:	49 f0       	breq	.+18     	; 0x1492 <lcd_puti+0x80>
-    1480:	ec cf       	rjmp	.-40     	; 0x145a <lcd_puti+0x48>
-    1482:	f8 01       	movw	r30, r16
-    1484:	ef 0d       	add	r30, r15
-    1486:	f1 1d       	adc	r31, r1
-    1488:	80 81       	ld	r24, Z
-    148a:	0e 94 c9 09 	call	0x1392	; 0x1392 <lcd_putc>
-    148e:	f3 94       	inc	r15
-    1490:	03 c0       	rjmp	.+6      	; 0x1498 <lcd_puti+0x86>
-    1492:	8e 01       	movw	r16, r28
-    1494:	0f 5f       	subi	r16, 0xFF	; 255
-    1496:	1f 4f       	sbci	r17, 0xFF	; 255
-    1498:	85 e0       	ldi	r24, 0x05	; 5
-    149a:	8f 15       	cp	r24, r15
-    149c:	90 f7       	brcc	.-28     	; 0x1482 <lcd_puti+0x70>
-    149e:	26 96       	adiw	r28, 0x06	; 6
-    14a0:	0f b6       	in	r0, 0x3f	; 63
-    14a2:	f8 94       	cli
-    14a4:	de bf       	out	0x3e, r29	; 62
-    14a6:	0f be       	out	0x3f, r0	; 63
-    14a8:	cd bf       	out	0x3d, r28	; 61
-    14aa:	df 91       	pop	r29
-    14ac:	cf 91       	pop	r28
-    14ae:	1f 91       	pop	r17
-    14b0:	0f 91       	pop	r16
-    14b2:	ff 90       	pop	r15
-    14b4:	08 95       	ret
-
-000014b6 <lcd_putbyte>:
-    14b6:	8f b9       	out	0x0f, r24	; 15
-    14b8:	77 9b       	sbis	0x0e, 7	; 14
-    14ba:	fe cf       	rjmp	.-4      	; 0x14b8 <lcd_putbyte+0x2>
-    14bc:	08 95       	ret
-
-000014be <lcd_init>:
-    14be:	87 b3       	in	r24, 0x17	; 23
-    14c0:	87 60       	ori	r24, 0x07	; 7
-    14c2:	87 bb       	out	0x17, r24	; 23
-    14c4:	81 b3       	in	r24, 0x11	; 17
-    14c6:	80 63       	ori	r24, 0x30	; 48
-    14c8:	81 bb       	out	0x11, r24	; 17
-    14ca:	88 b3       	in	r24, 0x18	; 24
-    14cc:	88 7f       	andi	r24, 0xF8	; 248
-    14ce:	88 bb       	out	0x18, r24	; 24
-    14d0:	95 98       	cbi	0x12, 5	; 18
-    14d2:	8d b1       	in	r24, 0x0d	; 13
-    14d4:	80 65       	ori	r24, 0x50	; 80
-    14d6:	8d b9       	out	0x0d, r24	; 13
-    14d8:	70 9a       	sbi	0x0e, 0	; 14
-    14da:	94 9a       	sbi	0x12, 4	; 18
-    14dc:	8a e0       	ldi	r24, 0x0A	; 10
-    14de:	90 e0       	ldi	r25, 0x00	; 0
-    14e0:	0e 94 7b 10 	call	0x20f6	; 0x20f6 <delay_ms>
-    14e4:	94 98       	cbi	0x12, 4	; 18
-    14e6:	84 e6       	ldi	r24, 0x64	; 100
-    14e8:	90 e0       	ldi	r25, 0x00	; 0
-    14ea:	0e 94 7b 10 	call	0x20f6	; 0x20f6 <delay_ms>
-    14ee:	94 9a       	sbi	0x12, 4	; 18
-    14f0:	81 e2       	ldi	r24, 0x21	; 33
-    14f2:	8f b9       	out	0x0f, r24	; 15
-    14f4:	77 9b       	sbis	0x0e, 7	; 14
-    14f6:	fe cf       	rjmp	.-4      	; 0x14f4 <lcd_init+0x36>
-    14f8:	88 ec       	ldi	r24, 0xC8	; 200
-    14fa:	8f b9       	out	0x0f, r24	; 15
-    14fc:	77 9b       	sbis	0x0e, 7	; 14
-    14fe:	fe cf       	rjmp	.-4      	; 0x14fc <lcd_init+0x3e>
-    1500:	86 e0       	ldi	r24, 0x06	; 6
-    1502:	8f b9       	out	0x0f, r24	; 15
-    1504:	77 9b       	sbis	0x0e, 7	; 14
-    1506:	fe cf       	rjmp	.-4      	; 0x1504 <lcd_init+0x46>
-    1508:	83 e1       	ldi	r24, 0x13	; 19
-    150a:	8f b9       	out	0x0f, r24	; 15
-    150c:	77 9b       	sbis	0x0e, 7	; 14
-    150e:	fe cf       	rjmp	.-4      	; 0x150c <lcd_init+0x4e>
-    1510:	80 e2       	ldi	r24, 0x20	; 32
-    1512:	8f b9       	out	0x0f, r24	; 15
-    1514:	77 9b       	sbis	0x0e, 7	; 14
-    1516:	fe cf       	rjmp	.-4      	; 0x1514 <lcd_init+0x56>
-    1518:	8c e0       	ldi	r24, 0x0C	; 12
-    151a:	8f b9       	out	0x0f, r24	; 15
-    151c:	77 9b       	sbis	0x0e, 7	; 14
-    151e:	fe cf       	rjmp	.-4      	; 0x151c <lcd_init+0x5e>
-    1520:	95 9a       	sbi	0x12, 5	; 18
-    1522:	0e 94 f8 09 	call	0x13f0	; 0x13f0 <lcd_clear_screen>
-    1526:	08 95       	ret
-
-00001528 <output_compare>:
-    1528:	40 91 06 03 	lds	r20, 0x0306
-    152c:	50 91 07 03 	lds	r21, 0x0307
-    1530:	20 91 36 04 	lds	r18, 0x0436
-    1534:	a2 2f       	mov	r26, r18
-    1536:	bb 27       	eor	r27, r27
-    1538:	82 b7       	in	r24, 0x32	; 50
-    153a:	fd 01       	movw	r30, r26
-    153c:	ee 0f       	add	r30, r30
-    153e:	ff 1f       	adc	r31, r31
-    1540:	e4 0f       	add	r30, r20
-    1542:	f5 1f       	adc	r31, r21
-    1544:	91 81       	ldd	r25, Z+1	; 0x01
-    1546:	9f 5f       	subi	r25, 0xFF	; 255
-    1548:	89 17       	cp	r24, r25
-    154a:	b8 f0       	brcs	.+46     	; 0x157a <output_compare+0x52>
-    154c:	95 b3       	in	r25, 0x15	; 21
-    154e:	11 96       	adiw	r26, 0x01	; 1
-    1550:	aa 0f       	add	r26, r26
-    1552:	bb 1f       	adc	r27, r27
-    1554:	a4 0f       	add	r26, r20
-    1556:	b5 1f       	adc	r27, r21
-    1558:	8c 91       	ld	r24, X
-    155a:	98 2b       	or	r25, r24
-    155c:	95 bb       	out	0x15, r25	; 21
-    155e:	25 30       	cpi	r18, 0x05	; 5
-    1560:	61 f0       	breq	.+24     	; 0x157a <output_compare+0x52>
-    1562:	2f 5f       	subi	r18, 0xFF	; 255
-    1564:	e2 2f       	mov	r30, r18
-    1566:	ff 27       	eor	r31, r31
-    1568:	ee 0f       	add	r30, r30
-    156a:	ff 1f       	adc	r31, r31
-    156c:	e4 0f       	add	r30, r20
-    156e:	f5 1f       	adc	r31, r21
-    1570:	81 81       	ldd	r24, Z+1	; 0x01
-    1572:	8f 3f       	cpi	r24, 0xFF	; 255
-    1574:	f9 f2       	breq	.-66     	; 0x1534 <output_compare+0xc>
-    1576:	81 bf       	out	0x31, r24	; 49
-    1578:	dd cf       	rjmp	.-70     	; 0x1534 <output_compare+0xc>
-    157a:	20 93 36 04 	sts	0x0436, r18
-    157e:	08 95       	ret
-
-00001580 <__vector_16>:
-    1580:	1f 92       	push	r1
-    1582:	0f 92       	push	r0
-    1584:	0f b6       	in	r0, 0x3f	; 63
-    1586:	0f 92       	push	r0
-    1588:	11 24       	eor	r1, r1
-    158a:	2f 93       	push	r18
-    158c:	3f 93       	push	r19
-    158e:	4f 93       	push	r20
-    1590:	5f 93       	push	r21
-    1592:	6f 93       	push	r22
-    1594:	7f 93       	push	r23
-    1596:	8f 93       	push	r24
-    1598:	9f 93       	push	r25
-    159a:	af 93       	push	r26
-    159c:	bf 93       	push	r27
-    159e:	ef 93       	push	r30
-    15a0:	ff 93       	push	r31
-    15a2:	80 91 35 04 	lds	r24, 0x0435
-    15a6:	88 23       	and	r24, r24
-    15a8:	91 f0       	breq	.+36     	; 0x15ce <__vector_16+0x4e>
-    15aa:	20 91 06 03 	lds	r18, 0x0306
-    15ae:	30 91 07 03 	lds	r19, 0x0307
-    15b2:	80 91 0a 03 	lds	r24, 0x030A
-    15b6:	90 91 0b 03 	lds	r25, 0x030B
-    15ba:	90 93 07 03 	sts	0x0307, r25
-    15be:	80 93 06 03 	sts	0x0306, r24
-    15c2:	30 93 0b 03 	sts	0x030B, r19
-    15c6:	20 93 0a 03 	sts	0x030A, r18
-    15ca:	10 92 35 04 	sts	0x0435, r1
-    15ce:	85 b3       	in	r24, 0x15	; 21
-    15d0:	87 67       	ori	r24, 0x77	; 119
-    15d2:	85 bb       	out	0x15, r24	; 21
-    15d4:	85 b3       	in	r24, 0x15	; 21
-    15d6:	e0 91 06 03 	lds	r30, 0x0306
-    15da:	f0 91 07 03 	lds	r31, 0x0307
-    15de:	90 81       	ld	r25, Z
-    15e0:	89 23       	and	r24, r25
-    15e2:	85 bb       	out	0x15, r24	; 21
-    15e4:	10 92 36 04 	sts	0x0436, r1
-    15e8:	81 81       	ldd	r24, Z+1	; 0x01
-    15ea:	81 bf       	out	0x31, r24	; 49
-    15ec:	0e 94 94 0a 	call	0x1528	; 0x1528 <output_compare>
-    15f0:	ff 91       	pop	r31
-    15f2:	ef 91       	pop	r30
-    15f4:	bf 91       	pop	r27
-    15f6:	af 91       	pop	r26
-    15f8:	9f 91       	pop	r25
-    15fa:	8f 91       	pop	r24
-    15fc:	7f 91       	pop	r23
-    15fe:	6f 91       	pop	r22
-    1600:	5f 91       	pop	r21
-    1602:	4f 91       	pop	r20
-    1604:	3f 91       	pop	r19
-    1606:	2f 91       	pop	r18
-    1608:	0f 90       	pop	r0
-    160a:	0f be       	out	0x3f, r0	; 63
-    160c:	0f 90       	pop	r0
-    160e:	1f 90       	pop	r1
-    1610:	18 95       	reti
-
-00001612 <__vector_15>:
-    1612:	1f 92       	push	r1
-    1614:	0f 92       	push	r0
-    1616:	0f b6       	in	r0, 0x3f	; 63
-    1618:	0f 92       	push	r0
-    161a:	11 24       	eor	r1, r1
-    161c:	2f 93       	push	r18
-    161e:	3f 93       	push	r19
-    1620:	4f 93       	push	r20
-    1622:	5f 93       	push	r21
-    1624:	6f 93       	push	r22
-    1626:	7f 93       	push	r23
-    1628:	8f 93       	push	r24
-    162a:	9f 93       	push	r25
-    162c:	af 93       	push	r26
-    162e:	bf 93       	push	r27
-    1630:	ef 93       	push	r30
-    1632:	ff 93       	push	r31
-    1634:	0e 94 94 0a 	call	0x1528	; 0x1528 <output_compare>
-    1638:	ff 91       	pop	r31
-    163a:	ef 91       	pop	r30
-    163c:	bf 91       	pop	r27
-    163e:	af 91       	pop	r26
-    1640:	9f 91       	pop	r25
-    1642:	8f 91       	pop	r24
-    1644:	7f 91       	pop	r23
-    1646:	6f 91       	pop	r22
-    1648:	5f 91       	pop	r21
-    164a:	4f 91       	pop	r20
-    164c:	3f 91       	pop	r19
-    164e:	2f 91       	pop	r18
-    1650:	0f 90       	pop	r0
-    1652:	0f be       	out	0x3f, r0	; 63
-    1654:	0f 90       	pop	r0
-    1656:	1f 90       	pop	r1
-    1658:	18 95       	reti
-
-0000165a <apply_orbs>:
-    165a:	0f 93       	push	r16
-    165c:	1f 93       	push	r17
-    165e:	cf 93       	push	r28
-    1660:	df 93       	push	r29
-    1662:	80 91 05 03 	lds	r24, 0x0305
-    1666:	88 23       	and	r24, r24
-    1668:	09 f4       	brne	.+2      	; 0x166c <apply_orbs+0x12>
-    166a:	94 c1       	rjmp	.+808    	; 0x1994 <apply_orbs+0x33a>
-    166c:	e0 91 08 03 	lds	r30, 0x0308
-    1670:	f0 91 09 03 	lds	r31, 0x0309
-    1674:	8f ef       	ldi	r24, 0xFF	; 255
-    1676:	80 83       	st	Z, r24
-    1678:	90 91 6b 04 	lds	r25, 0x046B
-    167c:	e0 91 08 03 	lds	r30, 0x0308
-    1680:	f0 91 09 03 	lds	r31, 0x0309
-    1684:	91 50       	subi	r25, 0x01	; 1
-    1686:	91 83       	std	Z+1, r25	; 0x01
-    1688:	9f 5f       	subi	r25, 0xFF	; 255
-    168a:	e0 91 08 03 	lds	r30, 0x0308
-    168e:	f0 91 09 03 	lds	r31, 0x0309
-    1692:	81 e0       	ldi	r24, 0x01	; 1
-    1694:	82 83       	std	Z+2, r24	; 0x02
-    1696:	99 23       	and	r25, r25
-    1698:	39 f0       	breq	.+14     	; 0x16a8 <apply_orbs+0x4e>
-    169a:	e0 91 08 03 	lds	r30, 0x0308
-    169e:	f0 91 09 03 	lds	r31, 0x0309
-    16a2:	80 81       	ld	r24, Z
-    16a4:	8e 7f       	andi	r24, 0xFE	; 254
-    16a6:	80 83       	st	Z, r24
-    16a8:	90 91 6c 04 	lds	r25, 0x046C
-    16ac:	e0 91 08 03 	lds	r30, 0x0308
-    16b0:	f0 91 09 03 	lds	r31, 0x0309
-    16b4:	91 50       	subi	r25, 0x01	; 1
-    16b6:	93 83       	std	Z+3, r25	; 0x03
-    16b8:	9f 5f       	subi	r25, 0xFF	; 255
-    16ba:	e0 91 08 03 	lds	r30, 0x0308
-    16be:	f0 91 09 03 	lds	r31, 0x0309
-    16c2:	82 e0       	ldi	r24, 0x02	; 2
-    16c4:	84 83       	std	Z+4, r24	; 0x04
-    16c6:	99 23       	and	r25, r25
-    16c8:	39 f0       	breq	.+14     	; 0x16d8 <apply_orbs+0x7e>
-    16ca:	e0 91 08 03 	lds	r30, 0x0308
-    16ce:	f0 91 09 03 	lds	r31, 0x0309
-    16d2:	80 81       	ld	r24, Z
-    16d4:	8d 7f       	andi	r24, 0xFD	; 253
-    16d6:	80 83       	st	Z, r24
-    16d8:	90 91 6d 04 	lds	r25, 0x046D
-    16dc:	e0 91 08 03 	lds	r30, 0x0308
-    16e0:	f0 91 09 03 	lds	r31, 0x0309
-    16e4:	91 50       	subi	r25, 0x01	; 1
-    16e6:	95 83       	std	Z+5, r25	; 0x05
-    16e8:	9f 5f       	subi	r25, 0xFF	; 255
-    16ea:	e0 91 08 03 	lds	r30, 0x0308
-    16ee:	f0 91 09 03 	lds	r31, 0x0309
-    16f2:	84 e0       	ldi	r24, 0x04	; 4
-    16f4:	86 83       	std	Z+6, r24	; 0x06
-    16f6:	99 23       	and	r25, r25
-    16f8:	39 f0       	breq	.+14     	; 0x1708 <apply_orbs+0xae>
-    16fa:	e0 91 08 03 	lds	r30, 0x0308
-    16fe:	f0 91 09 03 	lds	r31, 0x0309
-    1702:	80 81       	ld	r24, Z
-    1704:	8b 7f       	andi	r24, 0xFB	; 251
-    1706:	80 83       	st	Z, r24
-    1708:	90 91 6e 04 	lds	r25, 0x046E
-    170c:	e0 91 08 03 	lds	r30, 0x0308
-    1710:	f0 91 09 03 	lds	r31, 0x0309
-    1714:	91 50       	subi	r25, 0x01	; 1
-    1716:	97 83       	std	Z+7, r25	; 0x07
-    1718:	9f 5f       	subi	r25, 0xFF	; 255
-    171a:	e0 91 08 03 	lds	r30, 0x0308
-    171e:	f0 91 09 03 	lds	r31, 0x0309
-    1722:	80 e1       	ldi	r24, 0x10	; 16
-    1724:	80 87       	std	Z+8, r24	; 0x08
-    1726:	99 23       	and	r25, r25
-    1728:	39 f0       	breq	.+14     	; 0x1738 <apply_orbs+0xde>
-    172a:	e0 91 08 03 	lds	r30, 0x0308
-    172e:	f0 91 09 03 	lds	r31, 0x0309
-    1732:	80 81       	ld	r24, Z
-    1734:	8f 7e       	andi	r24, 0xEF	; 239
-    1736:	80 83       	st	Z, r24
-    1738:	90 91 6f 04 	lds	r25, 0x046F
-    173c:	e0 91 08 03 	lds	r30, 0x0308
-    1740:	f0 91 09 03 	lds	r31, 0x0309
-    1744:	91 50       	subi	r25, 0x01	; 1
-    1746:	91 87       	std	Z+9, r25	; 0x09
-    1748:	9f 5f       	subi	r25, 0xFF	; 255
-    174a:	e0 91 08 03 	lds	r30, 0x0308
-    174e:	f0 91 09 03 	lds	r31, 0x0309
-    1752:	80 e2       	ldi	r24, 0x20	; 32
-    1754:	82 87       	std	Z+10, r24	; 0x0a
-    1756:	99 23       	and	r25, r25
-    1758:	39 f0       	breq	.+14     	; 0x1768 <apply_orbs+0x10e>
-    175a:	e0 91 08 03 	lds	r30, 0x0308
-    175e:	f0 91 09 03 	lds	r31, 0x0309
-    1762:	80 81       	ld	r24, Z
-    1764:	8f 7d       	andi	r24, 0xDF	; 223
-    1766:	80 83       	st	Z, r24
-    1768:	90 91 70 04 	lds	r25, 0x0470
-    176c:	e0 91 08 03 	lds	r30, 0x0308
-    1770:	f0 91 09 03 	lds	r31, 0x0309
-    1774:	91 50       	subi	r25, 0x01	; 1
-    1776:	93 87       	std	Z+11, r25	; 0x0b
-    1778:	9f 5f       	subi	r25, 0xFF	; 255
-    177a:	e0 91 08 03 	lds	r30, 0x0308
-    177e:	f0 91 09 03 	lds	r31, 0x0309
-    1782:	80 e4       	ldi	r24, 0x40	; 64
-    1784:	84 87       	std	Z+12, r24	; 0x0c
-    1786:	99 23       	and	r25, r25
-    1788:	39 f0       	breq	.+14     	; 0x1798 <apply_orbs+0x13e>
-    178a:	e0 91 08 03 	lds	r30, 0x0308
-    178e:	f0 91 09 03 	lds	r31, 0x0309
-    1792:	80 81       	ld	r24, Z
-    1794:	8f 7b       	andi	r24, 0xBF	; 191
-    1796:	80 83       	st	Z, r24
-    1798:	e0 91 08 03 	lds	r30, 0x0308
-    179c:	f0 91 09 03 	lds	r31, 0x0309
-    17a0:	91 81       	ldd	r25, Z+1	; 0x01
-    17a2:	83 81       	ldd	r24, Z+3	; 0x03
-    17a4:	89 17       	cp	r24, r25
-    17a6:	10 f0       	brcs	.+4      	; 0x17ac <apply_orbs+0x152>
-    17a8:	61 e0       	ldi	r22, 0x01	; 1
-    17aa:	07 c0       	rjmp	.+14     	; 0x17ba <apply_orbs+0x160>
-    17ac:	81 83       	std	Z+1, r24	; 0x01
-    17ae:	93 83       	std	Z+3, r25	; 0x03
-    17b0:	92 81       	ldd	r25, Z+2	; 0x02
-    17b2:	84 81       	ldd	r24, Z+4	; 0x04
-    17b4:	82 83       	std	Z+2, r24	; 0x02
-    17b6:	94 83       	std	Z+4, r25	; 0x04
-    17b8:	60 e0       	ldi	r22, 0x00	; 0
-    17ba:	df 01       	movw	r26, r30
-    17bc:	15 96       	adiw	r26, 0x05	; 5
-    17be:	93 81       	ldd	r25, Z+3	; 0x03
-    17c0:	85 81       	ldd	r24, Z+5	; 0x05
-    17c2:	89 17       	cp	r24, r25
-    17c4:	40 f4       	brcc	.+16     	; 0x17d6 <apply_orbs+0x17c>
-    17c6:	83 83       	std	Z+3, r24	; 0x03
-    17c8:	95 83       	std	Z+5, r25	; 0x05
-    17ca:	94 81       	ldd	r25, Z+4	; 0x04
-    17cc:	ed 01       	movw	r28, r26
-    17ce:	89 81       	ldd	r24, Y+1	; 0x01
-    17d0:	84 83       	std	Z+4, r24	; 0x04
-    17d2:	99 83       	std	Y+1, r25	; 0x01
-    17d4:	60 e0       	ldi	r22, 0x00	; 0
-    17d6:	8f 01       	movw	r16, r30
-    17d8:	09 5f       	subi	r16, 0xF9	; 249
-    17da:	1f 4f       	sbci	r17, 0xFF	; 255
-    17dc:	95 81       	ldd	r25, Z+5	; 0x05
-    17de:	87 81       	ldd	r24, Z+7	; 0x07
-    17e0:	89 17       	cp	r24, r25
-    17e2:	58 f4       	brcc	.+22     	; 0x17fa <apply_orbs+0x1a0>
-    17e4:	85 83       	std	Z+5, r24	; 0x05
-    17e6:	97 83       	std	Z+7, r25	; 0x07
-    17e8:	ed 01       	movw	r28, r26
-    17ea:	99 81       	ldd	r25, Y+1	; 0x01
-    17ec:	e8 01       	movw	r28, r16
-    17ee:	89 81       	ldd	r24, Y+1	; 0x01
-    17f0:	ed 01       	movw	r28, r26
-    17f2:	89 83       	std	Y+1, r24	; 0x01
-    17f4:	e8 01       	movw	r28, r16
-    17f6:	99 83       	std	Y+1, r25	; 0x01
-    17f8:	60 e0       	ldi	r22, 0x00	; 0
-    17fa:	9f 01       	movw	r18, r30
-    17fc:	27 5f       	subi	r18, 0xF7	; 247
-    17fe:	3f 4f       	sbci	r19, 0xFF	; 255
-    1800:	97 81       	ldd	r25, Z+7	; 0x07
-    1802:	81 85       	ldd	r24, Z+9	; 0x09
-    1804:	89 17       	cp	r24, r25
-    1806:	58 f4       	brcc	.+22     	; 0x181e <apply_orbs+0x1c4>
-    1808:	87 83       	std	Z+7, r24	; 0x07
-    180a:	91 87       	std	Z+9, r25	; 0x09
-    180c:	e8 01       	movw	r28, r16
-    180e:	99 81       	ldd	r25, Y+1	; 0x01
-    1810:	e9 01       	movw	r28, r18
-    1812:	89 81       	ldd	r24, Y+1	; 0x01
-    1814:	e8 01       	movw	r28, r16
-    1816:	89 83       	std	Y+1, r24	; 0x01
-    1818:	e9 01       	movw	r28, r18
-    181a:	99 83       	std	Y+1, r25	; 0x01
-    181c:	60 e0       	ldi	r22, 0x00	; 0
-    181e:	af 01       	movw	r20, r30
-    1820:	45 5f       	subi	r20, 0xF5	; 245
-    1822:	5f 4f       	sbci	r21, 0xFF	; 255
-    1824:	91 85       	ldd	r25, Z+9	; 0x09
-    1826:	83 85       	ldd	r24, Z+11	; 0x0b
-    1828:	89 17       	cp	r24, r25
-    182a:	58 f4       	brcc	.+22     	; 0x1842 <apply_orbs+0x1e8>
-    182c:	81 87       	std	Z+9, r24	; 0x09
-    182e:	93 87       	std	Z+11, r25	; 0x0b
-    1830:	e9 01       	movw	r28, r18
-    1832:	99 81       	ldd	r25, Y+1	; 0x01
-    1834:	ea 01       	movw	r28, r20
-    1836:	89 81       	ldd	r24, Y+1	; 0x01
-    1838:	e9 01       	movw	r28, r18
-    183a:	89 83       	std	Y+1, r24	; 0x01
-    183c:	ea 01       	movw	r28, r20
-    183e:	99 83       	std	Y+1, r25	; 0x01
-    1840:	03 c0       	rjmp	.+6      	; 0x1848 <apply_orbs+0x1ee>
-    1842:	66 23       	and	r22, r22
-    1844:	09 f0       	breq	.+2      	; 0x1848 <apply_orbs+0x1ee>
-    1846:	8f c0       	rjmp	.+286    	; 0x1966 <apply_orbs+0x30c>
-    1848:	91 81       	ldd	r25, Z+1	; 0x01
-    184a:	83 81       	ldd	r24, Z+3	; 0x03
-    184c:	89 17       	cp	r24, r25
-    184e:	10 f0       	brcs	.+4      	; 0x1854 <apply_orbs+0x1fa>
-    1850:	41 e0       	ldi	r20, 0x01	; 1
-    1852:	07 c0       	rjmp	.+14     	; 0x1862 <apply_orbs+0x208>
-    1854:	81 83       	std	Z+1, r24	; 0x01
-    1856:	93 83       	std	Z+3, r25	; 0x03
-    1858:	92 81       	ldd	r25, Z+2	; 0x02
-    185a:	84 81       	ldd	r24, Z+4	; 0x04
-    185c:	82 83       	std	Z+2, r24	; 0x02
-    185e:	94 83       	std	Z+4, r25	; 0x04
-    1860:	40 e0       	ldi	r20, 0x00	; 0
-    1862:	93 81       	ldd	r25, Z+3	; 0x03
-    1864:	8c 91       	ld	r24, X
-    1866:	89 17       	cp	r24, r25
-    1868:	40 f4       	brcc	.+16     	; 0x187a <apply_orbs+0x220>
-    186a:	83 83       	std	Z+3, r24	; 0x03
-    186c:	9c 93       	st	X, r25
-    186e:	94 81       	ldd	r25, Z+4	; 0x04
-    1870:	ed 01       	movw	r28, r26
-    1872:	89 81       	ldd	r24, Y+1	; 0x01
-    1874:	84 83       	std	Z+4, r24	; 0x04
-    1876:	99 83       	std	Y+1, r25	; 0x01
-    1878:	40 e0       	ldi	r20, 0x00	; 0
-    187a:	9c 91       	ld	r25, X
-    187c:	e8 01       	movw	r28, r16
-    187e:	88 81       	ld	r24, Y
-    1880:	89 17       	cp	r24, r25
-    1882:	58 f4       	brcc	.+22     	; 0x189a <apply_orbs+0x240>
-    1884:	8c 93       	st	X, r24
-    1886:	98 83       	st	Y, r25
-    1888:	ed 01       	movw	r28, r26
-    188a:	99 81       	ldd	r25, Y+1	; 0x01
-    188c:	e8 01       	movw	r28, r16
-    188e:	89 81       	ldd	r24, Y+1	; 0x01
-    1890:	ed 01       	movw	r28, r26
-    1892:	89 83       	std	Y+1, r24	; 0x01
-    1894:	e8 01       	movw	r28, r16
-    1896:	99 83       	std	Y+1, r25	; 0x01
-    1898:	40 e0       	ldi	r20, 0x00	; 0
-    189a:	e8 01       	movw	r28, r16
-    189c:	98 81       	ld	r25, Y
-    189e:	e9 01       	movw	r28, r18
-    18a0:	88 81       	ld	r24, Y
-    18a2:	89 17       	cp	r24, r25
-    18a4:	68 f4       	brcc	.+26     	; 0x18c0 <apply_orbs+0x266>
-    18a6:	e8 01       	movw	r28, r16
-    18a8:	88 83       	st	Y, r24
-    18aa:	e9 01       	movw	r28, r18
-    18ac:	98 83       	st	Y, r25
-    18ae:	e8 01       	movw	r28, r16
-    18b0:	99 81       	ldd	r25, Y+1	; 0x01
-    18b2:	e9 01       	movw	r28, r18
-    18b4:	89 81       	ldd	r24, Y+1	; 0x01
-    18b6:	e8 01       	movw	r28, r16
-    18b8:	89 83       	std	Y+1, r24	; 0x01
-    18ba:	e9 01       	movw	r28, r18
-    18bc:	99 83       	std	Y+1, r25	; 0x01
-    18be:	03 c0       	rjmp	.+6      	; 0x18c6 <apply_orbs+0x26c>
-    18c0:	44 23       	and	r20, r20
-    18c2:	09 f0       	breq	.+2      	; 0x18c6 <apply_orbs+0x26c>
-    18c4:	50 c0       	rjmp	.+160    	; 0x1966 <apply_orbs+0x30c>
-    18c6:	91 81       	ldd	r25, Z+1	; 0x01
-    18c8:	83 81       	ldd	r24, Z+3	; 0x03
-    18ca:	89 17       	cp	r24, r25
-    18cc:	10 f0       	brcs	.+4      	; 0x18d2 <apply_orbs+0x278>
-    18ce:	21 e0       	ldi	r18, 0x01	; 1
-    18d0:	07 c0       	rjmp	.+14     	; 0x18e0 <apply_orbs+0x286>
-    18d2:	81 83       	std	Z+1, r24	; 0x01
-    18d4:	93 83       	std	Z+3, r25	; 0x03
-    18d6:	92 81       	ldd	r25, Z+2	; 0x02
-    18d8:	84 81       	ldd	r24, Z+4	; 0x04
-    18da:	82 83       	std	Z+2, r24	; 0x02
-    18dc:	94 83       	std	Z+4, r25	; 0x04
-    18de:	20 e0       	ldi	r18, 0x00	; 0
-    18e0:	93 81       	ldd	r25, Z+3	; 0x03
-    18e2:	8c 91       	ld	r24, X
-    18e4:	89 17       	cp	r24, r25
-    18e6:	40 f4       	brcc	.+16     	; 0x18f8 <apply_orbs+0x29e>
-    18e8:	83 83       	std	Z+3, r24	; 0x03
-    18ea:	9c 93       	st	X, r25
-    18ec:	94 81       	ldd	r25, Z+4	; 0x04
-    18ee:	ed 01       	movw	r28, r26
-    18f0:	89 81       	ldd	r24, Y+1	; 0x01
-    18f2:	84 83       	std	Z+4, r24	; 0x04
-    18f4:	99 83       	std	Y+1, r25	; 0x01
-    18f6:	20 e0       	ldi	r18, 0x00	; 0
-    18f8:	9c 91       	ld	r25, X
-    18fa:	e8 01       	movw	r28, r16
-    18fc:	88 81       	ld	r24, Y
-    18fe:	89 17       	cp	r24, r25
-    1900:	58 f4       	brcc	.+22     	; 0x1918 <apply_orbs+0x2be>
-    1902:	8c 93       	st	X, r24
-    1904:	98 83       	st	Y, r25
-    1906:	ed 01       	movw	r28, r26
-    1908:	99 81       	ldd	r25, Y+1	; 0x01
-    190a:	e8 01       	movw	r28, r16
-    190c:	89 81       	ldd	r24, Y+1	; 0x01
-    190e:	ed 01       	movw	r28, r26
-    1910:	89 83       	std	Y+1, r24	; 0x01
-    1912:	e8 01       	movw	r28, r16
-    1914:	99 83       	std	Y+1, r25	; 0x01
-    1916:	02 c0       	rjmp	.+4      	; 0x191c <apply_orbs+0x2c2>
-    1918:	22 23       	and	r18, r18
-    191a:	29 f5       	brne	.+74     	; 0x1966 <apply_orbs+0x30c>
-    191c:	91 81       	ldd	r25, Z+1	; 0x01
-    191e:	83 81       	ldd	r24, Z+3	; 0x03
-    1920:	89 17       	cp	r24, r25
-    1922:	10 f0       	brcs	.+4      	; 0x1928 <apply_orbs+0x2ce>
-    1924:	21 e0       	ldi	r18, 0x01	; 1
-    1926:	07 c0       	rjmp	.+14     	; 0x1936 <apply_orbs+0x2dc>
-    1928:	81 83       	std	Z+1, r24	; 0x01
-    192a:	93 83       	std	Z+3, r25	; 0x03
-    192c:	92 81       	ldd	r25, Z+2	; 0x02
-    192e:	84 81       	ldd	r24, Z+4	; 0x04
-    1930:	82 83       	std	Z+2, r24	; 0x02
-    1932:	94 83       	std	Z+4, r25	; 0x04
-    1934:	20 e0       	ldi	r18, 0x00	; 0
-    1936:	93 81       	ldd	r25, Z+3	; 0x03
-    1938:	8c 91       	ld	r24, X
-    193a:	89 17       	cp	r24, r25
-    193c:	40 f4       	brcc	.+16     	; 0x194e <apply_orbs+0x2f4>
-    193e:	83 83       	std	Z+3, r24	; 0x03
-    1940:	9c 93       	st	X, r25
-    1942:	94 81       	ldd	r25, Z+4	; 0x04
-    1944:	ed 01       	movw	r28, r26
-    1946:	89 81       	ldd	r24, Y+1	; 0x01
-    1948:	84 83       	std	Z+4, r24	; 0x04
-    194a:	99 83       	std	Y+1, r25	; 0x01
-    194c:	02 c0       	rjmp	.+4      	; 0x1952 <apply_orbs+0x2f8>
-    194e:	22 23       	and	r18, r18
-    1950:	51 f4       	brne	.+20     	; 0x1966 <apply_orbs+0x30c>
-    1952:	91 81       	ldd	r25, Z+1	; 0x01
-    1954:	83 81       	ldd	r24, Z+3	; 0x03
-    1956:	89 17       	cp	r24, r25
-    1958:	30 f4       	brcc	.+12     	; 0x1966 <apply_orbs+0x30c>
-    195a:	81 83       	std	Z+1, r24	; 0x01
-    195c:	93 83       	std	Z+3, r25	; 0x03
-    195e:	92 81       	ldd	r25, Z+2	; 0x02
-    1960:	84 81       	ldd	r24, Z+4	; 0x04
-    1962:	82 83       	std	Z+2, r24	; 0x02
-    1964:	94 83       	std	Z+4, r25	; 0x04
-    1966:	4f b7       	in	r20, 0x3f	; 63
-    1968:	f8 94       	cli
-    196a:	20 91 08 03 	lds	r18, 0x0308
-    196e:	30 91 09 03 	lds	r19, 0x0309
-    1972:	80 91 0a 03 	lds	r24, 0x030A
-    1976:	90 91 0b 03 	lds	r25, 0x030B
-    197a:	90 93 09 03 	sts	0x0309, r25
-    197e:	80 93 08 03 	sts	0x0308, r24
-    1982:	30 93 0b 03 	sts	0x030B, r19
-    1986:	20 93 0a 03 	sts	0x030A, r18
-    198a:	4f bf       	out	0x3f, r20	; 63
-    198c:	81 e0       	ldi	r24, 0x01	; 1
-    198e:	80 93 35 04 	sts	0x0435, r24
-    1992:	21 c0       	rjmp	.+66     	; 0x19d6 <apply_orbs+0x37c>
-    1994:	80 91 6b 04 	lds	r24, 0x046B
-    1998:	81 11       	cpse	r24, r1
-    199a:	81 e0       	ldi	r24, 0x01	; 1
-    199c:	28 2f       	mov	r18, r24
-    199e:	80 91 6c 04 	lds	r24, 0x046C
-    19a2:	81 11       	cpse	r24, r1
-    19a4:	22 60       	ori	r18, 0x02	; 2
-    19a6:	80 91 6d 04 	lds	r24, 0x046D
-    19aa:	81 11       	cpse	r24, r1
-    19ac:	24 60       	ori	r18, 0x04	; 4
-    19ae:	80 91 6e 04 	lds	r24, 0x046E
-    19b2:	81 11       	cpse	r24, r1
-    19b4:	20 61       	ori	r18, 0x10	; 16
-    19b6:	80 91 6f 04 	lds	r24, 0x046F
-    19ba:	81 11       	cpse	r24, r1
-    19bc:	20 62       	ori	r18, 0x20	; 32
-    19be:	80 91 70 04 	lds	r24, 0x0470
-    19c2:	81 11       	cpse	r24, r1
-    19c4:	20 64       	ori	r18, 0x40	; 64
-    19c6:	9f b7       	in	r25, 0x3f	; 63
-    19c8:	f8 94       	cli
-    19ca:	85 b3       	in	r24, 0x15	; 21
-    19cc:	20 95       	com	r18
-    19ce:	87 67       	ori	r24, 0x77	; 119
-    19d0:	82 23       	and	r24, r18
-    19d2:	85 bb       	out	0x15, r24	; 21
-    19d4:	9f bf       	out	0x3f, r25	; 63
-    19d6:	df 91       	pop	r29
-    19d8:	cf 91       	pop	r28
-    19da:	1f 91       	pop	r17
-    19dc:	0f 91       	pop	r16
-    19de:	08 95       	ret
-
-000019e0 <orb_n_set>:
-    19e0:	98 2f       	mov	r25, r24
-    19e2:	3f b7       	in	r19, 0x3f	; 63
-    19e4:	f8 94       	cli
-    19e6:	80 91 37 04 	lds	r24, 0x0437
-    19ea:	88 23       	and	r24, r24
-    19ec:	19 f0       	breq	.+6      	; 0x19f4 <orb_n_set+0x14>
-    19ee:	e0 e0       	ldi	r30, 0x00	; 0
-    19f0:	f0 e0       	ldi	r31, 0x00	; 0
-    19f2:	05 c0       	rjmp	.+10     	; 0x19fe <orb_n_set+0x1e>
-    19f4:	81 e0       	ldi	r24, 0x01	; 1
-    19f6:	80 93 37 04 	sts	0x0437, r24
-    19fa:	e1 e0       	ldi	r30, 0x01	; 1
-    19fc:	f0 e0       	ldi	r31, 0x00	; 0
-    19fe:	3f bf       	out	0x3f, r19	; 63
-    1a00:	31 97       	sbiw	r30, 0x01	; 1
-    1a02:	81 f4       	brne	.+32     	; 0x1a24 <orb_n_set+0x44>
-    1a04:	89 2f       	mov	r24, r25
-    1a06:	99 27       	eor	r25, r25
-    1a08:	fc 01       	movw	r30, r24
-    1a0a:	ee 0f       	add	r30, r30
-    1a0c:	ff 1f       	adc	r31, r31
-    1a0e:	e8 0f       	add	r30, r24
-    1a10:	f9 1f       	adc	r31, r25
-    1a12:	e5 59       	subi	r30, 0x95	; 149
-    1a14:	fb 4f       	sbci	r31, 0xFB	; 251
-    1a16:	60 83       	st	Z, r22
-    1a18:	41 83       	std	Z+1, r20	; 0x01
-    1a1a:	22 83       	std	Z+2, r18	; 0x02
-    1a1c:	0e 94 2d 0b 	call	0x165a	; 0x165a <apply_orbs>
-    1a20:	10 92 37 04 	sts	0x0437, r1
-    1a24:	08 95       	ret
-
-00001a26 <orb1_set>:
-    1a26:	38 2f       	mov	r19, r24
-    1a28:	2f b7       	in	r18, 0x3f	; 63
-    1a2a:	f8 94       	cli
-    1a2c:	80 91 37 04 	lds	r24, 0x0437
-    1a30:	88 23       	and	r24, r24
-    1a32:	19 f0       	breq	.+6      	; 0x1a3a <orb1_set+0x14>
-    1a34:	80 e0       	ldi	r24, 0x00	; 0
-    1a36:	90 e0       	ldi	r25, 0x00	; 0
-    1a38:	05 c0       	rjmp	.+10     	; 0x1a44 <orb1_set+0x1e>
-    1a3a:	81 e0       	ldi	r24, 0x01	; 1
-    1a3c:	80 93 37 04 	sts	0x0437, r24
-    1a40:	81 e0       	ldi	r24, 0x01	; 1
-    1a42:	90 e0       	ldi	r25, 0x00	; 0
-    1a44:	2f bf       	out	0x3f, r18	; 63
-    1a46:	01 97       	sbiw	r24, 0x01	; 1
-    1a48:	51 f4       	brne	.+20     	; 0x1a5e <orb1_set+0x38>
-    1a4a:	30 93 6b 04 	sts	0x046B, r19
-    1a4e:	60 93 6c 04 	sts	0x046C, r22
-    1a52:	40 93 6d 04 	sts	0x046D, r20
-    1a56:	0e 94 2d 0b 	call	0x165a	; 0x165a <apply_orbs>
-    1a5a:	10 92 37 04 	sts	0x0437, r1
-    1a5e:	08 95       	ret
-
-00001a60 <orb2_set>:
-    1a60:	38 2f       	mov	r19, r24
-    1a62:	2f b7       	in	r18, 0x3f	; 63
-    1a64:	f8 94       	cli
-    1a66:	80 91 37 04 	lds	r24, 0x0437
-    1a6a:	88 23       	and	r24, r24
-    1a6c:	19 f0       	breq	.+6      	; 0x1a74 <orb2_set+0x14>
-    1a6e:	80 e0       	ldi	r24, 0x00	; 0
-    1a70:	90 e0       	ldi	r25, 0x00	; 0
-    1a72:	05 c0       	rjmp	.+10     	; 0x1a7e <orb2_set+0x1e>
-    1a74:	81 e0       	ldi	r24, 0x01	; 1
-    1a76:	80 93 37 04 	sts	0x0437, r24
-    1a7a:	81 e0       	ldi	r24, 0x01	; 1
-    1a7c:	90 e0       	ldi	r25, 0x00	; 0
-    1a7e:	2f bf       	out	0x3f, r18	; 63
-    1a80:	01 97       	sbiw	r24, 0x01	; 1
-    1a82:	51 f4       	brne	.+20     	; 0x1a98 <orb2_set+0x38>
-    1a84:	30 93 6e 04 	sts	0x046E, r19
-    1a88:	60 93 6f 04 	sts	0x046F, r22
-    1a8c:	40 93 70 04 	sts	0x0470, r20
-    1a90:	0e 94 2d 0b 	call	0x165a	; 0x165a <apply_orbs>
-    1a94:	10 92 37 04 	sts	0x0437, r1
-    1a98:	08 95       	ret
-
-00001a9a <orb_set>:
-    1a9a:	38 2f       	mov	r19, r24
-    1a9c:	2f b7       	in	r18, 0x3f	; 63
-    1a9e:	f8 94       	cli
-    1aa0:	80 91 37 04 	lds	r24, 0x0437
-    1aa4:	88 23       	and	r24, r24
-    1aa6:	19 f0       	breq	.+6      	; 0x1aae <orb_set+0x14>
-    1aa8:	80 e0       	ldi	r24, 0x00	; 0
-    1aaa:	90 e0       	ldi	r25, 0x00	; 0
-    1aac:	05 c0       	rjmp	.+10     	; 0x1ab8 <orb_set+0x1e>
-    1aae:	81 e0       	ldi	r24, 0x01	; 1
-    1ab0:	80 93 37 04 	sts	0x0437, r24
-    1ab4:	81 e0       	ldi	r24, 0x01	; 1
-    1ab6:	90 e0       	ldi	r25, 0x00	; 0
-    1ab8:	2f bf       	out	0x3f, r18	; 63
-    1aba:	01 97       	sbiw	r24, 0x01	; 1
-    1abc:	81 f4       	brne	.+32     	; 0x1ade <orb_set+0x44>
-    1abe:	30 93 6b 04 	sts	0x046B, r19
-    1ac2:	60 93 6c 04 	sts	0x046C, r22
-    1ac6:	40 93 6d 04 	sts	0x046D, r20
-    1aca:	30 93 6e 04 	sts	0x046E, r19
-    1ace:	60 93 6f 04 	sts	0x046F, r22
-    1ad2:	40 93 70 04 	sts	0x0470, r20
-    1ad6:	0e 94 2d 0b 	call	0x165a	; 0x165a <apply_orbs>
-    1ada:	10 92 37 04 	sts	0x0437, r1
-    1ade:	08 95       	ret
-
-00001ae0 <orbs_set>:
-    1ae0:	ef 92       	push	r14
-    1ae2:	0f 93       	push	r16
-    1ae4:	58 2f       	mov	r21, r24
-    1ae6:	3f b7       	in	r19, 0x3f	; 63
-    1ae8:	f8 94       	cli
-    1aea:	80 91 37 04 	lds	r24, 0x0437
-    1aee:	88 23       	and	r24, r24
-    1af0:	19 f0       	breq	.+6      	; 0x1af8 <orbs_set+0x18>
-    1af2:	80 e0       	ldi	r24, 0x00	; 0
-    1af4:	90 e0       	ldi	r25, 0x00	; 0
-    1af6:	05 c0       	rjmp	.+10     	; 0x1b02 <orbs_set+0x22>
-    1af8:	81 e0       	ldi	r24, 0x01	; 1
-    1afa:	80 93 37 04 	sts	0x0437, r24
-    1afe:	81 e0       	ldi	r24, 0x01	; 1
-    1b00:	90 e0       	ldi	r25, 0x00	; 0
-    1b02:	3f bf       	out	0x3f, r19	; 63
-    1b04:	01 97       	sbiw	r24, 0x01	; 1
-    1b06:	81 f4       	brne	.+32     	; 0x1b28 <orbs_set+0x48>
-    1b08:	50 93 6b 04 	sts	0x046B, r21
-    1b0c:	60 93 6c 04 	sts	0x046C, r22
-    1b10:	40 93 6d 04 	sts	0x046D, r20
-    1b14:	20 93 6e 04 	sts	0x046E, r18
-    1b18:	00 93 6f 04 	sts	0x046F, r16
-    1b1c:	e0 92 70 04 	sts	0x0470, r14
-    1b20:	0e 94 2d 0b 	call	0x165a	; 0x165a <apply_orbs>
-    1b24:	10 92 37 04 	sts	0x0437, r1
-    1b28:	0f 91       	pop	r16
-    1b2a:	ef 90       	pop	r14
-    1b2c:	08 95       	ret
-
-00001b2e <orb_n_set_color>:
-    1b2e:	77 27       	eor	r23, r23
-    1b30:	ab 01       	movw	r20, r22
-    1b32:	43 70       	andi	r20, 0x03	; 3
-    1b34:	50 70       	andi	r21, 0x00	; 0
-    1b36:	25 e5       	ldi	r18, 0x55	; 85
-    1b38:	30 e0       	ldi	r19, 0x00	; 0
-    1b3a:	d9 01       	movw	r26, r18
-    1b3c:	4a 9f       	mul	r20, r26
-    1b3e:	90 01       	movw	r18, r0
-    1b40:	4b 9f       	mul	r20, r27
-    1b42:	30 0d       	add	r19, r0
-    1b44:	5a 9f       	mul	r21, r26
-    1b46:	30 0d       	add	r19, r0
-    1b48:	11 24       	eor	r1, r1
-    1b4a:	ab 01       	movw	r20, r22
-    1b4c:	4c 71       	andi	r20, 0x1C	; 28
-    1b4e:	50 70       	andi	r21, 0x00	; 0
-    1b50:	55 95       	asr	r21
-    1b52:	47 95       	ror	r20
-    1b54:	55 95       	asr	r21
-    1b56:	47 95       	ror	r20
-    1b58:	e4 e2       	ldi	r30, 0x24	; 36
-    1b5a:	f0 e0       	ldi	r31, 0x00	; 0
-    1b5c:	da 01       	movw	r26, r20
-    1b5e:	ae 9f       	mul	r26, r30
-    1b60:	a0 01       	movw	r20, r0
-    1b62:	af 9f       	mul	r26, r31
-    1b64:	50 0d       	add	r21, r0
-    1b66:	be 9f       	mul	r27, r30
-    1b68:	50 0d       	add	r21, r0
-    1b6a:	11 24       	eor	r1, r1
-    1b6c:	a5 e0       	ldi	r26, 0x05	; 5
-    1b6e:	76 95       	lsr	r23
-    1b70:	67 95       	ror	r22
-    1b72:	aa 95       	dec	r26
-    1b74:	e1 f7       	brne	.-8      	; 0x1b6e <orb_n_set_color+0x40>
-    1b76:	db 01       	movw	r26, r22
-    1b78:	ae 9f       	mul	r26, r30
-    1b7a:	b0 01       	movw	r22, r0
-    1b7c:	af 9f       	mul	r26, r31
-    1b7e:	70 0d       	add	r23, r0
-    1b80:	be 9f       	mul	r27, r30
-    1b82:	70 0d       	add	r23, r0
-    1b84:	11 24       	eor	r1, r1
-    1b86:	0e 94 f0 0c 	call	0x19e0	; 0x19e0 <orb_n_set>
-    1b8a:	08 95       	ret
-
-00001b8c <orb1_set_color>:
-    1b8c:	99 27       	eor	r25, r25
-    1b8e:	ac 01       	movw	r20, r24
-    1b90:	43 70       	andi	r20, 0x03	; 3
-    1b92:	50 70       	andi	r21, 0x00	; 0
-    1b94:	25 e5       	ldi	r18, 0x55	; 85
-    1b96:	30 e0       	ldi	r19, 0x00	; 0
-    1b98:	ba 01       	movw	r22, r20
-    1b9a:	62 9f       	mul	r22, r18
-    1b9c:	a0 01       	movw	r20, r0
-    1b9e:	63 9f       	mul	r22, r19
-    1ba0:	50 0d       	add	r21, r0
-    1ba2:	72 9f       	mul	r23, r18
-    1ba4:	50 0d       	add	r21, r0
-    1ba6:	11 24       	eor	r1, r1
-    1ba8:	9c 01       	movw	r18, r24
-    1baa:	2c 71       	andi	r18, 0x1C	; 28
-    1bac:	30 70       	andi	r19, 0x00	; 0
-    1bae:	35 95       	asr	r19
-    1bb0:	27 95       	ror	r18
-    1bb2:	35 95       	asr	r19
-    1bb4:	27 95       	ror	r18
-    1bb6:	e4 e2       	ldi	r30, 0x24	; 36
-    1bb8:	f0 e0       	ldi	r31, 0x00	; 0
-    1bba:	2e 9f       	mul	r18, r30
-    1bbc:	b0 01       	movw	r22, r0
-    1bbe:	2f 9f       	mul	r18, r31
-    1bc0:	70 0d       	add	r23, r0
-    1bc2:	3e 9f       	mul	r19, r30
-    1bc4:	70 0d       	add	r23, r0
-    1bc6:	11 24       	eor	r1, r1
-    1bc8:	25 e0       	ldi	r18, 0x05	; 5
-    1bca:	96 95       	lsr	r25
-    1bcc:	87 95       	ror	r24
-    1bce:	2a 95       	dec	r18
-    1bd0:	e1 f7       	brne	.-8      	; 0x1bca <orb1_set_color+0x3e>
-    1bd2:	8e 9f       	mul	r24, r30
-    1bd4:	80 2d       	mov	r24, r0
-    1bd6:	11 24       	eor	r1, r1
-    1bd8:	0e 94 13 0d 	call	0x1a26	; 0x1a26 <orb1_set>
-    1bdc:	08 95       	ret
-
-00001bde <orb2_set_color>:
-    1bde:	99 27       	eor	r25, r25
-    1be0:	ac 01       	movw	r20, r24
-    1be2:	43 70       	andi	r20, 0x03	; 3
-    1be4:	50 70       	andi	r21, 0x00	; 0
-    1be6:	25 e5       	ldi	r18, 0x55	; 85
-    1be8:	30 e0       	ldi	r19, 0x00	; 0
-    1bea:	ba 01       	movw	r22, r20
-    1bec:	62 9f       	mul	r22, r18
-    1bee:	a0 01       	movw	r20, r0
-    1bf0:	63 9f       	mul	r22, r19
-    1bf2:	50 0d       	add	r21, r0
-    1bf4:	72 9f       	mul	r23, r18
-    1bf6:	50 0d       	add	r21, r0
-    1bf8:	11 24       	eor	r1, r1
-    1bfa:	9c 01       	movw	r18, r24
-    1bfc:	2c 71       	andi	r18, 0x1C	; 28
-    1bfe:	30 70       	andi	r19, 0x00	; 0
-    1c00:	35 95       	asr	r19
-    1c02:	27 95       	ror	r18
-    1c04:	35 95       	asr	r19
-    1c06:	27 95       	ror	r18
-    1c08:	e4 e2       	ldi	r30, 0x24	; 36
-    1c0a:	f0 e0       	ldi	r31, 0x00	; 0
-    1c0c:	2e 9f       	mul	r18, r30
-    1c0e:	b0 01       	movw	r22, r0
-    1c10:	2f 9f       	mul	r18, r31
-    1c12:	70 0d       	add	r23, r0
-    1c14:	3e 9f       	mul	r19, r30
-    1c16:	70 0d       	add	r23, r0
-    1c18:	11 24       	eor	r1, r1
-    1c1a:	75 e0       	ldi	r23, 0x05	; 5
-    1c1c:	96 95       	lsr	r25
-    1c1e:	87 95       	ror	r24
-    1c20:	7a 95       	dec	r23
-    1c22:	e1 f7       	brne	.-8      	; 0x1c1c <orb2_set_color+0x3e>
-    1c24:	8e 9f       	mul	r24, r30
-    1c26:	80 2d       	mov	r24, r0
-    1c28:	11 24       	eor	r1, r1
-    1c2a:	0e 94 30 0d 	call	0x1a60	; 0x1a60 <orb2_set>
-    1c2e:	08 95       	ret
-
-00001c30 <orb_set_color>:
-    1c30:	99 27       	eor	r25, r25
-    1c32:	ac 01       	movw	r20, r24
-    1c34:	43 70       	andi	r20, 0x03	; 3
-    1c36:	50 70       	andi	r21, 0x00	; 0
-    1c38:	25 e5       	ldi	r18, 0x55	; 85
-    1c3a:	30 e0       	ldi	r19, 0x00	; 0
-    1c3c:	ba 01       	movw	r22, r20
-    1c3e:	62 9f       	mul	r22, r18
-    1c40:	a0 01       	movw	r20, r0
-    1c42:	63 9f       	mul	r22, r19
-    1c44:	50 0d       	add	r21, r0
-    1c46:	72 9f       	mul	r23, r18
-    1c48:	50 0d       	add	r21, r0
-    1c4a:	11 24       	eor	r1, r1
-    1c4c:	9c 01       	movw	r18, r24
-    1c4e:	2c 71       	andi	r18, 0x1C	; 28
-    1c50:	30 70       	andi	r19, 0x00	; 0
-    1c52:	35 95       	asr	r19
-    1c54:	27 95       	ror	r18
-    1c56:	35 95       	asr	r19
-    1c58:	27 95       	ror	r18
-    1c5a:	e4 e2       	ldi	r30, 0x24	; 36
-    1c5c:	f0 e0       	ldi	r31, 0x00	; 0
-    1c5e:	2e 9f       	mul	r18, r30
-    1c60:	b0 01       	movw	r22, r0
-    1c62:	2f 9f       	mul	r18, r31
-    1c64:	70 0d       	add	r23, r0
-    1c66:	3e 9f       	mul	r19, r30
-    1c68:	70 0d       	add	r23, r0
-    1c6a:	11 24       	eor	r1, r1
-    1c6c:	f5 e0       	ldi	r31, 0x05	; 5
-    1c6e:	96 95       	lsr	r25
-    1c70:	87 95       	ror	r24
-    1c72:	fa 95       	dec	r31
-    1c74:	e1 f7       	brne	.-8      	; 0x1c6e <orb_set_color+0x3e>
-    1c76:	8e 9f       	mul	r24, r30
-    1c78:	80 2d       	mov	r24, r0
-    1c7a:	11 24       	eor	r1, r1
-    1c7c:	0e 94 4d 0d 	call	0x1a9a	; 0x1a9a <orb_set>
-    1c80:	08 95       	ret
-
-00001c82 <orbs_set_color>:
-    1c82:	ef 92       	push	r14
-    1c84:	ff 92       	push	r15
-    1c86:	0f 93       	push	r16
-    1c88:	1f 93       	push	r17
-    1c8a:	77 27       	eor	r23, r23
-    1c8c:	e8 2f       	mov	r30, r24
-    1c8e:	ff 27       	eor	r31, r31
-    1c90:	cb 01       	movw	r24, r22
-    1c92:	83 70       	andi	r24, 0x03	; 3
-    1c94:	90 70       	andi	r25, 0x00	; 0
-    1c96:	a5 e5       	ldi	r26, 0x55	; 85
-    1c98:	b0 e0       	ldi	r27, 0x00	; 0
-    1c9a:	8a 9f       	mul	r24, r26
-    1c9c:	70 01       	movw	r14, r0
-    1c9e:	8b 9f       	mul	r24, r27
-    1ca0:	f0 0c       	add	r15, r0
-    1ca2:	9a 9f       	mul	r25, r26
-    1ca4:	f0 0c       	add	r15, r0
-    1ca6:	11 24       	eor	r1, r1
-    1ca8:	9b 01       	movw	r18, r22
-    1caa:	2c 71       	andi	r18, 0x1C	; 28
-    1cac:	30 70       	andi	r19, 0x00	; 0
-    1cae:	35 95       	asr	r19
-    1cb0:	27 95       	ror	r18
-    1cb2:	35 95       	asr	r19
-    1cb4:	27 95       	ror	r18
-    1cb6:	84 e2       	ldi	r24, 0x24	; 36
-    1cb8:	90 e0       	ldi	r25, 0x00	; 0
-    1cba:	28 9f       	mul	r18, r24
-    1cbc:	80 01       	movw	r16, r0
-    1cbe:	29 9f       	mul	r18, r25
-    1cc0:	10 0d       	add	r17, r0
-    1cc2:	38 9f       	mul	r19, r24
-    1cc4:	10 0d       	add	r17, r0
-    1cc6:	11 24       	eor	r1, r1
-    1cc8:	25 e0       	ldi	r18, 0x05	; 5
-    1cca:	76 95       	lsr	r23
-    1ccc:	67 95       	ror	r22
-    1cce:	2a 95       	dec	r18
-    1cd0:	e1 f7       	brne	.-8      	; 0x1cca <orbs_set_color+0x48>
-    1cd2:	68 9f       	mul	r22, r24
-    1cd4:	90 01       	movw	r18, r0
-    1cd6:	69 9f       	mul	r22, r25
-    1cd8:	30 0d       	add	r19, r0
-    1cda:	78 9f       	mul	r23, r24
-    1cdc:	30 0d       	add	r19, r0
-    1cde:	11 24       	eor	r1, r1
-    1ce0:	af 01       	movw	r20, r30
-    1ce2:	43 70       	andi	r20, 0x03	; 3
-    1ce4:	50 70       	andi	r21, 0x00	; 0
-    1ce6:	ba 01       	movw	r22, r20
-    1ce8:	6a 9f       	mul	r22, r26
-    1cea:	a0 01       	movw	r20, r0
-    1cec:	6b 9f       	mul	r22, r27
-    1cee:	50 0d       	add	r21, r0
-    1cf0:	7a 9f       	mul	r23, r26
-    1cf2:	50 0d       	add	r21, r0
-    1cf4:	11 24       	eor	r1, r1
-    1cf6:	bf 01       	movw	r22, r30
-    1cf8:	6c 71       	andi	r22, 0x1C	; 28
-    1cfa:	70 70       	andi	r23, 0x00	; 0
-    1cfc:	75 95       	asr	r23
-    1cfe:	67 95       	ror	r22
-    1d00:	75 95       	asr	r23
-    1d02:	67 95       	ror	r22
-    1d04:	db 01       	movw	r26, r22
-    1d06:	a8 9f       	mul	r26, r24
-    1d08:	b0 01       	movw	r22, r0
-    1d0a:	a9 9f       	mul	r26, r25
-    1d0c:	70 0d       	add	r23, r0
-    1d0e:	b8 9f       	mul	r27, r24
-    1d10:	70 0d       	add	r23, r0
-    1d12:	11 24       	eor	r1, r1
-    1d14:	b5 e0       	ldi	r27, 0x05	; 5
-    1d16:	f6 95       	lsr	r31
-    1d18:	e7 95       	ror	r30
-    1d1a:	ba 95       	dec	r27
-    1d1c:	e1 f7       	brne	.-8      	; 0x1d16 <orbs_set_color+0x94>
-    1d1e:	e8 9f       	mul	r30, r24
-    1d20:	80 2d       	mov	r24, r0
-    1d22:	11 24       	eor	r1, r1
-    1d24:	0e 94 70 0d 	call	0x1ae0	; 0x1ae0 <orbs_set>
-    1d28:	1f 91       	pop	r17
-    1d2a:	0f 91       	pop	r16
-    1d2c:	ff 90       	pop	r15
-    1d2e:	ef 90       	pop	r14
-    1d30:	08 95       	ret
-
-00001d32 <orb_enable_timer>:
-    1d32:	86 e0       	ldi	r24, 0x06	; 6
-    1d34:	83 bf       	out	0x33, r24	; 51
-    1d36:	87 b7       	in	r24, 0x37	; 55
-    1d38:	83 60       	ori	r24, 0x03	; 3
-    1d3a:	87 bf       	out	0x37, r24	; 55
-    1d3c:	08 95       	ret
-
-00001d3e <orb_disable_timer>:
-    1d3e:	87 b7       	in	r24, 0x37	; 55
-    1d40:	8c 7f       	andi	r24, 0xFC	; 252
-    1d42:	87 bf       	out	0x37, r24	; 55
-    1d44:	08 95       	ret
-
-00001d46 <orb_set_mode>:
-    1d46:	81 30       	cpi	r24, 0x01	; 1
-    1d48:	41 f4       	brne	.+16     	; 0x1d5a <orb_set_mode+0x14>
-    1d4a:	87 b7       	in	r24, 0x37	; 55
-    1d4c:	8c 7f       	andi	r24, 0xFC	; 252
-    1d4e:	87 bf       	out	0x37, r24	; 55
-    1d50:	10 92 05 03 	sts	0x0305, r1
-    1d54:	0e 94 2d 0b 	call	0x165a	; 0x165a <apply_orbs>
-    1d58:	08 95       	ret
-    1d5a:	81 e0       	ldi	r24, 0x01	; 1
-    1d5c:	80 93 05 03 	sts	0x0305, r24
-    1d60:	0e 94 2d 0b 	call	0x165a	; 0x165a <apply_orbs>
-    1d64:	86 e0       	ldi	r24, 0x06	; 6
-    1d66:	83 bf       	out	0x33, r24	; 51
-    1d68:	87 b7       	in	r24, 0x37	; 55
-    1d6a:	83 60       	ori	r24, 0x03	; 3
-    1d6c:	87 bf       	out	0x37, r24	; 55
-    1d6e:	08 95       	ret
-
-00001d70 <orb_init_common>:
-    1d70:	85 b3       	in	r24, 0x15	; 21
-    1d72:	87 67       	ori	r24, 0x77	; 119
-    1d74:	85 bb       	out	0x15, r24	; 21
-    1d76:	84 b3       	in	r24, 0x14	; 20
-    1d78:	87 67       	ori	r24, 0x77	; 119
-    1d7a:	84 bb       	out	0x14, r24	; 20
-    1d7c:	40 e0       	ldi	r20, 0x00	; 0
-    1d7e:	60 e0       	ldi	r22, 0x00	; 0
-    1d80:	80 e0       	ldi	r24, 0x00	; 0
-    1d82:	0e 94 4d 0d 	call	0x1a9a	; 0x1a9a <orb_set>
-    1d86:	08 95       	ret
-
-00001d88 <orb_init_binary>:
-    1d88:	0e 94 b8 0e 	call	0x1d70	; 0x1d70 <orb_init_common>
-    1d8c:	81 e0       	ldi	r24, 0x01	; 1
-    1d8e:	0e 94 a3 0e 	call	0x1d46	; 0x1d46 <orb_set_mode>
-    1d92:	08 95       	ret
-
-00001d94 <orb_init_pwm>:
-    1d94:	0e 94 b8 0e 	call	0x1d70	; 0x1d70 <orb_init_common>
-    1d98:	80 e0       	ldi	r24, 0x00	; 0
-    1d9a:	0e 94 a3 0e 	call	0x1d46	; 0x1d46 <orb_set_mode>
-    1d9e:	08 95       	ret
-
-00001da0 <orb_init>:
-    1da0:	0e 94 ca 0e 	call	0x1d94	; 0x1d94 <orb_init_pwm>
-    1da4:	08 95       	ret
-
-00001da6 <motors_init>:
-    1da6:	8b b3       	in	r24, 0x1b	; 27
-    1da8:	8f 70       	andi	r24, 0x0F	; 15
-    1daa:	8b bb       	out	0x1b, r24	; 27
-    1dac:	8a b3       	in	r24, 0x1a	; 26
-    1dae:	80 6f       	ori	r24, 0xF0	; 240
-    1db0:	8a bb       	out	0x1a, r24	; 26
-    1db2:	87 b3       	in	r24, 0x17	; 23
-    1db4:	80 66       	ori	r24, 0x60	; 96
-    1db6:	87 bb       	out	0x17, r24	; 23
-    1db8:	81 ea       	ldi	r24, 0xA1	; 161
-    1dba:	8f bd       	out	0x2f, r24	; 47
-    1dbc:	89 e0       	ldi	r24, 0x09	; 9
-    1dbe:	8e bd       	out	0x2e, r24	; 46
-    1dc0:	1b bc       	out	0x2b, r1	; 43
-    1dc2:	1a bc       	out	0x2a, r1	; 42
-    1dc4:	19 bc       	out	0x29, r1	; 41
-    1dc6:	18 bc       	out	0x28, r1	; 40
-    1dc8:	08 95       	ret
-
-00001dca <motor_l_set>:
-    1dca:	89 2b       	or	r24, r25
-    1dcc:	51 f4       	brne	.+20     	; 0x1de2 <motor_l_set+0x18>
-    1dce:	8b b3       	in	r24, 0x1b	; 27
-    1dd0:	80 73       	andi	r24, 0x30	; 48
-    1dd2:	80 31       	cpi	r24, 0x10	; 16
-    1dd4:	11 f0       	breq	.+4      	; 0x1dda <motor_l_set+0x10>
-    1dd6:	1b bc       	out	0x2b, r1	; 43
-    1dd8:	1a bc       	out	0x2a, r1	; 42
-    1dda:	8b b3       	in	r24, 0x1b	; 27
-    1ddc:	8f 7c       	andi	r24, 0xCF	; 207
-    1dde:	80 61       	ori	r24, 0x10	; 16
-    1de0:	09 c0       	rjmp	.+18     	; 0x1df4 <motor_l_set+0x2a>
-    1de2:	8b b3       	in	r24, 0x1b	; 27
-    1de4:	80 73       	andi	r24, 0x30	; 48
-    1de6:	80 32       	cpi	r24, 0x20	; 32
-    1de8:	11 f0       	breq	.+4      	; 0x1dee <motor_l_set+0x24>
-    1dea:	1b bc       	out	0x2b, r1	; 43
-    1dec:	1a bc       	out	0x2a, r1	; 42
-    1dee:	8b b3       	in	r24, 0x1b	; 27
-    1df0:	8f 7c       	andi	r24, 0xCF	; 207
-    1df2:	80 62       	ori	r24, 0x20	; 32
-    1df4:	8b bb       	out	0x1b, r24	; 27
-    1df6:	6a bd       	out	0x2a, r22	; 42
-    1df8:	08 95       	ret
-
-00001dfa <motor_r_set>:
-    1dfa:	89 2b       	or	r24, r25
-    1dfc:	51 f4       	brne	.+20     	; 0x1e12 <motor_r_set+0x18>
-    1dfe:	8b b3       	in	r24, 0x1b	; 27
-    1e00:	80 7c       	andi	r24, 0xC0	; 192
-    1e02:	80 38       	cpi	r24, 0x80	; 128
-    1e04:	11 f0       	breq	.+4      	; 0x1e0a <motor_r_set+0x10>
-    1e06:	19 bc       	out	0x29, r1	; 41
-    1e08:	18 bc       	out	0x28, r1	; 40
-    1e0a:	8b b3       	in	r24, 0x1b	; 27
-    1e0c:	8f 73       	andi	r24, 0x3F	; 63
-    1e0e:	80 68       	ori	r24, 0x80	; 128
-    1e10:	09 c0       	rjmp	.+18     	; 0x1e24 <motor_r_set+0x2a>
-    1e12:	8b b3       	in	r24, 0x1b	; 27
-    1e14:	80 7c       	andi	r24, 0xC0	; 192
-    1e16:	80 34       	cpi	r24, 0x40	; 64
-    1e18:	11 f0       	breq	.+4      	; 0x1e1e <motor_r_set+0x24>
-    1e1a:	19 bc       	out	0x29, r1	; 41
-    1e1c:	18 bc       	out	0x28, r1	; 40
-    1e1e:	8b b3       	in	r24, 0x1b	; 27
-    1e20:	8f 73       	andi	r24, 0x3F	; 63
-    1e22:	80 64       	ori	r24, 0x40	; 64
-    1e24:	8b bb       	out	0x1b, r24	; 27
-    1e26:	68 bd       	out	0x28, r22	; 40
-    1e28:	08 95       	ret
-
-00001e2a <motor1_set>:
-    1e2a:	0e 94 e5 0e 	call	0x1dca	; 0x1dca <motor_l_set>
-    1e2e:	08 95       	ret
-
-00001e30 <motor2_set>:
-    1e30:	0e 94 fd 0e 	call	0x1dfa	; 0x1dfa <motor_r_set>
-    1e34:	08 95       	ret
-
-00001e36 <motors_off>:
-    1e36:	1a bc       	out	0x2a, r1	; 42
-    1e38:	18 bc       	out	0x28, r1	; 40
-    1e3a:	08 95       	ret
-
-00001e3c <linearize_distance>:
-    1e3c:	fc 01       	movw	r30, r24
-    1e3e:	84 31       	cpi	r24, 0x14	; 20
-    1e40:	91 05       	cpc	r25, r1
-    1e42:	54 f0       	brlt	.+20     	; 0x1e58 <linearize_distance+0x1c>
-    1e44:	86 38       	cpi	r24, 0x86	; 134
-    1e46:	91 05       	cpc	r25, r1
-    1e48:	3c f4       	brge	.+14     	; 0x1e58 <linearize_distance+0x1c>
-    1e4a:	ee 0f       	add	r30, r30
-    1e4c:	ff 1f       	adc	r31, r31
-    1e4e:	ec 51       	subi	r30, 0x1C	; 28
-    1e50:	fd 4f       	sbci	r31, 0xFD	; 253
-    1e52:	80 81       	ld	r24, Z
-    1e54:	91 81       	ldd	r25, Z+1	; 0x01
-    1e56:	08 95       	ret
-    1e58:	8f ef       	ldi	r24, 0xFF	; 255
-    1e5a:	9f ef       	ldi	r25, 0xFF	; 255
-    1e5c:	08 95       	ret
-
-00001e5e <range_read_distance>:
-    1e5e:	0e 94 fb 10 	call	0x21f6	; 0x21f6 <analog8>
-    1e62:	0e 94 1e 0f 	call	0x1e3c	; 0x1e3c <linearize_distance>
-    1e66:	08 95       	ret
-
-00001e68 <range_init>:
-    1e68:	60 e0       	ldi	r22, 0x00	; 0
-    1e6a:	70 e0       	ldi	r23, 0x00	; 0
-    1e6c:	84 e1       	ldi	r24, 0x14	; 20
-    1e6e:	90 e0       	ldi	r25, 0x00	; 0
-    1e70:	0e 94 71 07 	call	0xee2	; 0xee2 <digital_output>
-    1e74:	08 95       	ret
-
-00001e76 <usb_init>:
-    1e76:	10 92 90 00 	sts	0x0090, r1
-    1e7a:	88 e0       	ldi	r24, 0x08	; 8
-    1e7c:	89 b9       	out	0x09, r24	; 9
-    1e7e:	59 9a       	sbi	0x0b, 1	; 11
-    1e80:	8a b1       	in	r24, 0x0a	; 10
-    1e82:	88 61       	ori	r24, 0x18	; 24
-    1e84:	8a b9       	out	0x0a, r24	; 10
-    1e86:	e5 e9       	ldi	r30, 0x95	; 149
-    1e88:	f0 e0       	ldi	r31, 0x00	; 0
-    1e8a:	80 81       	ld	r24, Z
-    1e8c:	86 60       	ori	r24, 0x06	; 6
-    1e8e:	80 83       	st	Z, r24
-    1e90:	08 95       	ret
-
-00001e92 <xbee_init>:
-    1e92:	10 92 98 00 	sts	0x0098, r1
-    1e96:	87 e6       	ldi	r24, 0x67	; 103
-    1e98:	80 93 99 00 	sts	0x0099, r24
-    1e9c:	eb e9       	ldi	r30, 0x9B	; 155
-    1e9e:	f0 e0       	ldi	r31, 0x00	; 0
-    1ea0:	80 81       	ld	r24, Z
-    1ea2:	82 60       	ori	r24, 0x02	; 2
-    1ea4:	80 83       	st	Z, r24
-    1ea6:	ea e9       	ldi	r30, 0x9A	; 154
-    1ea8:	f0 e0       	ldi	r31, 0x00	; 0
-    1eaa:	80 81       	ld	r24, Z
-    1eac:	88 61       	ori	r24, 0x18	; 24
-    1eae:	80 83       	st	Z, r24
-    1eb0:	ed e9       	ldi	r30, 0x9D	; 157
-    1eb2:	f0 e0       	ldi	r31, 0x00	; 0
-    1eb4:	80 81       	ld	r24, Z
-    1eb6:	86 60       	ori	r24, 0x06	; 6
-    1eb8:	80 83       	st	Z, r24
-    1eba:	08 95       	ret
-
-00001ebc <usb_putc>:
-    1ebc:	5d 9b       	sbis	0x0b, 5	; 11
-    1ebe:	fe cf       	rjmp	.-4      	; 0x1ebc <usb_putc>
-    1ec0:	8c b9       	out	0x0c, r24	; 12
-    1ec2:	80 e0       	ldi	r24, 0x00	; 0
-    1ec4:	90 e0       	ldi	r25, 0x00	; 0
-    1ec6:	08 95       	ret
-
-00001ec8 <xbee_putc>:
-    1ec8:	98 2f       	mov	r25, r24
-    1eca:	80 91 9b 00 	lds	r24, 0x009B
-    1ece:	85 ff       	sbrs	r24, 5
-    1ed0:	fc cf       	rjmp	.-8      	; 0x1eca <xbee_putc+0x2>
-    1ed2:	90 93 9c 00 	sts	0x009C, r25
-    1ed6:	80 e0       	ldi	r24, 0x00	; 0
-    1ed8:	90 e0       	ldi	r25, 0x00	; 0
-    1eda:	08 95       	ret
-
-00001edc <usb_getc>:
-    1edc:	5f 9b       	sbis	0x0b, 7	; 11
-    1ede:	fe cf       	rjmp	.-4      	; 0x1edc <usb_getc>
-    1ee0:	8c b1       	in	r24, 0x0c	; 12
-    1ee2:	99 27       	eor	r25, r25
-    1ee4:	08 95       	ret
-
-00001ee6 <xbee_getc>:
-    1ee6:	80 91 9b 00 	lds	r24, 0x009B
-    1eea:	87 ff       	sbrs	r24, 7
-    1eec:	fc cf       	rjmp	.-8      	; 0x1ee6 <xbee_getc>
-    1eee:	80 91 9c 00 	lds	r24, 0x009C
-    1ef2:	99 27       	eor	r25, r25
-    1ef4:	08 95       	ret
-
-00001ef6 <usb_getc_nb>:
-    1ef6:	fc 01       	movw	r30, r24
-    1ef8:	5f 99       	sbic	0x0b, 7	; 11
-    1efa:	03 c0       	rjmp	.+6      	; 0x1f02 <usb_getc_nb+0xc>
-    1efc:	8f ef       	ldi	r24, 0xFF	; 255
-    1efe:	9f ef       	ldi	r25, 0xFF	; 255
-    1f00:	08 95       	ret
-    1f02:	8c b1       	in	r24, 0x0c	; 12
-    1f04:	80 83       	st	Z, r24
-    1f06:	80 e0       	ldi	r24, 0x00	; 0
-    1f08:	90 e0       	ldi	r25, 0x00	; 0
-    1f0a:	08 95       	ret
-
-00001f0c <xbee_getc_nb>:
-    1f0c:	fc 01       	movw	r30, r24
-    1f0e:	80 91 9b 00 	lds	r24, 0x009B
-    1f12:	87 fd       	sbrc	r24, 7
-    1f14:	03 c0       	rjmp	.+6      	; 0x1f1c <xbee_getc_nb+0x10>
-    1f16:	8f ef       	ldi	r24, 0xFF	; 255
-    1f18:	9f ef       	ldi	r25, 0xFF	; 255
-    1f1a:	08 95       	ret
-    1f1c:	80 91 9c 00 	lds	r24, 0x009C
-    1f20:	80 83       	st	Z, r24
-    1f22:	80 e0       	ldi	r24, 0x00	; 0
-    1f24:	90 e0       	ldi	r25, 0x00	; 0
-    1f26:	08 95       	ret
-
-00001f28 <hex_digit>:
-    1f28:	80 31       	cpi	r24, 0x10	; 16
-    1f2a:	18 f0       	brcs	.+6      	; 0x1f32 <hex_digit+0xa>
-    1f2c:	8f e3       	ldi	r24, 0x3F	; 63
-    1f2e:	90 e0       	ldi	r25, 0x00	; 0
-    1f30:	08 95       	ret
-    1f32:	e8 2f       	mov	r30, r24
-    1f34:	ff 27       	eor	r31, r31
-    1f36:	e0 51       	subi	r30, 0x10	; 16
-    1f38:	fc 4f       	sbci	r31, 0xFC	; 252
-    1f3a:	80 81       	ld	r24, Z
-    1f3c:	99 27       	eor	r25, r25
-    1f3e:	08 95       	ret
-
-00001f40 <usb_puts>:
-    1f40:	fc 01       	movw	r30, r24
-    1f42:	04 c0       	rjmp	.+8      	; 0x1f4c <usb_puts+0xc>
-    1f44:	5d 9b       	sbis	0x0b, 5	; 11
-    1f46:	fe cf       	rjmp	.-4      	; 0x1f44 <usb_puts+0x4>
-    1f48:	8c b9       	out	0x0c, r24	; 12
-    1f4a:	31 96       	adiw	r30, 0x01	; 1
-    1f4c:	80 81       	ld	r24, Z
-    1f4e:	88 23       	and	r24, r24
-    1f50:	c9 f7       	brne	.-14     	; 0x1f44 <usb_puts+0x4>
-    1f52:	80 e0       	ldi	r24, 0x00	; 0
-    1f54:	90 e0       	ldi	r25, 0x00	; 0
-    1f56:	08 95       	ret
-
-00001f58 <usb_puti>:
-    1f58:	0f 93       	push	r16
-    1f5a:	1f 93       	push	r17
-    1f5c:	cf 93       	push	r28
-    1f5e:	df 93       	push	r29
-    1f60:	cd b7       	in	r28, 0x3d	; 61
-    1f62:	de b7       	in	r29, 0x3e	; 62
-    1f64:	26 97       	sbiw	r28, 0x06	; 6
-    1f66:	0f b6       	in	r0, 0x3f	; 63
-    1f68:	f8 94       	cli
-    1f6a:	de bf       	out	0x3e, r29	; 62
-    1f6c:	0f be       	out	0x3f, r0	; 63
-    1f6e:	cd bf       	out	0x3d, r28	; 61
-    1f70:	9c 01       	movw	r18, r24
-    1f72:	de 01       	movw	r26, r28
-    1f74:	11 96       	adiw	r26, 0x01	; 1
-    1f76:	e1 e0       	ldi	r30, 0x01	; 1
-    1f78:	f4 e0       	ldi	r31, 0x04	; 4
-    1f7a:	86 e0       	ldi	r24, 0x06	; 6
-    1f7c:	01 90       	ld	r0, Z+
-    1f7e:	0d 92       	st	X+, r0
-    1f80:	81 50       	subi	r24, 0x01	; 1
-    1f82:	e1 f7       	brne	.-8      	; 0x1f7c <usb_puti+0x24>
-    1f84:	37 ff       	sbrs	r19, 7
-    1f86:	07 c0       	rjmp	.+14     	; 0x1f96 <usb_puti+0x3e>
-    1f88:	5d 9b       	sbis	0x0b, 5	; 11
-    1f8a:	fe cf       	rjmp	.-4      	; 0x1f88 <usb_puti+0x30>
-    1f8c:	8d e2       	ldi	r24, 0x2D	; 45
-    1f8e:	8c b9       	out	0x0c, r24	; 12
-    1f90:	30 95       	com	r19
-    1f92:	21 95       	neg	r18
-    1f94:	3f 4f       	sbci	r19, 0xFF	; 255
-    1f96:	46 e0       	ldi	r20, 0x06	; 6
-    1f98:	8e 01       	movw	r16, r28
-    1f9a:	0f 5f       	subi	r16, 0xFF	; 255
-    1f9c:	1f 4f       	sbci	r17, 0xFF	; 255
-    1f9e:	41 50       	subi	r20, 0x01	; 1
-    1fa0:	f8 01       	movw	r30, r16
-    1fa2:	e4 0f       	add	r30, r20
-    1fa4:	f1 1d       	adc	r31, r1
-    1fa6:	c9 01       	movw	r24, r18
-    1fa8:	6a e0       	ldi	r22, 0x0A	; 10
-    1faa:	70 e0       	ldi	r23, 0x00	; 0
-    1fac:	0e 94 0f 14 	call	0x281e	; 0x281e <__divmodhi4>
-    1fb0:	80 5d       	subi	r24, 0xD0	; 208
-    1fb2:	80 83       	st	Z, r24
-    1fb4:	c9 01       	movw	r24, r18
-    1fb6:	6a e0       	ldi	r22, 0x0A	; 10
-    1fb8:	70 e0       	ldi	r23, 0x00	; 0
-    1fba:	0e 94 0f 14 	call	0x281e	; 0x281e <__divmodhi4>
-    1fbe:	9b 01       	movw	r18, r22
-    1fc0:	67 2b       	or	r22, r23
-    1fc2:	51 f0       	breq	.+20     	; 0x1fd8 <usb_puti+0x80>
-    1fc4:	ec cf       	rjmp	.-40     	; 0x1f9e <usb_puti+0x46>
-    1fc6:	fc 01       	movw	r30, r24
-    1fc8:	e4 0f       	add	r30, r20
-    1fca:	f1 1d       	adc	r31, r1
-    1fcc:	e0 81       	ld	r30, Z
-    1fce:	5d 9b       	sbis	0x0b, 5	; 11
-    1fd0:	fe cf       	rjmp	.-4      	; 0x1fce <usb_puti+0x76>
-    1fd2:	ec b9       	out	0x0c, r30	; 12
-    1fd4:	4f 5f       	subi	r20, 0xFF	; 255
-    1fd6:	02 c0       	rjmp	.+4      	; 0x1fdc <usb_puti+0x84>
-    1fd8:	ce 01       	movw	r24, r28
-    1fda:	01 96       	adiw	r24, 0x01	; 1
-    1fdc:	46 30       	cpi	r20, 0x06	; 6
-    1fde:	98 f3       	brcs	.-26     	; 0x1fc6 <usb_puti+0x6e>
-    1fe0:	80 e0       	ldi	r24, 0x00	; 0
-    1fe2:	90 e0       	ldi	r25, 0x00	; 0
-    1fe4:	26 96       	adiw	r28, 0x06	; 6
-    1fe6:	0f b6       	in	r0, 0x3f	; 63
-    1fe8:	f8 94       	cli
-    1fea:	de bf       	out	0x3e, r29	; 62
-    1fec:	0f be       	out	0x3f, r0	; 63
-    1fee:	cd bf       	out	0x3d, r28	; 61
-    1ff0:	df 91       	pop	r29
-    1ff2:	cf 91       	pop	r28
-    1ff4:	1f 91       	pop	r17
-    1ff6:	0f 91       	pop	r16
-    1ff8:	08 95       	ret
-
-00001ffa <usb_puts_P>:
-    1ffa:	ef 92       	push	r14
-    1ffc:	ff 92       	push	r15
-    1ffe:	0f 93       	push	r16
-    2000:	1f 93       	push	r17
-    2002:	cf 93       	push	r28
-    2004:	df 93       	push	r29
-    2006:	cd b7       	in	r28, 0x3d	; 61
-    2008:	de b7       	in	r29, 0x3e	; 62
-    200a:	21 97       	sbiw	r28, 0x01	; 1
-    200c:	0f b6       	in	r0, 0x3f	; 63
-    200e:	f8 94       	cli
-    2010:	de bf       	out	0x3e, r29	; 62
-    2012:	0f be       	out	0x3f, r0	; 63
-    2014:	cd bf       	out	0x3d, r28	; 61
-    2016:	8c 01       	movw	r16, r24
-    2018:	7e 01       	movw	r14, r28
-    201a:	08 94       	sec
-    201c:	e1 1c       	adc	r14, r1
-    201e:	f1 1c       	adc	r15, r1
-    2020:	05 c0       	rjmp	.+10     	; 0x202c <usb_puts_P+0x32>
-    2022:	5d 9b       	sbis	0x0b, 5	; 11
-    2024:	fe cf       	rjmp	.-4      	; 0x2022 <usb_puts_P+0x28>
-    2026:	8c b9       	out	0x0c, r24	; 12
-    2028:	0f 5f       	subi	r16, 0xFF	; 255
-    202a:	1f 4f       	sbci	r17, 0xFF	; 255
-    202c:	41 e0       	ldi	r20, 0x01	; 1
-    202e:	50 e0       	ldi	r21, 0x00	; 0
-    2030:	b8 01       	movw	r22, r16
-    2032:	c7 01       	movw	r24, r14
-    2034:	0e 94 66 13 	call	0x26cc	; 0x26cc <memcpy_P>
-    2038:	89 81       	ldd	r24, Y+1	; 0x01
-    203a:	88 23       	and	r24, r24
-    203c:	91 f7       	brne	.-28     	; 0x2022 <usb_puts_P+0x28>
-    203e:	21 96       	adiw	r28, 0x01	; 1
-    2040:	0f b6       	in	r0, 0x3f	; 63
-    2042:	f8 94       	cli
-    2044:	de bf       	out	0x3e, r29	; 62
-    2046:	0f be       	out	0x3f, r0	; 63
-    2048:	cd bf       	out	0x3d, r28	; 61
-    204a:	df 91       	pop	r29
-    204c:	cf 91       	pop	r28
-    204e:	1f 91       	pop	r17
-    2050:	0f 91       	pop	r16
-    2052:	ff 90       	pop	r15
-    2054:	ef 90       	pop	r14
-    2056:	08 95       	ret
-
-00002058 <usb_puth8>:
-    2058:	28 2f       	mov	r18, r24
-    205a:	e8 2f       	mov	r30, r24
-    205c:	e2 95       	swap	r30
-    205e:	ef 70       	andi	r30, 0x0F	; 15
-    2060:	ff 27       	eor	r31, r31
-    2062:	e0 51       	subi	r30, 0x10	; 16
-    2064:	fc 4f       	sbci	r31, 0xFC	; 252
-    2066:	80 81       	ld	r24, Z
-    2068:	99 27       	eor	r25, r25
-    206a:	5d 9b       	sbis	0x0b, 5	; 11
-    206c:	fe cf       	rjmp	.-4      	; 0x206a <usb_puth8+0x12>
-    206e:	8c b9       	out	0x0c, r24	; 12
-    2070:	e2 2f       	mov	r30, r18
-    2072:	ff 27       	eor	r31, r31
-    2074:	ef 70       	andi	r30, 0x0F	; 15
-    2076:	f0 70       	andi	r31, 0x00	; 0
-    2078:	e0 51       	subi	r30, 0x10	; 16
-    207a:	fc 4f       	sbci	r31, 0xFC	; 252
-    207c:	80 81       	ld	r24, Z
-    207e:	99 27       	eor	r25, r25
-    2080:	5d 9b       	sbis	0x0b, 5	; 11
-    2082:	fe cf       	rjmp	.-4      	; 0x2080 <usb_puth8+0x28>
-    2084:	8c b9       	out	0x0c, r24	; 12
-    2086:	08 95       	ret
-
-00002088 <usb_puth16>:
-    2088:	ac 01       	movw	r20, r24
-    208a:	fc 01       	movw	r30, r24
-    208c:	ef 2f       	mov	r30, r31
-    208e:	ff 27       	eor	r31, r31
-    2090:	e2 95       	swap	r30
-    2092:	ef 70       	andi	r30, 0x0F	; 15
-    2094:	e0 51       	subi	r30, 0x10	; 16
-    2096:	fc 4f       	sbci	r31, 0xFC	; 252
-    2098:	80 81       	ld	r24, Z
-    209a:	28 2f       	mov	r18, r24
-    209c:	33 27       	eor	r19, r19
-    209e:	5d 9b       	sbis	0x0b, 5	; 11
-    20a0:	fe cf       	rjmp	.-4      	; 0x209e <usb_puth16+0x16>
-    20a2:	2c b9       	out	0x0c, r18	; 12
-    20a4:	e5 2f       	mov	r30, r21
-    20a6:	ff 27       	eor	r31, r31
-    20a8:	ef 70       	andi	r30, 0x0F	; 15
-    20aa:	f0 70       	andi	r31, 0x00	; 0
-    20ac:	e0 51       	subi	r30, 0x10	; 16
-    20ae:	fc 4f       	sbci	r31, 0xFC	; 252
-    20b0:	80 81       	ld	r24, Z
-    20b2:	28 2f       	mov	r18, r24
-    20b4:	33 27       	eor	r19, r19
-    20b6:	5d 9b       	sbis	0x0b, 5	; 11
-    20b8:	fe cf       	rjmp	.-4      	; 0x20b6 <usb_puth16+0x2e>
-    20ba:	2c b9       	out	0x0c, r18	; 12
-    20bc:	fa 01       	movw	r30, r20
-    20be:	84 e0       	ldi	r24, 0x04	; 4
-    20c0:	f6 95       	lsr	r31
-    20c2:	e7 95       	ror	r30
-    20c4:	8a 95       	dec	r24
-    20c6:	e1 f7       	brne	.-8      	; 0x20c0 <usb_puth16+0x38>
-    20c8:	ff 27       	eor	r31, r31
-    20ca:	ef 70       	andi	r30, 0x0F	; 15
-    20cc:	f0 70       	andi	r31, 0x00	; 0
-    20ce:	e0 51       	subi	r30, 0x10	; 16
-    20d0:	fc 4f       	sbci	r31, 0xFC	; 252
-    20d2:	80 81       	ld	r24, Z
-    20d4:	28 2f       	mov	r18, r24
-    20d6:	33 27       	eor	r19, r19
-    20d8:	5d 9b       	sbis	0x0b, 5	; 11
-    20da:	fe cf       	rjmp	.-4      	; 0x20d8 <usb_puth16+0x50>
-    20dc:	2c b9       	out	0x0c, r18	; 12
-    20de:	e4 2f       	mov	r30, r20
-    20e0:	ff 27       	eor	r31, r31
-    20e2:	ef 70       	andi	r30, 0x0F	; 15
-    20e4:	f0 70       	andi	r31, 0x00	; 0
-    20e6:	e0 51       	subi	r30, 0x10	; 16
-    20e8:	fc 4f       	sbci	r31, 0xFC	; 252
-    20ea:	80 81       	ld	r24, Z
-    20ec:	99 27       	eor	r25, r25
-    20ee:	5d 9b       	sbis	0x0b, 5	; 11
-    20f0:	fe cf       	rjmp	.-4      	; 0x20ee <usb_puth16+0x66>
-    20f2:	8c b9       	out	0x0c, r24	; 12
-    20f4:	08 95       	ret
-
-000020f6 <delay_ms>:
-    20f6:	9c 01       	movw	r18, r24
-    20f8:	06 c0       	rjmp	.+12     	; 0x2106 <delay_ms+0x10>
-    20fa:	80 e4       	ldi	r24, 0x40	; 64
-    20fc:	96 e0       	ldi	r25, 0x06	; 6
-    20fe:	01 97       	sbiw	r24, 0x01	; 1
-    2100:	f1 f7       	brne	.-4      	; 0x20fe <delay_ms+0x8>
-    2102:	21 50       	subi	r18, 0x01	; 1
-    2104:	30 40       	sbci	r19, 0x00	; 0
-    2106:	12 16       	cp	r1, r18
-    2108:	13 06       	cpc	r1, r19
-    210a:	bc f3       	brlt	.-18     	; 0x20fa <delay_ms+0x4>
-    210c:	08 95       	ret
-
-0000210e <rtc_init>:
-    210e:	10 92 89 00 	sts	0x0089, r1
-    2112:	10 92 88 00 	sts	0x0088, r1
-    2116:	ea e8       	ldi	r30, 0x8A	; 138
-    2118:	f0 e0       	ldi	r31, 0x00	; 0
-    211a:	20 81       	ld	r18, Z
-    211c:	28 60       	ori	r18, 0x08	; 8
-    211e:	20 83       	st	Z, r18
-    2120:	20 81       	ld	r18, Z
-    2122:	22 60       	ori	r18, 0x02	; 2
-    2124:	20 83       	st	Z, r18
-    2126:	24 e2       	ldi	r18, 0x24	; 36
-    2128:	34 ef       	ldi	r19, 0xF4	; 244
-    212a:	30 93 87 00 	sts	0x0087, r19
-    212e:	20 93 86 00 	sts	0x0086, r18
-    2132:	ed e7       	ldi	r30, 0x7D	; 125
-    2134:	f0 e0       	ldi	r31, 0x00	; 0
-    2136:	20 81       	ld	r18, Z
-    2138:	20 61       	ori	r18, 0x10	; 16
-    213a:	20 83       	st	Z, r18
-    213c:	70 93 3d 04 	sts	0x043D, r23
-    2140:	60 93 3c 04 	sts	0x043C, r22
-    2144:	90 93 08 04 	sts	0x0408, r25
-    2148:	80 93 07 04 	sts	0x0407, r24
-    214c:	08 95       	ret
-
-0000214e <rtc_get>:
-    214e:	80 91 3a 04 	lds	r24, 0x043A
-    2152:	90 91 3b 04 	lds	r25, 0x043B
-    2156:	08 95       	ret
-
-00002158 <rtc_reset>:
-    2158:	10 92 3b 04 	sts	0x043B, r1
-    215c:	10 92 3a 04 	sts	0x043A, r1
-    2160:	08 95       	ret
-
-00002162 <__vector_26>:
-    2162:	1f 92       	push	r1
-    2164:	0f 92       	push	r0
-    2166:	0f b6       	in	r0, 0x3f	; 63
-    2168:	0f 92       	push	r0
-    216a:	11 24       	eor	r1, r1
-    216c:	2f 93       	push	r18
-    216e:	3f 93       	push	r19
-    2170:	4f 93       	push	r20
-    2172:	5f 93       	push	r21
-    2174:	6f 93       	push	r22
-    2176:	7f 93       	push	r23
-    2178:	8f 93       	push	r24
-    217a:	9f 93       	push	r25
-    217c:	af 93       	push	r26
-    217e:	bf 93       	push	r27
-    2180:	ef 93       	push	r30
-    2182:	ff 93       	push	r31
-    2184:	20 91 38 04 	lds	r18, 0x0438
-    2188:	30 91 39 04 	lds	r19, 0x0439
-    218c:	80 91 07 04 	lds	r24, 0x0407
-    2190:	90 91 08 04 	lds	r25, 0x0408
-    2194:	28 17       	cp	r18, r24
-    2196:	39 07       	cpc	r19, r25
-    2198:	a1 f4       	brne	.+40     	; 0x21c2 <__vector_26+0x60>
-    219a:	80 91 3a 04 	lds	r24, 0x043A
-    219e:	90 91 3b 04 	lds	r25, 0x043B
-    21a2:	01 96       	adiw	r24, 0x01	; 1
-    21a4:	90 93 3b 04 	sts	0x043B, r25
-    21a8:	80 93 3a 04 	sts	0x043A, r24
-    21ac:	e0 91 3c 04 	lds	r30, 0x043C
-    21b0:	f0 91 3d 04 	lds	r31, 0x043D
-    21b4:	30 97       	sbiw	r30, 0x00	; 0
-    21b6:	09 f0       	breq	.+2      	; 0x21ba <__vector_26+0x58>
-    21b8:	09 95       	icall
-    21ba:	10 92 39 04 	sts	0x0439, r1
-    21be:	10 92 38 04 	sts	0x0438, r1
-    21c2:	80 91 38 04 	lds	r24, 0x0438
-    21c6:	90 91 39 04 	lds	r25, 0x0439
-    21ca:	01 96       	adiw	r24, 0x01	; 1
-    21cc:	90 93 39 04 	sts	0x0439, r25
-    21d0:	80 93 38 04 	sts	0x0438, r24
-    21d4:	ff 91       	pop	r31
-    21d6:	ef 91       	pop	r30
-    21d8:	bf 91       	pop	r27
-    21da:	af 91       	pop	r26
-    21dc:	9f 91       	pop	r25
-    21de:	8f 91       	pop	r24
-    21e0:	7f 91       	pop	r23
-    21e2:	6f 91       	pop	r22
-    21e4:	5f 91       	pop	r21
-    21e6:	4f 91       	pop	r20
-    21e8:	3f 91       	pop	r19
-    21ea:	2f 91       	pop	r18
-    21ec:	0f 90       	pop	r0
-    21ee:	0f be       	out	0x3f, r0	; 63
-    21f0:	0f 90       	pop	r0
-    21f2:	1f 90       	pop	r1
-    21f4:	18 95       	reti
-
-000021f6 <analog8>:
-    21f6:	00 97       	sbiw	r24, 0x00	; 0
-    21f8:	19 f4       	brne	.+6      	; 0x2200 <analog8+0xa>
-    21fa:	80 e0       	ldi	r24, 0x00	; 0
-    21fc:	90 e0       	ldi	r25, 0x00	; 0
-    21fe:	08 95       	ret
-    2200:	01 97       	sbiw	r24, 0x01	; 1
-    2202:	fc 01       	movw	r30, r24
-    2204:	ee 0f       	add	r30, r30
-    2206:	ff 1f       	adc	r31, r31
-    2208:	e8 0f       	add	r30, r24
-    220a:	f9 1f       	adc	r31, r25
-    220c:	eb 58       	subi	r30, 0x8B	; 139
-    220e:	fb 4f       	sbci	r31, 0xFB	; 251
-    2210:	80 81       	ld	r24, Z
-    2212:	99 27       	eor	r25, r25
-    2214:	08 95       	ret
-
-00002216 <analog10>:
-    2216:	00 97       	sbiw	r24, 0x00	; 0
-    2218:	19 f4       	brne	.+6      	; 0x2220 <analog10+0xa>
-    221a:	80 e0       	ldi	r24, 0x00	; 0
-    221c:	90 e0       	ldi	r25, 0x00	; 0
-    221e:	08 95       	ret
-    2220:	01 97       	sbiw	r24, 0x01	; 1
-    2222:	fc 01       	movw	r30, r24
-    2224:	ee 0f       	add	r30, r30
-    2226:	ff 1f       	adc	r31, r31
-    2228:	e8 0f       	add	r30, r24
-    222a:	f9 1f       	adc	r31, r25
-    222c:	eb 58       	subi	r30, 0x8B	; 139
-    222e:	fb 4f       	sbci	r31, 0xFB	; 251
-    2230:	81 81       	ldd	r24, Z+1	; 0x01
-    2232:	92 81       	ldd	r25, Z+2	; 0x02
-    2234:	08 95       	ret
-
-00002236 <analog_start_loop>:
-    2236:	80 91 3e 04 	lds	r24, 0x043E
-    223a:	90 91 3f 04 	lds	r25, 0x043F
-    223e:	01 97       	sbiw	r24, 0x01	; 1
-    2240:	41 f0       	breq	.+16     	; 0x2252 <analog_start_loop+0x1c>
-    2242:	33 9a       	sbi	0x06, 3	; 6
-    2244:	36 9a       	sbi	0x06, 6	; 6
-    2246:	81 e0       	ldi	r24, 0x01	; 1
-    2248:	90 e0       	ldi	r25, 0x00	; 0
-    224a:	90 93 3f 04 	sts	0x043F, r25
-    224e:	80 93 3e 04 	sts	0x043E, r24
-    2252:	08 95       	ret
-
-00002254 <analog_stop_loop>:
-    2254:	81 e0       	ldi	r24, 0x01	; 1
-    2256:	90 e0       	ldi	r25, 0x00	; 0
-    2258:	90 93 41 04 	sts	0x0441, r25
-    225c:	80 93 40 04 	sts	0x0440, r24
-    2260:	08 95       	ret
-
-00002262 <analog_loop_status>:
-    2262:	80 91 3e 04 	lds	r24, 0x043E
-    2266:	90 91 3f 04 	lds	r25, 0x043F
-    226a:	08 95       	ret
-
-0000226c <set_adc_mux>:
-    226c:	e5 e6       	ldi	r30, 0x65	; 101
-    226e:	f0 e0       	ldi	r31, 0x00	; 0
-    2270:	20 81       	ld	r18, Z
-    2272:	38 2f       	mov	r19, r24
-    2274:	34 70       	andi	r19, 0x04	; 4
-    2276:	23 7e       	andi	r18, 0xE3	; 227
-    2278:	32 2b       	or	r19, r18
-    227a:	83 70       	andi	r24, 0x03	; 3
-    227c:	90 70       	andi	r25, 0x00	; 0
-    227e:	43 e0       	ldi	r20, 0x03	; 3
-    2280:	88 0f       	add	r24, r24
-    2282:	99 1f       	adc	r25, r25
-    2284:	4a 95       	dec	r20
-    2286:	e1 f7       	brne	.-8      	; 0x2280 <set_adc_mux+0x14>
-    2288:	38 2b       	or	r19, r24
-    228a:	30 83       	st	Z, r19
-    228c:	08 95       	ret
-
-0000228e <analog_get10>:
-    228e:	9c 01       	movw	r18, r24
-    2290:	36 99       	sbic	0x06, 6	; 6
-    2292:	fe cf       	rjmp	.-4      	; 0x2290 <analog_get10+0x2>
-    2294:	27 30       	cpi	r18, 0x07	; 7
-    2296:	31 05       	cpc	r19, r1
-    2298:	24 f4       	brge	.+8      	; 0x22a2 <analog_get10+0x14>
-    229a:	82 2f       	mov	r24, r18
-    229c:	80 5a       	subi	r24, 0xA0	; 160
-    229e:	87 b9       	out	0x07, r24	; 7
-    22a0:	06 c0       	rjmp	.+12     	; 0x22ae <analog_get10+0x20>
-    22a2:	87 e6       	ldi	r24, 0x67	; 103
-    22a4:	87 b9       	out	0x07, r24	; 7
-    22a6:	c9 01       	movw	r24, r18
-    22a8:	08 97       	sbiw	r24, 0x08	; 8
-    22aa:	0e 94 36 11 	call	0x226c	; 0x226c <set_adc_mux>
-    22ae:	36 9a       	sbi	0x06, 6	; 6
-    22b0:	36 99       	sbic	0x06, 6	; 6
-    22b2:	fe cf       	rjmp	.-4      	; 0x22b0 <analog_get10+0x22>
-    22b4:	84 b1       	in	r24, 0x04	; 4
-    22b6:	25 b1       	in	r18, 0x05	; 5
-    22b8:	99 27       	eor	r25, r25
-    22ba:	66 e0       	ldi	r22, 0x06	; 6
-    22bc:	95 95       	asr	r25
-    22be:	87 95       	ror	r24
-    22c0:	6a 95       	dec	r22
-    22c2:	e1 f7       	brne	.-8      	; 0x22bc <analog_get10+0x2e>
-    22c4:	33 27       	eor	r19, r19
-    22c6:	22 0f       	add	r18, r18
-    22c8:	33 1f       	adc	r19, r19
-    22ca:	22 0f       	add	r18, r18
-    22cc:	33 1f       	adc	r19, r19
-    22ce:	82 2b       	or	r24, r18
-    22d0:	93 2b       	or	r25, r19
-    22d2:	08 95       	ret
-
-000022d4 <analog_get8>:
-    22d4:	9c 01       	movw	r18, r24
-    22d6:	36 99       	sbic	0x06, 6	; 6
-    22d8:	fe cf       	rjmp	.-4      	; 0x22d6 <analog_get8+0x2>
-    22da:	27 30       	cpi	r18, 0x07	; 7
-    22dc:	31 05       	cpc	r19, r1
-    22de:	24 f4       	brge	.+8      	; 0x22e8 <analog_get8+0x14>
-    22e0:	82 2f       	mov	r24, r18
-    22e2:	80 5a       	subi	r24, 0xA0	; 160
-    22e4:	87 b9       	out	0x07, r24	; 7
-    22e6:	06 c0       	rjmp	.+12     	; 0x22f4 <analog_get8+0x20>
-    22e8:	87 e6       	ldi	r24, 0x67	; 103
-    22ea:	87 b9       	out	0x07, r24	; 7
-    22ec:	c9 01       	movw	r24, r18
-    22ee:	08 97       	sbiw	r24, 0x08	; 8
-    22f0:	0e 94 36 11 	call	0x226c	; 0x226c <set_adc_mux>
-    22f4:	36 9a       	sbi	0x06, 6	; 6
-    22f6:	36 99       	sbic	0x06, 6	; 6
-    22f8:	fe cf       	rjmp	.-4      	; 0x22f6 <analog_get8+0x22>
-    22fa:	85 b1       	in	r24, 0x05	; 5
-    22fc:	99 27       	eor	r25, r25
-    22fe:	08 95       	ret
-
-00002300 <analog_init>:
-    2300:	cf 93       	push	r28
-    2302:	df 93       	push	r29
-    2304:	ec 01       	movw	r28, r24
-    2306:	80 e0       	ldi	r24, 0x00	; 0
-    2308:	90 e0       	ldi	r25, 0x00	; 0
-    230a:	fc 01       	movw	r30, r24
-    230c:	ee 0f       	add	r30, r30
-    230e:	ff 1f       	adc	r31, r31
-    2310:	e8 0f       	add	r30, r24
-    2312:	f9 1f       	adc	r31, r25
-    2314:	eb 58       	subi	r30, 0x8B	; 139
-    2316:	fb 4f       	sbci	r31, 0xFB	; 251
-    2318:	12 82       	std	Z+2, r1	; 0x02
-    231a:	11 82       	std	Z+1, r1	; 0x01
-    231c:	10 82       	st	Z, r1
-    231e:	01 96       	adiw	r24, 0x01	; 1
-    2320:	8b 30       	cpi	r24, 0x0B	; 11
-    2322:	91 05       	cpc	r25, r1
-    2324:	91 f7       	brne	.-28     	; 0x230a <analog_init+0xa>
-    2326:	17 b8       	out	0x07, r1	; 7
-    2328:	87 b1       	in	r24, 0x07	; 7
-    232a:	81 66       	ori	r24, 0x61	; 97
-    232c:	87 b9       	out	0x07, r24	; 7
-    232e:	16 b8       	out	0x06, r1	; 6
-    2330:	86 b1       	in	r24, 0x06	; 6
-    2332:	87 68       	ori	r24, 0x87	; 135
-    2334:	86 b9       	out	0x06, r24	; 6
-    2336:	80 91 64 00 	lds	r24, 0x0064
-    233a:	8c 61       	ori	r24, 0x1C	; 28
-    233c:	80 93 64 00 	sts	0x0064, r24
-    2340:	80 e0       	ldi	r24, 0x00	; 0
-    2342:	90 e0       	ldi	r25, 0x00	; 0
-    2344:	0e 94 36 11 	call	0x226c	; 0x226c <set_adc_mux>
-    2348:	81 e0       	ldi	r24, 0x01	; 1
-    234a:	90 e0       	ldi	r25, 0x00	; 0
-    234c:	90 93 43 04 	sts	0x0443, r25
-    2350:	80 93 42 04 	sts	0x0442, r24
-    2354:	cd 2b       	or	r28, r29
-    2356:	11 f0       	breq	.+4      	; 0x235c <analog_init+0x5c>
-    2358:	0e 94 1b 11 	call	0x2236	; 0x2236 <analog_start_loop>
-    235c:	df 91       	pop	r29
-    235e:	cf 91       	pop	r28
-    2360:	08 95       	ret
-
-00002362 <__vector_21>:
-    2362:	1f 92       	push	r1
-    2364:	0f 92       	push	r0
-    2366:	0f b6       	in	r0, 0x3f	; 63
-    2368:	0f 92       	push	r0
-    236a:	11 24       	eor	r1, r1
-    236c:	2f 93       	push	r18
-    236e:	3f 93       	push	r19
-    2370:	4f 93       	push	r20
-    2372:	5f 93       	push	r21
-    2374:	6f 93       	push	r22
-    2376:	7f 93       	push	r23
-    2378:	8f 93       	push	r24
-    237a:	9f 93       	push	r25
-    237c:	af 93       	push	r26
-    237e:	bf 93       	push	r27
-    2380:	ef 93       	push	r30
-    2382:	ff 93       	push	r31
-    2384:	a0 91 3e 04 	lds	r26, 0x043E
-    2388:	b0 91 3f 04 	lds	r27, 0x043F
-    238c:	a1 30       	cpi	r26, 0x01	; 1
-    238e:	b1 05       	cpc	r27, r1
-    2390:	09 f0       	breq	.+2      	; 0x2394 <__vector_21+0x32>
-    2392:	7c c0       	rjmp	.+248    	; 0x248c <__vector_21+0x12a>
-    2394:	87 b1       	in	r24, 0x07	; 7
-    2396:	88 23       	and	r24, r24
-    2398:	61 f1       	breq	.+88     	; 0x23f2 <__vector_21+0x90>
-    239a:	24 b1       	in	r18, 0x04	; 4
-    239c:	65 b1       	in	r22, 0x05	; 5
-    239e:	40 91 42 04 	lds	r20, 0x0442
-    23a2:	50 91 43 04 	lds	r21, 0x0443
-    23a6:	41 50       	subi	r20, 0x01	; 1
-    23a8:	50 40       	sbci	r21, 0x00	; 0
-    23aa:	33 27       	eor	r19, r19
-    23ac:	f6 e0       	ldi	r31, 0x06	; 6
-    23ae:	35 95       	asr	r19
-    23b0:	27 95       	ror	r18
-    23b2:	fa 95       	dec	r31
-    23b4:	e1 f7       	brne	.-8      	; 0x23ae <__vector_21+0x4c>
-    23b6:	86 2f       	mov	r24, r22
-    23b8:	99 27       	eor	r25, r25
-    23ba:	88 0f       	add	r24, r24
-    23bc:	99 1f       	adc	r25, r25
-    23be:	88 0f       	add	r24, r24
-    23c0:	99 1f       	adc	r25, r25
-    23c2:	28 2b       	or	r18, r24
-    23c4:	39 2b       	or	r19, r25
-    23c6:	fa 01       	movw	r30, r20
-    23c8:	ee 0f       	add	r30, r30
-    23ca:	ff 1f       	adc	r31, r31
-    23cc:	e4 0f       	add	r30, r20
-    23ce:	f5 1f       	adc	r31, r21
-    23d0:	eb 58       	subi	r30, 0x8B	; 139
-    23d2:	fb 4f       	sbci	r31, 0xFB	; 251
-    23d4:	32 83       	std	Z+2, r19	; 0x02
-    23d6:	21 83       	std	Z+1, r18	; 0x01
-    23d8:	80 91 42 04 	lds	r24, 0x0442
-    23dc:	90 91 43 04 	lds	r25, 0x0443
-    23e0:	01 97       	sbiw	r24, 0x01	; 1
-    23e2:	fc 01       	movw	r30, r24
-    23e4:	ee 0f       	add	r30, r30
-    23e6:	ff 1f       	adc	r31, r31
-    23e8:	e8 0f       	add	r30, r24
-    23ea:	f9 1f       	adc	r31, r25
-    23ec:	eb 58       	subi	r30, 0x8B	; 139
-    23ee:	fb 4f       	sbci	r31, 0xFB	; 251
-    23f0:	60 83       	st	Z, r22
-    23f2:	80 91 42 04 	lds	r24, 0x0442
-    23f6:	90 91 43 04 	lds	r25, 0x0443
-    23fa:	06 97       	sbiw	r24, 0x06	; 6
-    23fc:	69 f4       	brne	.+26     	; 0x2418 <__vector_21+0xb6>
-    23fe:	87 e6       	ldi	r24, 0x67	; 103
-    2400:	87 b9       	out	0x07, r24	; 7
-    2402:	80 e0       	ldi	r24, 0x00	; 0
-    2404:	90 e0       	ldi	r25, 0x00	; 0
-    2406:	0e 94 36 11 	call	0x226c	; 0x226c <set_adc_mux>
-    240a:	88 e0       	ldi	r24, 0x08	; 8
-    240c:	90 e0       	ldi	r25, 0x00	; 0
-    240e:	90 93 43 04 	sts	0x0443, r25
-    2412:	80 93 42 04 	sts	0x0442, r24
-    2416:	2a c0       	rjmp	.+84     	; 0x246c <__vector_21+0x10a>
-    2418:	80 91 42 04 	lds	r24, 0x0442
-    241c:	90 91 43 04 	lds	r25, 0x0443
-    2420:	0b 97       	sbiw	r24, 0x0b	; 11
-    2422:	29 f4       	brne	.+10     	; 0x242e <__vector_21+0xcc>
-    2424:	b0 93 43 04 	sts	0x0443, r27
-    2428:	a0 93 42 04 	sts	0x0442, r26
-    242c:	0f c0       	rjmp	.+30     	; 0x244c <__vector_21+0xea>
-    242e:	80 91 42 04 	lds	r24, 0x0442
-    2432:	90 91 43 04 	lds	r25, 0x0443
-    2436:	01 96       	adiw	r24, 0x01	; 1
-    2438:	90 93 43 04 	sts	0x0443, r25
-    243c:	80 93 42 04 	sts	0x0442, r24
-    2440:	80 91 42 04 	lds	r24, 0x0442
-    2444:	90 91 43 04 	lds	r25, 0x0443
-    2448:	07 97       	sbiw	r24, 0x07	; 7
-    244a:	3c f4       	brge	.+14     	; 0x245a <__vector_21+0xf8>
-    244c:	80 91 42 04 	lds	r24, 0x0442
-    2450:	90 91 43 04 	lds	r25, 0x0443
-    2454:	80 66       	ori	r24, 0x60	; 96
-    2456:	87 b9       	out	0x07, r24	; 7
-    2458:	09 c0       	rjmp	.+18     	; 0x246c <__vector_21+0x10a>
-    245a:	87 e6       	ldi	r24, 0x67	; 103
-    245c:	87 b9       	out	0x07, r24	; 7
-    245e:	80 91 42 04 	lds	r24, 0x0442
-    2462:	90 91 43 04 	lds	r25, 0x0443
-    2466:	08 97       	sbiw	r24, 0x08	; 8
-    2468:	0e 94 36 11 	call	0x226c	; 0x226c <set_adc_mux>
-    246c:	80 91 40 04 	lds	r24, 0x0440
-    2470:	90 91 41 04 	lds	r25, 0x0441
-    2474:	89 2b       	or	r24, r25
-    2476:	49 f0       	breq	.+18     	; 0x248a <__vector_21+0x128>
-    2478:	10 92 41 04 	sts	0x0441, r1
-    247c:	10 92 40 04 	sts	0x0440, r1
-    2480:	10 92 3f 04 	sts	0x043F, r1
-    2484:	10 92 3e 04 	sts	0x043E, r1
-    2488:	01 c0       	rjmp	.+2      	; 0x248c <__vector_21+0x12a>
-    248a:	36 9a       	sbi	0x06, 6	; 6
-    248c:	ff 91       	pop	r31
-    248e:	ef 91       	pop	r30
-    2490:	bf 91       	pop	r27
-    2492:	af 91       	pop	r26
-    2494:	9f 91       	pop	r25
-    2496:	8f 91       	pop	r24
-    2498:	7f 91       	pop	r23
-    249a:	6f 91       	pop	r22
-    249c:	5f 91       	pop	r21
-    249e:	4f 91       	pop	r20
-    24a0:	3f 91       	pop	r19
-    24a2:	2f 91       	pop	r18
-    24a4:	0f 90       	pop	r0
-    24a6:	0f be       	out	0x3f, r0	; 63
-    24a8:	0f 90       	pop	r0
-    24aa:	1f 90       	pop	r1
-    24ac:	18 95       	reti
-
-000024ae <wheel>:
-    24ae:	80 91 90 04 	lds	r24, 0x0490
-    24b2:	99 27       	eor	r25, r25
-    24b4:	08 95       	ret
-
-000024b6 <buzzer_init>:
-    24b6:	08 95       	ret
-
-000024b8 <buzzer_set_val>:
-    24b8:	2c e1       	ldi	r18, 0x1C	; 28
-    24ba:	25 bd       	out	0x25, r18	; 37
-    24bc:	bf 9a       	sbi	0x17, 7	; 23
-    24be:	83 bd       	out	0x23, r24	; 35
-    24c0:	08 95       	ret
-
-000024c2 <buzzer_set_freq>:
-    24c2:	9c 01       	movw	r18, r24
-    24c4:	44 27       	eor	r20, r20
-    24c6:	55 27       	eor	r21, r21
-    24c8:	64 e2       	ldi	r22, 0x24	; 36
-    24ca:	74 ef       	ldi	r23, 0xF4	; 244
-    24cc:	80 e0       	ldi	r24, 0x00	; 0
-    24ce:	90 e0       	ldi	r25, 0x00	; 0
-    24d0:	0e 94 22 14 	call	0x2844	; 0x2844 <__divmodsi4>
-    24d4:	c9 01       	movw	r24, r18
-    24d6:	01 97       	sbiw	r24, 0x01	; 1
-    24d8:	97 ff       	sbrs	r25, 7
-    24da:	02 c0       	rjmp	.+4      	; 0x24e0 <buzzer_set_freq+0x1e>
-    24dc:	80 e0       	ldi	r24, 0x00	; 0
-    24de:	90 e0       	ldi	r25, 0x00	; 0
-    24e0:	8f 3f       	cpi	r24, 0xFF	; 255
-    24e2:	91 05       	cpc	r25, r1
-    24e4:	19 f0       	breq	.+6      	; 0x24ec <buzzer_set_freq+0x2a>
-    24e6:	14 f0       	brlt	.+4      	; 0x24ec <buzzer_set_freq+0x2a>
-    24e8:	8f ef       	ldi	r24, 0xFF	; 255
-    24ea:	90 e0       	ldi	r25, 0x00	; 0
-    24ec:	0e 94 5c 12 	call	0x24b8	; 0x24b8 <buzzer_set_val>
-    24f0:	08 95       	ret
-
-000024f2 <buzzer_off>:
-    24f2:	85 b5       	in	r24, 0x25	; 37
-    24f4:	88 7f       	andi	r24, 0xF8	; 248
-    24f6:	85 bd       	out	0x25, r24	; 37
-    24f8:	c6 98       	cbi	0x18, 6	; 24
-    24fa:	08 95       	ret
-
-000024fc <buzzer_chirp>:
-    24fc:	0f 93       	push	r16
-    24fe:	1f 93       	push	r17
-    2500:	8c 01       	movw	r16, r24
-    2502:	cb 01       	movw	r24, r22
-    2504:	0e 94 61 12 	call	0x24c2	; 0x24c2 <buzzer_set_freq>
-    2508:	c8 01       	movw	r24, r16
-    250a:	0e 94 7b 10 	call	0x20f6	; 0x20f6 <delay_ms>
-    250e:	85 b5       	in	r24, 0x25	; 37
-    2510:	88 7f       	andi	r24, 0xF8	; 248
-    2512:	85 bd       	out	0x25, r24	; 37
-    2514:	c6 98       	cbi	0x18, 6	; 24
-    2516:	1f 91       	pop	r17
-    2518:	0f 91       	pop	r16
-    251a:	08 95       	ret
-
-0000251c <__ftoa_engine>:
-    251c:	28 30       	cpi	r18, 0x08	; 8
-    251e:	08 f0       	brcs	.+2      	; 0x2522 <__ftoa_engine+0x6>
-    2520:	27 e0       	ldi	r18, 0x07	; 7
-    2522:	33 27       	eor	r19, r19
-    2524:	da 01       	movw	r26, r20
-    2526:	99 0f       	add	r25, r25
-    2528:	31 1d       	adc	r19, r1
-    252a:	87 fd       	sbrc	r24, 7
-    252c:	91 60       	ori	r25, 0x01	; 1
-    252e:	00 96       	adiw	r24, 0x00	; 0
-    2530:	61 05       	cpc	r22, r1
-    2532:	71 05       	cpc	r23, r1
-    2534:	39 f4       	brne	.+14     	; 0x2544 <__ftoa_engine+0x28>
-    2536:	32 60       	ori	r19, 0x02	; 2
-    2538:	2e 5f       	subi	r18, 0xFE	; 254
-    253a:	3d 93       	st	X+, r19
-    253c:	30 e3       	ldi	r19, 0x30	; 48
-    253e:	2a 95       	dec	r18
-    2540:	e1 f7       	brne	.-8      	; 0x253a <__ftoa_engine+0x1e>
-    2542:	08 95       	ret
-    2544:	9f 3f       	cpi	r25, 0xFF	; 255
-    2546:	30 f0       	brcs	.+12     	; 0x2554 <__ftoa_engine+0x38>
-    2548:	80 38       	cpi	r24, 0x80	; 128
-    254a:	71 05       	cpc	r23, r1
-    254c:	61 05       	cpc	r22, r1
-    254e:	09 f0       	breq	.+2      	; 0x2552 <__ftoa_engine+0x36>
-    2550:	3c 5f       	subi	r19, 0xFC	; 252
-    2552:	3c 5f       	subi	r19, 0xFC	; 252
-    2554:	3d 93       	st	X+, r19
-    2556:	91 30       	cpi	r25, 0x01	; 1
-    2558:	08 f0       	brcs	.+2      	; 0x255c <__ftoa_engine+0x40>
-    255a:	80 68       	ori	r24, 0x80	; 128
-    255c:	91 1d       	adc	r25, r1
-    255e:	df 93       	push	r29
-    2560:	cf 93       	push	r28
-    2562:	1f 93       	push	r17
-    2564:	0f 93       	push	r16
-    2566:	ff 92       	push	r15
-    2568:	ef 92       	push	r14
-    256a:	19 2f       	mov	r17, r25
-    256c:	98 7f       	andi	r25, 0xF8	; 248
-    256e:	96 95       	lsr	r25
-    2570:	e9 2f       	mov	r30, r25
-    2572:	96 95       	lsr	r25
-    2574:	96 95       	lsr	r25
-    2576:	e9 0f       	add	r30, r25
-    2578:	ff 27       	eor	r31, r31
-    257a:	e2 51       	subi	r30, 0x12	; 18
-    257c:	ff 4f       	sbci	r31, 0xFF	; 255
-    257e:	99 27       	eor	r25, r25
-    2580:	33 27       	eor	r19, r19
-    2582:	ee 24       	eor	r14, r14
-    2584:	ff 24       	eor	r15, r15
-    2586:	a7 01       	movw	r20, r14
-    2588:	e7 01       	movw	r28, r14
-    258a:	05 90       	lpm	r0, Z+
-    258c:	08 94       	sec
-    258e:	07 94       	ror	r0
-    2590:	28 f4       	brcc	.+10     	; 0x259c <__ftoa_engine+0x80>
-    2592:	36 0f       	add	r19, r22
-    2594:	e7 1e       	adc	r14, r23
-    2596:	f8 1e       	adc	r15, r24
-    2598:	49 1f       	adc	r20, r25
-    259a:	51 1d       	adc	r21, r1
-    259c:	66 0f       	add	r22, r22
-    259e:	77 1f       	adc	r23, r23
-    25a0:	88 1f       	adc	r24, r24
-    25a2:	99 1f       	adc	r25, r25
-    25a4:	06 94       	lsr	r0
-    25a6:	a1 f7       	brne	.-24     	; 0x2590 <__ftoa_engine+0x74>
-    25a8:	05 90       	lpm	r0, Z+
-    25aa:	07 94       	ror	r0
-    25ac:	28 f4       	brcc	.+10     	; 0x25b8 <__ftoa_engine+0x9c>
-    25ae:	e7 0e       	add	r14, r23
-    25b0:	f8 1e       	adc	r15, r24
-    25b2:	49 1f       	adc	r20, r25
-    25b4:	56 1f       	adc	r21, r22
-    25b6:	c1 1d       	adc	r28, r1
-    25b8:	77 0f       	add	r23, r23
-    25ba:	88 1f       	adc	r24, r24
-    25bc:	99 1f       	adc	r25, r25
-    25be:	66 1f       	adc	r22, r22
-    25c0:	06 94       	lsr	r0
-    25c2:	a1 f7       	brne	.-24     	; 0x25ac <__ftoa_engine+0x90>
-    25c4:	05 90       	lpm	r0, Z+
-    25c6:	07 94       	ror	r0
-    25c8:	28 f4       	brcc	.+10     	; 0x25d4 <__ftoa_engine+0xb8>
-    25ca:	f8 0e       	add	r15, r24
-    25cc:	49 1f       	adc	r20, r25
-    25ce:	56 1f       	adc	r21, r22
-    25d0:	c7 1f       	adc	r28, r23
-    25d2:	d1 1d       	adc	r29, r1
-    25d4:	88 0f       	add	r24, r24
-    25d6:	99 1f       	adc	r25, r25
-    25d8:	66 1f       	adc	r22, r22
-    25da:	77 1f       	adc	r23, r23
-    25dc:	06 94       	lsr	r0
-    25de:	a1 f7       	brne	.-24     	; 0x25c8 <__ftoa_engine+0xac>
-    25e0:	05 90       	lpm	r0, Z+
-    25e2:	07 94       	ror	r0
-    25e4:	20 f4       	brcc	.+8      	; 0x25ee <__ftoa_engine+0xd2>
-    25e6:	49 0f       	add	r20, r25
-    25e8:	56 1f       	adc	r21, r22
-    25ea:	c7 1f       	adc	r28, r23
-    25ec:	d8 1f       	adc	r29, r24
-    25ee:	99 0f       	add	r25, r25
-    25f0:	66 1f       	adc	r22, r22
-    25f2:	77 1f       	adc	r23, r23
-    25f4:	88 1f       	adc	r24, r24
-    25f6:	06 94       	lsr	r0
-    25f8:	a9 f7       	brne	.-22     	; 0x25e4 <__ftoa_engine+0xc8>
-    25fa:	84 91       	lpm	r24, Z+
-    25fc:	10 95       	com	r17
-    25fe:	17 70       	andi	r17, 0x07	; 7
-    2600:	41 f0       	breq	.+16     	; 0x2612 <__ftoa_engine+0xf6>
-    2602:	d6 95       	lsr	r29
-    2604:	c7 95       	ror	r28
-    2606:	57 95       	ror	r21
-    2608:	47 95       	ror	r20
-    260a:	f7 94       	ror	r15
-    260c:	e7 94       	ror	r14
-    260e:	1a 95       	dec	r17
-    2610:	c1 f7       	brne	.-16     	; 0x2602 <__ftoa_engine+0xe6>
-    2612:	e4 e9       	ldi	r30, 0x94	; 148
-    2614:	f0 e0       	ldi	r31, 0x00	; 0
-    2616:	68 94       	set
-    2618:	15 90       	lpm	r1, Z+
-    261a:	15 91       	lpm	r17, Z+
-    261c:	35 91       	lpm	r19, Z+
-    261e:	65 91       	lpm	r22, Z+
-    2620:	95 91       	lpm	r25, Z+
-    2622:	05 90       	lpm	r0, Z+
-    2624:	7f e2       	ldi	r23, 0x2F	; 47
-    2626:	73 95       	inc	r23
-    2628:	e1 18       	sub	r14, r1
-    262a:	f1 0a       	sbc	r15, r17
-    262c:	43 0b       	sbc	r20, r19
-    262e:	56 0b       	sbc	r21, r22
-    2630:	c9 0b       	sbc	r28, r25
-    2632:	d0 09       	sbc	r29, r0
-    2634:	c0 f7       	brcc	.-16     	; 0x2626 <__ftoa_engine+0x10a>
-    2636:	e1 0c       	add	r14, r1
-    2638:	f1 1e       	adc	r15, r17
-    263a:	43 1f       	adc	r20, r19
-    263c:	56 1f       	adc	r21, r22
-    263e:	c9 1f       	adc	r28, r25
-    2640:	d0 1d       	adc	r29, r0
-    2642:	7e f4       	brtc	.+30     	; 0x2662 <__ftoa_engine+0x146>
-    2644:	70 33       	cpi	r23, 0x30	; 48
-    2646:	11 f4       	brne	.+4      	; 0x264c <__ftoa_engine+0x130>
-    2648:	8a 95       	dec	r24
-    264a:	e6 cf       	rjmp	.-52     	; 0x2618 <__ftoa_engine+0xfc>
-    264c:	e8 94       	clt
-    264e:	01 50       	subi	r16, 0x01	; 1
-    2650:	30 f0       	brcs	.+12     	; 0x265e <__ftoa_engine+0x142>
-    2652:	08 0f       	add	r16, r24
-    2654:	0a f4       	brpl	.+2      	; 0x2658 <__ftoa_engine+0x13c>
-    2656:	00 27       	eor	r16, r16
-    2658:	02 17       	cp	r16, r18
-    265a:	08 f4       	brcc	.+2      	; 0x265e <__ftoa_engine+0x142>
-    265c:	20 2f       	mov	r18, r16
-    265e:	23 95       	inc	r18
-    2660:	02 2f       	mov	r16, r18
-    2662:	7a 33       	cpi	r23, 0x3A	; 58
-    2664:	28 f0       	brcs	.+10     	; 0x2670 <__ftoa_engine+0x154>
-    2666:	79 e3       	ldi	r23, 0x39	; 57
-    2668:	7d 93       	st	X+, r23
-    266a:	2a 95       	dec	r18
-    266c:	e9 f7       	brne	.-6      	; 0x2668 <__ftoa_engine+0x14c>
-    266e:	10 c0       	rjmp	.+32     	; 0x2690 <__ftoa_engine+0x174>
-    2670:	7d 93       	st	X+, r23
-    2672:	2a 95       	dec	r18
-    2674:	89 f6       	brne	.-94     	; 0x2618 <__ftoa_engine+0xfc>
-    2676:	06 94       	lsr	r0
-    2678:	97 95       	ror	r25
-    267a:	67 95       	ror	r22
-    267c:	37 95       	ror	r19
-    267e:	17 95       	ror	r17
-    2680:	17 94       	ror	r1
-    2682:	e1 18       	sub	r14, r1
-    2684:	f1 0a       	sbc	r15, r17
-    2686:	43 0b       	sbc	r20, r19
-    2688:	56 0b       	sbc	r21, r22
-    268a:	c9 0b       	sbc	r28, r25
-    268c:	d0 09       	sbc	r29, r0
-    268e:	98 f0       	brcs	.+38     	; 0x26b6 <__ftoa_engine+0x19a>
-    2690:	23 95       	inc	r18
-    2692:	7e 91       	ld	r23, -X
-    2694:	73 95       	inc	r23
-    2696:	7a 33       	cpi	r23, 0x3A	; 58
-    2698:	08 f0       	brcs	.+2      	; 0x269c <__ftoa_engine+0x180>
-    269a:	70 e3       	ldi	r23, 0x30	; 48
-    269c:	7c 93       	st	X, r23
-    269e:	20 13       	cpse	r18, r16
-    26a0:	b8 f7       	brcc	.-18     	; 0x2690 <__ftoa_engine+0x174>
-    26a2:	7e 91       	ld	r23, -X
-    26a4:	70 61       	ori	r23, 0x10	; 16
-    26a6:	7d 93       	st	X+, r23
-    26a8:	30 f0       	brcs	.+12     	; 0x26b6 <__ftoa_engine+0x19a>
-    26aa:	83 95       	inc	r24
-    26ac:	71 e3       	ldi	r23, 0x31	; 49
-    26ae:	7d 93       	st	X+, r23
-    26b0:	70 e3       	ldi	r23, 0x30	; 48
-    26b2:	2a 95       	dec	r18
-    26b4:	e1 f7       	brne	.-8      	; 0x26ae <__ftoa_engine+0x192>
-    26b6:	11 24       	eor	r1, r1
-    26b8:	ef 90       	pop	r14
-    26ba:	ff 90       	pop	r15
-    26bc:	0f 91       	pop	r16
-    26be:	1f 91       	pop	r17
-    26c0:	cf 91       	pop	r28
-    26c2:	df 91       	pop	r29
-    26c4:	99 27       	eor	r25, r25
-    26c6:	87 fd       	sbrc	r24, 7
-    26c8:	90 95       	com	r25
-    26ca:	08 95       	ret
-
-000026cc <memcpy_P>:
-    26cc:	fb 01       	movw	r30, r22
-    26ce:	dc 01       	movw	r26, r24
-    26d0:	02 c0       	rjmp	.+4      	; 0x26d6 <memcpy_P+0xa>
-    26d2:	05 90       	lpm	r0, Z+
-    26d4:	0d 92       	st	X+, r0
-    26d6:	41 50       	subi	r20, 0x01	; 1
-    26d8:	50 40       	sbci	r21, 0x00	; 0
-    26da:	d8 f7       	brcc	.-10     	; 0x26d2 <memcpy_P+0x6>
-    26dc:	08 95       	ret
-
-000026de <strnlen_P>:
-    26de:	fc 01       	movw	r30, r24
-    26e0:	05 90       	lpm	r0, Z+
-    26e2:	61 50       	subi	r22, 0x01	; 1
-    26e4:	70 40       	sbci	r23, 0x00	; 0
-    26e6:	01 10       	cpse	r0, r1
-    26e8:	d8 f7       	brcc	.-10     	; 0x26e0 <strnlen_P+0x2>
-    26ea:	80 95       	com	r24
-    26ec:	90 95       	com	r25
-    26ee:	8e 0f       	add	r24, r30
-    26f0:	9f 1f       	adc	r25, r31
-    26f2:	08 95       	ret
-
-000026f4 <strnlen>:
-    26f4:	fc 01       	movw	r30, r24
-    26f6:	61 50       	subi	r22, 0x01	; 1
-    26f8:	70 40       	sbci	r23, 0x00	; 0
-    26fa:	01 90       	ld	r0, Z+
-    26fc:	01 10       	cpse	r0, r1
-    26fe:	d8 f7       	brcc	.-10     	; 0x26f6 <strnlen+0x2>
-    2700:	80 95       	com	r24
-    2702:	90 95       	com	r25
-    2704:	8e 0f       	add	r24, r30
-    2706:	9f 1f       	adc	r25, r31
-    2708:	08 95       	ret
-
-0000270a <fputc>:
-    270a:	0f 93       	push	r16
-    270c:	1f 93       	push	r17
-    270e:	cf 93       	push	r28
-    2710:	df 93       	push	r29
-    2712:	8c 01       	movw	r16, r24
-    2714:	eb 01       	movw	r28, r22
-    2716:	8b 81       	ldd	r24, Y+3	; 0x03
-    2718:	81 ff       	sbrs	r24, 1
-    271a:	1b c0       	rjmp	.+54     	; 0x2752 <fputc+0x48>
-    271c:	82 ff       	sbrs	r24, 2
-    271e:	0d c0       	rjmp	.+26     	; 0x273a <fputc+0x30>
-    2720:	2e 81       	ldd	r18, Y+6	; 0x06
-    2722:	3f 81       	ldd	r19, Y+7	; 0x07
-    2724:	8c 81       	ldd	r24, Y+4	; 0x04
-    2726:	9d 81       	ldd	r25, Y+5	; 0x05
-    2728:	28 17       	cp	r18, r24
-    272a:	39 07       	cpc	r19, r25
-    272c:	64 f4       	brge	.+24     	; 0x2746 <fputc+0x3c>
-    272e:	e8 81       	ld	r30, Y
-    2730:	f9 81       	ldd	r31, Y+1	; 0x01
-    2732:	01 93       	st	Z+, r16
-    2734:	f9 83       	std	Y+1, r31	; 0x01
-    2736:	e8 83       	st	Y, r30
-    2738:	06 c0       	rjmp	.+12     	; 0x2746 <fputc+0x3c>
-    273a:	e8 85       	ldd	r30, Y+8	; 0x08
-    273c:	f9 85       	ldd	r31, Y+9	; 0x09
-    273e:	80 2f       	mov	r24, r16
-    2740:	09 95       	icall
-    2742:	89 2b       	or	r24, r25
-    2744:	31 f4       	brne	.+12     	; 0x2752 <fputc+0x48>
-    2746:	8e 81       	ldd	r24, Y+6	; 0x06
-    2748:	9f 81       	ldd	r25, Y+7	; 0x07
-    274a:	01 96       	adiw	r24, 0x01	; 1
-    274c:	9f 83       	std	Y+7, r25	; 0x07
-    274e:	8e 83       	std	Y+6, r24	; 0x06
-    2750:	02 c0       	rjmp	.+4      	; 0x2756 <fputc+0x4c>
-    2752:	0f ef       	ldi	r16, 0xFF	; 255
-    2754:	1f ef       	ldi	r17, 0xFF	; 255
-    2756:	c8 01       	movw	r24, r16
-    2758:	df 91       	pop	r29
-    275a:	cf 91       	pop	r28
-    275c:	1f 91       	pop	r17
-    275e:	0f 91       	pop	r16
-    2760:	08 95       	ret
-
-00002762 <__ultoa_invert>:
-    2762:	fa 01       	movw	r30, r20
-    2764:	aa 27       	eor	r26, r26
-    2766:	28 30       	cpi	r18, 0x08	; 8
-    2768:	51 f1       	breq	.+84     	; 0x27be <__ultoa_invert+0x5c>
-    276a:	20 31       	cpi	r18, 0x10	; 16
-    276c:	81 f1       	breq	.+96     	; 0x27ce <__ultoa_invert+0x6c>
-    276e:	e8 94       	clt
-    2770:	6f 93       	push	r22
-    2772:	6e 7f       	andi	r22, 0xFE	; 254
-    2774:	6e 5f       	subi	r22, 0xFE	; 254
-    2776:	7f 4f       	sbci	r23, 0xFF	; 255
-    2778:	8f 4f       	sbci	r24, 0xFF	; 255
-    277a:	9f 4f       	sbci	r25, 0xFF	; 255
-    277c:	af 4f       	sbci	r26, 0xFF	; 255
-    277e:	b1 e0       	ldi	r27, 0x01	; 1
-    2780:	3e d0       	rcall	.+124    	; 0x27fe <__ultoa_invert+0x9c>
-    2782:	b4 e0       	ldi	r27, 0x04	; 4
-    2784:	3c d0       	rcall	.+120    	; 0x27fe <__ultoa_invert+0x9c>
-    2786:	67 0f       	add	r22, r23
-    2788:	78 1f       	adc	r23, r24
-    278a:	89 1f       	adc	r24, r25
-    278c:	9a 1f       	adc	r25, r26
-    278e:	a1 1d       	adc	r26, r1
-    2790:	68 0f       	add	r22, r24
-    2792:	79 1f       	adc	r23, r25
-    2794:	8a 1f       	adc	r24, r26
-    2796:	91 1d       	adc	r25, r1
-    2798:	a1 1d       	adc	r26, r1
-    279a:	6a 0f       	add	r22, r26
-    279c:	71 1d       	adc	r23, r1
-    279e:	81 1d       	adc	r24, r1
-    27a0:	91 1d       	adc	r25, r1
-    27a2:	a1 1d       	adc	r26, r1
-    27a4:	20 d0       	rcall	.+64     	; 0x27e6 <__ultoa_invert+0x84>
-    27a6:	09 f4       	brne	.+2      	; 0x27aa <__ultoa_invert+0x48>
-    27a8:	68 94       	set
-    27aa:	3f 91       	pop	r19
-    27ac:	2a e0       	ldi	r18, 0x0A	; 10
-    27ae:	26 9f       	mul	r18, r22
-    27b0:	11 24       	eor	r1, r1
-    27b2:	30 19       	sub	r19, r0
-    27b4:	30 5d       	subi	r19, 0xD0	; 208
-    27b6:	31 93       	st	Z+, r19
-    27b8:	de f6       	brtc	.-74     	; 0x2770 <__ultoa_invert+0xe>
-    27ba:	cf 01       	movw	r24, r30
-    27bc:	08 95       	ret
-    27be:	46 2f       	mov	r20, r22
-    27c0:	47 70       	andi	r20, 0x07	; 7
-    27c2:	40 5d       	subi	r20, 0xD0	; 208
-    27c4:	41 93       	st	Z+, r20
-    27c6:	b3 e0       	ldi	r27, 0x03	; 3
-    27c8:	0f d0       	rcall	.+30     	; 0x27e8 <__ultoa_invert+0x86>
-    27ca:	c9 f7       	brne	.-14     	; 0x27be <__ultoa_invert+0x5c>
-    27cc:	f6 cf       	rjmp	.-20     	; 0x27ba <__ultoa_invert+0x58>
-    27ce:	46 2f       	mov	r20, r22
-    27d0:	4f 70       	andi	r20, 0x0F	; 15
-    27d2:	40 5d       	subi	r20, 0xD0	; 208
-    27d4:	4a 33       	cpi	r20, 0x3A	; 58
-    27d6:	18 f0       	brcs	.+6      	; 0x27de <__ultoa_invert+0x7c>
-    27d8:	49 5d       	subi	r20, 0xD9	; 217
-    27da:	31 fd       	sbrc	r19, 1
-    27dc:	40 52       	subi	r20, 0x20	; 32
-    27de:	41 93       	st	Z+, r20
-    27e0:	02 d0       	rcall	.+4      	; 0x27e6 <__ultoa_invert+0x84>
-    27e2:	a9 f7       	brne	.-22     	; 0x27ce <__ultoa_invert+0x6c>
-    27e4:	ea cf       	rjmp	.-44     	; 0x27ba <__ultoa_invert+0x58>
-    27e6:	b4 e0       	ldi	r27, 0x04	; 4
-    27e8:	a6 95       	lsr	r26
-    27ea:	97 95       	ror	r25
-    27ec:	87 95       	ror	r24
-    27ee:	77 95       	ror	r23
-    27f0:	67 95       	ror	r22
-    27f2:	ba 95       	dec	r27
-    27f4:	c9 f7       	brne	.-14     	; 0x27e8 <__ultoa_invert+0x86>
-    27f6:	00 97       	sbiw	r24, 0x00	; 0
-    27f8:	61 05       	cpc	r22, r1
-    27fa:	71 05       	cpc	r23, r1
-    27fc:	08 95       	ret
-    27fe:	9b 01       	movw	r18, r22
-    2800:	ac 01       	movw	r20, r24
-    2802:	0a 2e       	mov	r0, r26
-    2804:	06 94       	lsr	r0
-    2806:	57 95       	ror	r21
-    2808:	47 95       	ror	r20
-    280a:	37 95       	ror	r19
-    280c:	27 95       	ror	r18
-    280e:	ba 95       	dec	r27
-    2810:	c9 f7       	brne	.-14     	; 0x2804 <__ultoa_invert+0xa2>
-    2812:	62 0f       	add	r22, r18
-    2814:	73 1f       	adc	r23, r19
-    2816:	84 1f       	adc	r24, r20
-    2818:	95 1f       	adc	r25, r21
-    281a:	a0 1d       	adc	r26, r0
-    281c:	08 95       	ret
-
-0000281e <__divmodhi4>:
-    281e:	97 fb       	bst	r25, 7
-    2820:	09 2e       	mov	r0, r25
-    2822:	07 26       	eor	r0, r23
-    2824:	0a d0       	rcall	.+20     	; 0x283a <__divmodhi4_neg1>
-    2826:	77 fd       	sbrc	r23, 7
-    2828:	04 d0       	rcall	.+8      	; 0x2832 <__divmodhi4_neg2>
-    282a:	5e d0       	rcall	.+188    	; 0x28e8 <__udivmodhi4>
-    282c:	06 d0       	rcall	.+12     	; 0x283a <__divmodhi4_neg1>
-    282e:	00 20       	and	r0, r0
-    2830:	1a f4       	brpl	.+6      	; 0x2838 <__divmodhi4_exit>
-
-00002832 <__divmodhi4_neg2>:
-    2832:	70 95       	com	r23
-    2834:	61 95       	neg	r22
-    2836:	7f 4f       	sbci	r23, 0xFF	; 255
-
-00002838 <__divmodhi4_exit>:
-    2838:	08 95       	ret
-
-0000283a <__divmodhi4_neg1>:
-    283a:	f6 f7       	brtc	.-4      	; 0x2838 <__divmodhi4_exit>
-    283c:	90 95       	com	r25
-    283e:	81 95       	neg	r24
-    2840:	9f 4f       	sbci	r25, 0xFF	; 255
-    2842:	08 95       	ret
-
-00002844 <__divmodsi4>:
-    2844:	97 fb       	bst	r25, 7
-    2846:	09 2e       	mov	r0, r25
-    2848:	05 26       	eor	r0, r21
-    284a:	0e d0       	rcall	.+28     	; 0x2868 <__divmodsi4_neg1>
-    284c:	57 fd       	sbrc	r21, 7
-    284e:	04 d0       	rcall	.+8      	; 0x2858 <__divmodsi4_neg2>
-    2850:	5f d0       	rcall	.+190    	; 0x2910 <__udivmodsi4>
-    2852:	0a d0       	rcall	.+20     	; 0x2868 <__divmodsi4_neg1>
-    2854:	00 1c       	adc	r0, r0
-    2856:	38 f4       	brcc	.+14     	; 0x2866 <__divmodsi4_exit>
-
-00002858 <__divmodsi4_neg2>:
-    2858:	50 95       	com	r21
-    285a:	40 95       	com	r20
-    285c:	30 95       	com	r19
-    285e:	21 95       	neg	r18
-    2860:	3f 4f       	sbci	r19, 0xFF	; 255
-    2862:	4f 4f       	sbci	r20, 0xFF	; 255
-    2864:	5f 4f       	sbci	r21, 0xFF	; 255
-
-00002866 <__divmodsi4_exit>:
-    2866:	08 95       	ret
-
-00002868 <__divmodsi4_neg1>:
-    2868:	f6 f7       	brtc	.-4      	; 0x2866 <__divmodsi4_exit>
-    286a:	90 95       	com	r25
-    286c:	80 95       	com	r24
-    286e:	70 95       	com	r23
-    2870:	61 95       	neg	r22
-    2872:	7f 4f       	sbci	r23, 0xFF	; 255
-    2874:	8f 4f       	sbci	r24, 0xFF	; 255
-    2876:	9f 4f       	sbci	r25, 0xFF	; 255
-    2878:	08 95       	ret
-
-0000287a <__prologue_saves__>:
-    287a:	2f 92       	push	r2
-    287c:	3f 92       	push	r3
-    287e:	4f 92       	push	r4
-    2880:	5f 92       	push	r5
-    2882:	6f 92       	push	r6
-    2884:	7f 92       	push	r7
-    2886:	8f 92       	push	r8
-    2888:	9f 92       	push	r9
-    288a:	af 92       	push	r10
-    288c:	bf 92       	push	r11
-    288e:	cf 92       	push	r12
-    2890:	df 92       	push	r13
-    2892:	ef 92       	push	r14
-    2894:	ff 92       	push	r15
-    2896:	0f 93       	push	r16
-    2898:	1f 93       	push	r17
-    289a:	cf 93       	push	r28
-    289c:	df 93       	push	r29
-    289e:	cd b7       	in	r28, 0x3d	; 61
-    28a0:	de b7       	in	r29, 0x3e	; 62
-    28a2:	ca 1b       	sub	r28, r26
-    28a4:	db 0b       	sbc	r29, r27
-    28a6:	0f b6       	in	r0, 0x3f	; 63
-    28a8:	f8 94       	cli
-    28aa:	de bf       	out	0x3e, r29	; 62
-    28ac:	0f be       	out	0x3f, r0	; 63
-    28ae:	cd bf       	out	0x3d, r28	; 61
-    28b0:	09 94       	ijmp
-
-000028b2 <__epilogue_restores__>:
-    28b2:	2a 88       	ldd	r2, Y+18	; 0x12
-    28b4:	39 88       	ldd	r3, Y+17	; 0x11
-    28b6:	48 88       	ldd	r4, Y+16	; 0x10
-    28b8:	5f 84       	ldd	r5, Y+15	; 0x0f
-    28ba:	6e 84       	ldd	r6, Y+14	; 0x0e
-    28bc:	7d 84       	ldd	r7, Y+13	; 0x0d
-    28be:	8c 84       	ldd	r8, Y+12	; 0x0c
-    28c0:	9b 84       	ldd	r9, Y+11	; 0x0b
-    28c2:	aa 84       	ldd	r10, Y+10	; 0x0a
-    28c4:	b9 84       	ldd	r11, Y+9	; 0x09
-    28c6:	c8 84       	ldd	r12, Y+8	; 0x08
-    28c8:	df 80       	ldd	r13, Y+7	; 0x07
-    28ca:	ee 80       	ldd	r14, Y+6	; 0x06
-    28cc:	fd 80       	ldd	r15, Y+5	; 0x05
-    28ce:	0c 81       	ldd	r16, Y+4	; 0x04
-    28d0:	1b 81       	ldd	r17, Y+3	; 0x03
-    28d2:	aa 81       	ldd	r26, Y+2	; 0x02
-    28d4:	b9 81       	ldd	r27, Y+1	; 0x01
-    28d6:	ce 0f       	add	r28, r30
-    28d8:	d1 1d       	adc	r29, r1
-    28da:	0f b6       	in	r0, 0x3f	; 63
-    28dc:	f8 94       	cli
-    28de:	de bf       	out	0x3e, r29	; 62
-    28e0:	0f be       	out	0x3f, r0	; 63
-    28e2:	cd bf       	out	0x3d, r28	; 61
-    28e4:	ed 01       	movw	r28, r26
-    28e6:	08 95       	ret
-
-000028e8 <__udivmodhi4>:
-    28e8:	aa 1b       	sub	r26, r26
-    28ea:	bb 1b       	sub	r27, r27
-    28ec:	51 e1       	ldi	r21, 0x11	; 17
-    28ee:	07 c0       	rjmp	.+14     	; 0x28fe <__udivmodhi4_ep>
-
-000028f0 <__udivmodhi4_loop>:
-    28f0:	aa 1f       	adc	r26, r26
-    28f2:	bb 1f       	adc	r27, r27
-    28f4:	a6 17       	cp	r26, r22
-    28f6:	b7 07       	cpc	r27, r23
-    28f8:	10 f0       	brcs	.+4      	; 0x28fe <__udivmodhi4_ep>
-    28fa:	a6 1b       	sub	r26, r22
-    28fc:	b7 0b       	sbc	r27, r23
-
-000028fe <__udivmodhi4_ep>:
-    28fe:	88 1f       	adc	r24, r24
-    2900:	99 1f       	adc	r25, r25
-    2902:	5a 95       	dec	r21
-    2904:	a9 f7       	brne	.-22     	; 0x28f0 <__udivmodhi4_loop>
-    2906:	80 95       	com	r24
-    2908:	90 95       	com	r25
-    290a:	bc 01       	movw	r22, r24
-    290c:	cd 01       	movw	r24, r26
-    290e:	08 95       	ret
-
-00002910 <__udivmodsi4>:
-    2910:	a1 e2       	ldi	r26, 0x21	; 33
-    2912:	1a 2e       	mov	r1, r26
-    2914:	aa 1b       	sub	r26, r26
-    2916:	bb 1b       	sub	r27, r27
-    2918:	fd 01       	movw	r30, r26
-    291a:	0d c0       	rjmp	.+26     	; 0x2936 <__udivmodsi4_ep>
-
-0000291c <__udivmodsi4_loop>:
-    291c:	aa 1f       	adc	r26, r26
-    291e:	bb 1f       	adc	r27, r27
-    2920:	ee 1f       	adc	r30, r30
-    2922:	ff 1f       	adc	r31, r31
-    2924:	a2 17       	cp	r26, r18
-    2926:	b3 07       	cpc	r27, r19
-    2928:	e4 07       	cpc	r30, r20
-    292a:	f5 07       	cpc	r31, r21
-    292c:	20 f0       	brcs	.+8      	; 0x2936 <__udivmodsi4_ep>
-    292e:	a2 1b       	sub	r26, r18
-    2930:	b3 0b       	sbc	r27, r19
-    2932:	e4 0b       	sbc	r30, r20
-    2934:	f5 0b       	sbc	r31, r21
-
-00002936 <__udivmodsi4_ep>:
-    2936:	66 1f       	adc	r22, r22
-    2938:	77 1f       	adc	r23, r23
-    293a:	88 1f       	adc	r24, r24
-    293c:	99 1f       	adc	r25, r25
-    293e:	1a 94       	dec	r1
-    2940:	69 f7       	brne	.-38     	; 0x291c <__udivmodsi4_loop>
-    2942:	60 95       	com	r22
-    2944:	70 95       	com	r23
-    2946:	80 95       	com	r24
-    2948:	90 95       	com	r25
-    294a:	9b 01       	movw	r18, r22
-    294c:	ac 01       	movw	r20, r24
-    294e:	bd 01       	movw	r22, r26
-    2950:	cf 01       	movw	r24, r30
-    2952:	08 95       	ret
-
-00002954 <_exit>:
-    2954:	f8 94       	cli
-
-00002956 <__stop_program>:
-    2956:	ff cf       	rjmp	.-2      	; 0x2956 <__stop_program>
Index: trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.c
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.c	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.c	(nonexistent)
@@ -1,56 +0,0 @@
-#include <dragonfly_lib.h>
-
-int main(void)
-{
-	/* Initialize dragonfly board */
-	dragonfly_init(ALL_ON);
-	
-	int i, j, max = -1;
-	int vals[16];
-
-	/* Pause breifly to let ADC and analog loop warm up */
-	orbs_set_color(RED, RED);
-	delay_ms(2000);
-	orbs_set_color(GREEN, GREEN);
-
-	while (1) {
-
-		/* Refresh and make sure the table is updated */
-		bom_refresh(BOM_ALL);
-		delay_ms(100);
-
-		/* Record values into an array and track the max */
-		for (i = 0; i < 16; i++) {
-			vals[i] = bom_get(i);
-			if (max < vals[i])
-				max = vals[i];
-		}
-
-		/* Display results */
-		for (i = 0; i < 16; i++) {
-			
-			usb_puti(vals[i]);
-			usb_putc('\t');
-
-			/* Display histogram - Displays the distance each value
-			 * is from the max (lowest value -> most intense IR reading) */
-			for (j = 0; j < (int)((max - vals[i]) / 5); j++) {
-				usb_putc('#');
-			}
-
-			usb_puts("\r\n");
-
-		}
-
-		/* Display the results of the bom_get_max function */
-		usb_puts("Max: ");
-		usb_puti(bom_get_max());
-		usb_puts("\r\n");
-		
-		usb_putc('\r');
-		usb_putc('\n');
-
-		delay_ms(400);
-
-	}
-}
Index: trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.lst
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.lst	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.lst	(nonexistent)
@@ -1,172 +0,0 @@
-   1               		.file	"bom_test.c"
-   2               	__SREG__ = 0x3f
-   3               	__SP_H__ = 0x3e
-   4               	__SP_L__ = 0x3d
-   5               	__CCP__  = 0x34
-   6               	__tmp_reg__ = 0
-   7               	__zero_reg__ = 1
-   8               		.data
-   9               	.LC0:
-  10 0000 0D0A 00   		.string	"\r\n"
-  11               	.LC1:
-  12 0003 4D61 783A 		.string	"Max: "
-  12      2000 
-  13               		.text
-  14               	.global	main
-  16               	main:
-  17 0000 6F92      		push r6
-  18 0002 7F92      		push r7
-  19 0004 8F92      		push r8
-  20 0006 9F92      		push r9
-  21 0008 AF92      		push r10
-  22 000a BF92      		push r11
-  23 000c CF92      		push r12
-  24 000e DF92      		push r13
-  25 0010 EF92      		push r14
-  26 0012 FF92      		push r15
-  27 0014 0F93      		push r16
-  28 0016 1F93      		push r17
-  29 0018 DF93      		push r29
-  30 001a CF93      		push r28
-  31 001c CDB7      		in r28,__SP_L__
-  32 001e DEB7      		in r29,__SP_H__
-  33 0020 A097      		sbiw r28,32
-  34 0022 0FB6      		in __tmp_reg__,__SREG__
-  35 0024 F894      		cli
-  36 0026 DEBF      		out __SP_H__,r29
-  37 0028 0FBE      		out __SREG__,__tmp_reg__
-  38 002a CDBF      		out __SP_L__,r28
-  39               	/* prologue: function */
-  40               	/* frame size = 32 */
-  41 002c 8FEF      		ldi r24,lo8(1023)
-  42 002e 93E0      		ldi r25,hi8(1023)
-  43 0030 0E94 0000 		call dragonfly_init
-  44 0034 80EE      		ldi r24,lo8(-32)
-  45 0036 60EE      		ldi r22,lo8(-32)
-  46 0038 0E94 0000 		call orbs_set_color
-  47 003c 80ED      		ldi r24,lo8(2000)
-  48 003e 97E0      		ldi r25,hi8(2000)
-  49 0040 0E94 0000 		call delay_ms
-  50 0044 8CE1      		ldi r24,lo8(28)
-  51 0046 6CE1      		ldi r22,lo8(28)
-  52 0048 0E94 0000 		call orbs_set_color
-  53 004c AA24      		clr r10
-  54 004e AA94      		dec r10
-  55 0050 BA2C      		mov r11,r10
-  56 0052 4E01      		movw r8,r28
-  57 0054 0894      		sec
-  58 0056 811C      		adc r8,__zero_reg__
-  59 0058 911C      		adc r9,__zero_reg__
-  60 005a 81E2      		ldi r24,lo8(33)
-  61 005c 682E      		mov r6,r24
-  62 005e 712C      		mov r7,__zero_reg__
-  63 0060 6C0E      		add r6,r28
-  64 0062 7D1E      		adc r7,r29
-  65               	.L7:
-  66 0064 8FEF      		ldi r24,lo8(-1)
-  67 0066 9FEF      		ldi r25,hi8(-1)
-  68 0068 0E94 0000 		call bom_refresh
-  69 006c 84E6      		ldi r24,lo8(100)
-  70 006e 90E0      		ldi r25,hi8(100)
-  71 0070 0E94 0000 		call delay_ms
-  72 0074 6401      		movw r12,r8
-  73 0076 7401      		movw r14,r8
-  74 0078 00E0      		ldi r16,lo8(0)
-  75 007a 10E0      		ldi r17,hi8(0)
-  76               	.L3:
-  77 007c C801      		movw r24,r16
-  78 007e 0E94 0000 		call bom_get
-  79 0082 F701      		movw r30,r14
-  80 0084 9183      		std Z+1,r25
-  81 0086 8083      		st Z,r24
-  82 0088 A816      		cp r10,r24
-  83 008a B906      		cpc r11,r25
-  84 008c 04F4      		brge .L2
-  85 008e 5C01      		movw r10,r24
-  86               	.L2:
-  87 0090 0F5F      		subi r16,lo8(-(1))
-  88 0092 1F4F      		sbci r17,hi8(-(1))
-  89 0094 82E0      		ldi r24,lo8(2)
-  90 0096 90E0      		ldi r25,hi8(2)
-  91 0098 E80E      		add r14,r24
-  92 009a F91E      		adc r15,r25
-  93 009c 0031      		cpi r16,16
-  94 009e 1105      		cpc r17,__zero_reg__
-  95 00a0 01F4      		brne .L3
-  96               	.L9:
-  97 00a2 F601      		movw r30,r12
-  98 00a4 0081      		ld r16,Z
-  99 00a6 1181      		ldd r17,Z+1
- 100 00a8 C801      		movw r24,r16
- 101 00aa 0E94 0000 		call usb_puti
- 102 00ae 89E0      		ldi r24,lo8(9)
- 103 00b0 0E94 0000 		call usb_putc
- 104 00b4 C501      		movw r24,r10
- 105 00b6 801B      		sub r24,r16
- 106 00b8 910B      		sbc r25,r17
- 107 00ba 65E0      		ldi r22,lo8(5)
- 108 00bc 70E0      		ldi r23,hi8(5)
- 109 00be 0E94 0000 		call __divmodhi4
- 110 00c2 8B01      		movw r16,r22
- 111 00c4 EE24      		clr r14
- 112 00c6 FF24      		clr r15
- 113 00c8 00C0      		rjmp .L4
- 114               	.L5:
- 115 00ca 83E2      		ldi r24,lo8(35)
- 116 00cc 0E94 0000 		call usb_putc
- 117 00d0 0894      		sec
- 118 00d2 E11C      		adc r14,__zero_reg__
- 119 00d4 F11C      		adc r15,__zero_reg__
- 120               	.L4:
- 121 00d6 E016      		cp r14,r16
- 122 00d8 F106      		cpc r15,r17
- 123 00da 04F0      		brlt .L5
- 124 00dc 80E0      		ldi r24,lo8(.LC0)
- 125 00de 90E0      		ldi r25,hi8(.LC0)
- 126 00e0 0E94 0000 		call usb_puts
- 127 00e4 82E0      		ldi r24,lo8(2)
- 128 00e6 90E0      		ldi r25,hi8(2)
- 129 00e8 C80E      		add r12,r24
- 130 00ea D91E      		adc r13,r25
- 131 00ec C614      		cp r12,r6
- 132 00ee D704      		cpc r13,r7
- 133 00f0 01F4      		brne .L9
- 134 00f2 80E0      		ldi r24,lo8(.LC1)
- 135 00f4 90E0      		ldi r25,hi8(.LC1)
- 136 00f6 0E94 0000 		call usb_puts
- 137 00fa 0E94 0000 		call bom_get_max
- 138 00fe 0E94 0000 		call usb_puti
- 139 0102 80E0      		ldi r24,lo8(.LC0)
- 140 0104 90E0      		ldi r25,hi8(.LC0)
- 141 0106 0E94 0000 		call usb_puts
- 142 010a 8DE0      		ldi r24,lo8(13)
- 143 010c 0E94 0000 		call usb_putc
- 144 0110 8AE0      		ldi r24,lo8(10)
- 145 0112 0E94 0000 		call usb_putc
- 146 0116 80E9      		ldi r24,lo8(400)
- 147 0118 91E0      		ldi r25,hi8(400)
- 148 011a 0E94 0000 		call delay_ms
- 149 011e 00C0      		rjmp .L7
- 151               	.global __do_copy_data
-DEFINED SYMBOLS
-                            *ABS*:00000000 bom_test.c
-C:\Users\azirbel\AppData\Local\Temp/cci8VaKt.s:2      *ABS*:0000003f __SREG__
-C:\Users\azirbel\AppData\Local\Temp/cci8VaKt.s:3      *ABS*:0000003e __SP_H__
-C:\Users\azirbel\AppData\Local\Temp/cci8VaKt.s:4      *ABS*:0000003d __SP_L__
-C:\Users\azirbel\AppData\Local\Temp/cci8VaKt.s:5      *ABS*:00000034 __CCP__
-C:\Users\azirbel\AppData\Local\Temp/cci8VaKt.s:6      *ABS*:00000000 __tmp_reg__
-C:\Users\azirbel\AppData\Local\Temp/cci8VaKt.s:7      *ABS*:00000001 __zero_reg__
-C:\Users\azirbel\AppData\Local\Temp/cci8VaKt.s:16     .text:00000000 main
-
-UNDEFINED SYMBOLS
-dragonfly_init
-orbs_set_color
-delay_ms
-bom_refresh
-bom_get
-usb_puti
-usb_putc
-__divmodhi4
-usb_puts
-bom_get_max
-__do_copy_data
Index: trunk/code/behaviors/formation_control/Circle/Code/bom_test/Makefile
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/bom_test/Makefile	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/bom_test/Makefile	(nonexistent)
@@ -1,520 +0,0 @@
-########Update This Section########
-#
-#
-
-# Relative path to the root directory (containing lib directory)
-ifndef COLONYROOT
-COLONYROOT = ../.
-endif
-
-# Target file name (without extension).
-TARGET = bom_test
-
-# Uncomment this to use the wireless library
-#USE_WIRELESS = 1
-
-# com1 = serial port. Use lpt1 to connect to parallel port.
-AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
-
-#
-###################################
-
-# Hey Emacs, this is a -*- makefile -*-
-#----------------------------------------------------------------------------
-# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al.
-#
-# Released to the Public Domain
-#
-# Additional material for this makefile was written by:
-# Peter Fleury
-# Tim Henigan
-# Colin O'Flynn
-# Reiner Patommel
-# Markus Pfaff
-# Sander Pool
-# Frederik Rouleau
-#
-#----------------------------------------------------------------------------
-# On command line:
-#
-# make all = Make software.
-#
-# make clean = Clean out built project files.
-#
-# make coff = Convert ELF to AVR COFF.
-#
-# make extcoff = Convert ELF to AVR Extended COFF.
-#
-# make program = Download the hex file to the device, using avrdude.
-#                Please customize the avrdude settings below first!
-#
-# make debug = Start either simulavr or avarice as specified for debugging,
-#              with avr-gdb or avr-insight as the front end for debugging.
-#
-# make filename.s = Just compile filename.c into the assembler code only.
-#
-# make filename.i = Create a preprocessed source file for use in submitting
-#                   bug reports to the GCC project.
-#
-# To rebuild project do "make clean" then "make all".
-#----------------------------------------------------------------------------
-
-#if you want your code to work on the Firefly++ and not Firefly+
-#then add the -DFFPP line to CDEFS
-CDEFS =
-#-DFFPP
-
-# MCU name
-MCU = atmega128
-
-# Processor frequency.
-#     This will define a symbol, F_CPU, in all source code files equal to the
-#     processor frequency. You can then use this symbol in your source code to
-#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
-#     automatically to create a 32-bit value in your source code.
-F_CPU = 8000000
-
-# Output format. (can be srec, ihex, binary)
-FORMAT = ihex
-
-# List C source files here. (C dependencies are automatically generated.)
-SRC = $(wildcard *.c)
-
-# List Assembler source files here.
-#     Make them always end in a capital .S.  Files ending in a lowercase .s
-#     will not be considered source files but generated files (assembler
-#     output from the compiler), and will be deleted upon "make clean"!
-#     Even though the DOS/Win* filesystem matches both .s and .S the same,
-#     it will preserve the spelling of the filenames, and gcc itself does
-#     care about how the name is spelled on its command-line.
-ASRC =
-
-# Optimization level, can be [0, 1, 2, 3, s].
-#     0 = turn off optimization. s = optimize for size.
-#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
-OPT = s
-
-# Debugging format.
-#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
-#     AVR Studio 4.10 requires dwarf-2.
-#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
-DEBUG =
-
-# Compiler flag to set the C Standard level.
-#     c89   = "ANSI" C
-#     gnu89 = c89 plus GCC extensions
-#     c99   = ISO C99 standard (not yet fully implemented)
-#     gnu99 = c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-
-# Place -D or -U options here
-CDEFS += -DF_CPU=$(F_CPU)UL
-CDEFS += -DFFP
-# for wireless library
-ifdef USE_WIRELESS
-	CDEFS += -DROBOT
-endif
-
-# Place -I, -L options here
-CINCS = -I$(COLONYROOT)/Library
-CINCS += -L$(COLONYROOT)/Library
-ifdef USE_WIRELESS
-	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless
-endif
-
-#---------------- Compiler Options ----------------
-#  -g*:          generate debugging information
-#  -O*:          optimization level
-#  -f...:        tuning, see GCC manual and avr-libc documentation
-#  -Wall...:     warning level
-#  -Wa,...:      tell GCC to pass this to the assembler.
-#    -adhlns...: create assembler listing
-CFLAGS =
-# CFLAGS = -g$(DEBUG)
-CFLAGS += $(CDEFS) $(CINCS)
-CFLAGS += -O$(OPT)
-CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-CFLAGS += -Wall -Wstrict-prototypes
-CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
-CFLAGS += $(CSTANDARD)
-
-#---------------- Assembler Options ----------------
-#  -Wa,...:   tell GCC to pass this to the assembler.
-#  -ahlms:    create listing
-#  -gstabs:   have the assembler create line number information; note that
-#             for use in COFF files, additional information about filenames
-#             and function names needs to be present in the assembler source
-#             files -- see avr-libc docs [FIXME: not yet described there]
-ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
-
-
-#---------------- Library Options ----------------
-# Minimalistic printf version
-PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
-
-# Floating point printf version (requires MATH_LIB = -lm below)
-PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
-
-# If this is left blank, then it will use the Standard printf version.
-#PRINTF_LIB =
-#PRINTF_LIB = $(PRINTF_LIB_MIN)
-PRINTF_LIB = $(PRINTF_LIB_FLOAT)
-
-
-# Minimalistic scanf version
-SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
-
-# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
-SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
-
-# If this is left blank, then it will use the Standard scanf version.
-SCANF_LIB =
-#SCANF_LIB = $(SCANF_LIB_MIN)
-#SCANF_LIB = $(SCANF_LIB_FLOAT)
-
-MATH_LIB = -lm
-
-#---------------- External Memory Options ----------------
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# used for variables (.data/.bss) and heap (malloc()).
-#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# only used for heap (malloc()).
-#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
-
-EXTMEMOPTS =
-
-#---------------- Linker Options ----------------
-#  -Wl,...:     tell GCC to pass this to linker.
-#    -Map:      create map file
-#    --cref:    add cross reference to  map file
-LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
-LDFLAGS += $(EXTMEMOPTS)
-LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
-ifdef USE_WIRELESS
-	LDFLAGS += -lwireless
-endif
-LDFLAGS += -ldragonfly
-
-
-
-#---------------- Programming Options (avrdude) ----------------
-
-# Programming hardware: alf avr910 avrisp bascom bsd
-# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
-#
-# Type: avrdude -c ?
-# to get a full listing.
-#
-AVRDUDE_PROGRAMMER = avrisp
-
-# programmer connected to serial device
-
-AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
-#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
-
-
-# Uncomment the following if you want avrdude's erase cycle counter.
-# Note that this counter needs to be initialized first using -Yn,
-# see avrdude manual.
-#AVRDUDE_ERASE_COUNTER = -y
-
-# Uncomment the following if you do /not/ wish a verification to be
-# performed after programming the device.
-#AVRDUDE_NO_VERIFY = -V
-
-# Increase verbosity level.  Please use this when submitting bug
-# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
-# to submit bug reports.
-#AVRDUDE_VERBOSE = -v -v
-
-AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
-AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
-AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
-AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
-
-#don't check for device signature
-AVRDUDE_FLAGS += -F
-
-
-
-#---------------- Debugging Options ----------------
-
-# For simulavr only - target MCU frequency.
-DEBUG_MFREQ = $(F_CPU)
-
-# Set the DEBUG_UI to either gdb or insight.
-# DEBUG_UI = gdb
-DEBUG_UI = insight
-
-# Set the debugging back-end to either avarice, simulavr.
-DEBUG_BACKEND = avarice
-#DEBUG_BACKEND = simulavr
-
-# GDB Init Filename.
-GDBINIT_FILE = __avr_gdbinit
-
-# When using avarice settings for the JTAG
-JTAG_DEV = /dev/com1
-
-# Debugging port used to communicate between GDB / avarice / simulavr.
-DEBUG_PORT = 4242
-
-# Debugging host used to communicate between GDB / avarice / simulavr, normally
-#     just set to localhost unless doing some sort of crazy debugging when
-#     avarice is running on a different computer.
-DEBUG_HOST = localhost
-
-
-
-#============================================================================
-
-
-# Define programs and commands.
-SHELL = sh
-CC = avr-gcc
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-NM = avr-nm
-AVRDUDE = avrdude
-REMOVE = rm -f
-REMOVEDIR = rm -rf
-COPY = cp
-WINSHELL = cmd
-
-
-# Define Messages
-# English
-MSG_ERRORS_NONE = Errors: none
-MSG_BEGIN = -------- begin --------
-MSG_END = --------  end  --------
-MSG_SIZE_BEFORE = Size before:
-MSG_SIZE_AFTER = Size after:
-MSG_COFF = Converting to AVR COFF:
-MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
-MSG_FLASH = Creating load file for Flash:
-MSG_EEPROM = Creating load file for EEPROM:
-MSG_EXTENDED_LISTING = Creating Extended Listing:
-MSG_SYMBOL_TABLE = Creating Symbol Table:
-MSG_LINKING = Linking:
-MSG_COMPILING = Compiling:
-MSG_ASSEMBLING = Assembling:
-MSG_CLEANING = Cleaning project:
-
-
-
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
-
-
-# Compiler flags to generate dependency files.
-GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
-
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-
-
-
-# Default target.
-all: begin gccversion sizebefore build sizeafter end
-
-build: elf hex eep lss sym
-
-elf: $(TARGET).elf
-hex: $(TARGET).hex
-eep: $(TARGET).eep
-lss: $(TARGET).lss
-sym: $(TARGET).sym
-
-
-
-# Eye candy.
-# AVR Studio 3.x does not check make's exit code but relies on
-# the following magic strings to be generated by the compile job.
-begin:
-	@echo
-	@echo $(MSG_BEGIN)
-
-end:
-	@echo $(MSG_END)
-	@echo
-
-
-# Display size of file.
-HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
-ELFSIZE = $(SIZE) -A $(TARGET).elf
-AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
-
-sizebefore:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
-	$(AVRMEM) 2>/dev/null; echo; fi
-
-sizeafter:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
-	$(AVRMEM) 2>/dev/null; echo; fi
-
-
-
-# Display compiler version information.
-gccversion :
-	@$(CC) --version
-
-
-
-# Program the device.
-program: $(TARGET).hex $(TARGET).eep
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
-
-
-# Generate avr-gdb config/init file which does the following:
-#     define the reset signal, load the target file, connect to target, and set
-#     a breakpoint at main().
-gdb-config:
-	@$(REMOVE) $(GDBINIT_FILE)
-	@echo define reset >> $(GDBINIT_FILE)
-	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
-	@echo end >> $(GDBINIT_FILE)
-	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
-	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
-ifeq ($(DEBUG_BACKEND),simulavr)
-	@echo load  >> $(GDBINIT_FILE)
-endif
-	@echo break main >> $(GDBINIT_FILE)
-
-debug: gdb-config $(TARGET).elf
-ifeq ($(DEBUG_BACKEND), avarice)
-	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
-	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
-	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
-	@$(WINSHELL) /c pause
-
-else
-	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
-	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
-endif
-	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
-
-
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000
-
-
-coff: $(TARGET).elf
-	@echo
-	@echo $(MSG_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
-
-
-extcoff: $(TARGET).elf
-	@echo
-	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
-
-
-
-# Create final output files (.hex, .eep) from ELF output file.
-%.hex: %.elf
-	@echo
-	@echo $(MSG_FLASH) $@
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-%.eep: %.elf
-	@echo
-	@echo $(MSG_EEPROM) $@
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-%.lss: %.elf
-	@echo
-	@echo $(MSG_EXTENDED_LISTING) $@
-	$(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-	@echo
-	@echo $(MSG_SYMBOL_TABLE) $@
-	$(NM) -n $< > $@
-
-
-
-# Link: create ELF output file from object files.
-.SECONDARY : $(TARGET).elf
-.PRECIOUS : $(OBJ)
-%.elf: $(OBJ)
-	@echo
-	@echo $(MSG_LINKING) $@
-	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
-
-
-# Compile: create object files from C source files.
-%.o : %.c
-	@echo
-	@echo $(MSG_COMPILING) $<
-	$(CC) -c $(ALL_CFLAGS) $< -o $@
-
-
-# Compile: create assembler files from C source files.
-%.s : %.c
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-%.o : %.S
-	@echo
-	@echo $(MSG_ASSEMBLING) $<
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-# Create preprocessed source for use in sending a bug report.
-%.i : %.c
-	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
-
-
-# Target: clean project.
-clean: begin clean_list end
-
-clean_list :
-	@echo
-	@echo $(MSG_CLEANING)
-	$(REMOVE) $(TARGET).hex
-	$(REMOVE) $(TARGET).eep
-	$(REMOVE) $(TARGET).cof
-	$(REMOVE) $(TARGET).elf
-	$(REMOVE) $(TARGET).map
-	$(REMOVE) $(TARGET).sym
-	$(REMOVE) $(TARGET).lss
-	$(REMOVE) $(OBJ)
-	$(REMOVE) $(LST)
-	$(REMOVE) $(SRC:.c=.s)
-	$(REMOVE) $(SRC:.c=.d)
-	$(REMOVEDIR) .dep
-
-
-
-# Include the dependency files.
--include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
-
-
-# Listing of phony targets.
-.PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex eep lss sym coff extcoff \
-clean clean_list program debug gdb-config
-
Index: trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.hex
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.hex	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.hex	(nonexistent)
@@ -1,712 +0,0 @@
-:100000000C94C7000C94E6000C94E6000C94E600F7
-:100010000C94E6000C94E6000C94E6000C94E600C8
-:100020000C94E6000C94E6000C94E6000C94E600B8
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-:100040000C94C00A0C94E6000C94E6000C94E600B4
-:100050000C94E6000C94B1110C94E6000C94E600AC
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Index: trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.elf
===================================================================
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Index: trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.elf
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.elf	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.elf	(nonexistent)

Property changes on: trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.elf
___________________________________________________________________
Deleted: svn:mime-type
## -1 +0,0 ##
-application/octet-stream
\ No newline at end of property
Index: trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.sym
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.sym	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.sym	(nonexistent)
@@ -1,288 +0,0 @@
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Index: trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.eep
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.eep	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.eep	(nonexistent)
@@ -1 +0,0 @@
-:00000001FF
Index: trunk/code/behaviors/formation_control/Circle/Code/bom_test/.dep/bom_test.o.d
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/bom_test/.dep/bom_test.o.d	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/bom_test/.dep/bom_test.o.d	(nonexistent)
@@ -1,100 +0,0 @@
-bom_test.o: bom_test.c .././Library/dragonfly_lib.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/inttypes.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/stdint.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/stdio.h \
-  c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stdarg.h \
-  c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stddef.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/stdlib.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/io.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/sfr_defs.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/iom128.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/portpins.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/common.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/version.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/fuse.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/lock.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/interrupt.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/util/delay.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/util/delay_basic.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/util/twi.h \
-  .././Library/atomic.h .././Library/analog.h .././Library/dio.h \
-  .././Library/time.h .././Library/lcd.h .././Library/lights.h \
-  .././Library/motor.h .././Library/serial.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/pgmspace.h \
-  .././Library/buzzer.h .././Library/rangefinder.h .././Library/bom.h \
-  .././Library/move.h .././Library/reset.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/math.h \
-  .././Library/eeprom.h \
-  c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stdbool.h
-
-.././Library/dragonfly_lib.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/inttypes.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/stdint.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/stdio.h:
-
-c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stdarg.h:
-
-c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stddef.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/stdlib.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/io.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/sfr_defs.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/iom128.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/portpins.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/common.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/version.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/fuse.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/lock.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/interrupt.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/util/delay.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/util/delay_basic.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/util/twi.h:
-
-.././Library/atomic.h:
-
-.././Library/analog.h:
-
-.././Library/dio.h:
-
-.././Library/time.h:
-
-.././Library/lcd.h:
-
-.././Library/lights.h:
-
-.././Library/motor.h:
-
-.././Library/serial.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/pgmspace.h:
-
-.././Library/buzzer.h:
-
-.././Library/rangefinder.h:
-
-.././Library/bom.h:
-
-.././Library/move.h:
-
-.././Library/reset.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/math.h:
-
-.././Library/eeprom.h:
-
-c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stdbool.h:
Index: trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.map
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.map	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/bom_test/bom_test.map	(nonexistent)
@@ -1,894 +0,0 @@
-Archive member included because of file (symbol)
-
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-                              (vfprintf)
-.././Library\libdragonfly.a(bom.o)
-                              bom_test.o (bom_get)
-.././Library\libdragonfly.a(dio.o)
-                              .././Library\libdragonfly.a(bom.o) (digital_output)
-.././Library\libdragonfly.a(dragonfly_lib.o)
-                              bom_test.o (dragonfly_init)
-.././Library\libdragonfly.a(eeprom.o)
-                              .././Library\libdragonfly.a(dragonfly_lib.o) (get_bom_type)
-.././Library\libdragonfly.a(lcd.o)
-                              .././Library\libdragonfly.a(dragonfly_lib.o) (lcd_init)
-.././Library\libdragonfly.a(lights.o)
-                              bom_test.o (orbs_set_color)
-.././Library\libdragonfly.a(motor.o)
-                              .././Library\libdragonfly.a(dragonfly_lib.o) (motors_init)
-.././Library\libdragonfly.a(rangefinder.o)
-                              .././Library\libdragonfly.a(dragonfly_lib.o) (range_init)
-.././Library\libdragonfly.a(serial.o)
-                              .././Library\libdragonfly.a(dragonfly_lib.o) (usb_init)
-.././Library\libdragonfly.a(time.o)
-                              bom_test.o (delay_ms)
-.././Library\libdragonfly.a(analog.o)
-                              .././Library\libdragonfly.a(rangefinder.o) (analog8)
-.././Library\libdragonfly.a(buzzer.o)
-                              .././Library\libdragonfly.a(dragonfly_lib.o) (buzzer_init)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o)
-                              bom_test.o (__divmodhi4)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodsi4.o)
-                              .././Library\libdragonfly.a(buzzer.o) (__divmodsi4)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_prologue.o)
-                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o) (__prologue_saves__)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_epilogue.o)
-                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o) (__epilogue_restores__)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_exit.o)
-                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o (exit)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_clear_bss.o)
-                              .././Library\libdragonfly.a(bom.o) (__do_clear_bss)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_udivmodhi4.o)
-                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o) (__udivmodhi4)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_udivmodsi4.o)
-                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodsi4.o) (__udivmodsi4)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(ftoa_engine.o)
-                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o) (__ftoa_engine)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(memcpy_P.o)
-                              .././Library\libdragonfly.a(serial.o) (memcpy_P)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(strnlen_P.o)
-                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o) (strnlen_P)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(strnlen.o)
-                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o) (strnlen)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(fputc.o)
-                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o) (fputc)
-c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(ultoa_invert.o)
-                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o) (__ultoa_invert)
-
-Allocating common symbols
-Common symbol       size              file
-
-pwm_buffer          0x27              .././Library\libdragonfly.a(lights.o)
-orb_values          0x6               .././Library\libdragonfly.a(lights.o)
-usb_fd              0x2               .././Library\libdragonfly.a(serial.o)
-xbee_fd             0x2               .././Library\libdragonfly.a(serial.o)
-an_val              0x21              .././Library\libdragonfly.a(analog.o)
-
-Memory Configuration
-
-Name             Origin             Length             Attributes
-text             0x00000000         0x00020000         xr
-data             0x00800060         0x0000ffa0         rw !x
-eeprom           0x00810000         0x00010000         rw !x
-fuse             0x00820000         0x00000400         rw !x
-lock             0x00830000         0x00000400         rw !x
-signature        0x00840000         0x00000400         rw !x
-*default*        0x00000000         0xffffffff
-
-Linker script and memory map
-
-Address of section .data set to 0x800100
-LOAD c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-LOAD bom_test.o
-LOAD c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a
-LOAD c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libm.a
-LOAD .././Library\libdragonfly.a
-LOAD c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a
-LOAD c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a
-LOAD c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a
-
-.hash
- *(.hash)
-
-.dynsym
- *(.dynsym)
-
-.dynstr
- *(.dynstr)
-
-.gnu.version
- *(.gnu.version)
-
-.gnu.version_d
- *(.gnu.version_d)
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- .bss           0x00800444        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_epilogue.o)
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- .bss           0x00800444        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_clear_bss.o)
- .bss           0x00800444        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_udivmodhi4.o)
- .bss           0x00800444        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_udivmodsi4.o)
- .bss           0x00800444        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(ftoa_engine.o)
- .bss           0x00800444        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(memcpy_P.o)
- .bss           0x00800444        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(strnlen_P.o)
- .bss           0x00800444        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(strnlen.o)
- .bss           0x00800444        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(fputc.o)
- .bss           0x00800444        0x0 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(ultoa_invert.o)
- *(.bss*)
- *(COMMON)
- COMMON         0x00800444       0x2d .././Library\libdragonfly.a(lights.o)
-                0x00800444                pwm_buffer
-                0x0080046b                orb_values
- COMMON         0x00800471        0x4 .././Library\libdragonfly.a(serial.o)
-                0x00800471                usb_fd
-                0x00800473                xbee_fd
- COMMON         0x00800475       0x21 .././Library\libdragonfly.a(analog.o)
-                0x00800475                an_val
-                0x00800496                PROVIDE (__bss_end, .)
-                0x00002958                __data_load_start = LOADADDR (.data)
-                0x00002c62                __data_load_end = (__data_load_start + SIZEOF (.data))
-
-.noinit         0x00800496        0x0
-                0x00800496                PROVIDE (__noinit_start, .)
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-                0x00800496                PROVIDE (__noinit_end, .)
-                0x00800496                _end = .
-                0x00800496                PROVIDE (__heap_start, .)
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-.eeprom         0x00810000        0x0
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-.fuse
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-.lock
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-.signature
- *(.signature*)
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-.stab           0x00000000     0x54b4
- *(.stab)
- .stab          0x00000000      0xa98 .././Library\libdragonfly.a(bom.o)
- .stab          0x00000a98      0x804 .././Library\libdragonfly.a(dio.o)
-                                0x9cc (size before relaxing)
- .stab          0x0000129c      0x468 .././Library\libdragonfly.a(dragonfly_lib.o)
-                                0x78c (size before relaxing)
- .stab          0x00001704      0x3e4 .././Library\libdragonfly.a(eeprom.o)
-                                0x5a0 (size before relaxing)
- .stab          0x00001ae8      0x6e4 .././Library\libdragonfly.a(lcd.o)
-                                0x8a0 (size before relaxing)
- .stab          0x000021cc     0x1398 .././Library\libdragonfly.a(lights.o)
-                               0x1500 (size before relaxing)
- .stab          0x00003564      0x45c .././Library\libdragonfly.a(motor.o)
-                                0x618 (size before relaxing)
- .stab          0x000039c0      0x2ac .././Library\libdragonfly.a(rangefinder.o)
-                                0x5d0 (size before relaxing)
- .stab          0x00003c6c      0x978 .././Library\libdragonfly.a(serial.o)
-                                0xc18 (size before relaxing)
- .stab          0x000045e4      0x3d8 .././Library\libdragonfly.a(time.o)
-                                0x654 (size before relaxing)
- .stab          0x000049bc      0x7ec .././Library\libdragonfly.a(analog.o)
-                                0xa5c (size before relaxing)
- .stab          0x000051a8      0x30c .././Library\libdragonfly.a(buzzer.o)
-                                0x4c8 (size before relaxing)
-
-.stabstr        0x00000000     0x2168
- *(.stabstr)
- .stabstr       0x00000000     0x2168 .././Library\libdragonfly.a(bom.o)
-
-.stab.excl
- *(.stab.excl)
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-.stab.exclstr
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-.stab.index
- *(.stab.index)
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-.stab.indexstr
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-.comment
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-.debug
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-.line
- *(.line)
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-.debug_srcinfo
- *(.debug_srcinfo)
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-.debug_sfnames
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-.debug_aranges
- *(.debug_aranges)
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-.debug_pubnames
- *(.debug_pubnames)
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-.debug_info
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-.debug_abbrev
- *(.debug_abbrev)
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-.debug_line
- *(.debug_line)
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-.debug_frame
- *(.debug_frame)
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-.debug_str
- *(.debug_str)
-
-.debug_loc
- *(.debug_loc)
-
-.debug_macinfo
- *(.debug_macinfo)
-OUTPUT(bom_test.elf elf32-avr)
-LOAD linker stubs
-
-Cross Reference Table
-
-Symbol                                            File
-__bad_interrupt                                   c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__bss_end                                         c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_clear_bss.o)
-__bss_start                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_clear_bss.o)
-__data_end                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__data_load_start                                 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__data_start                                      c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__divmodhi4                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o)
-                                                  .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(lcd.o)
-                                                  bom_test.o
-__divmodsi4                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodsi4.o)
-                                                  .././Library\libdragonfly.a(buzzer.o)
-__do_clear_bss                                    c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_clear_bss.o)
-                                                  .././Library\libdragonfly.a(buzzer.o)
-                                                  .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(time.o)
-                                                  .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(rangefinder.o)
-                                                  .././Library\libdragonfly.a(motor.o)
-                                                  .././Library\libdragonfly.a(lights.o)
-                                                  .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(eeprom.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  .././Library\libdragonfly.a(dio.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-__do_copy_data                                    c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-                                                  .././Library\libdragonfly.a(buzzer.o)
-                                                  .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(time.o)
-                                                  .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(rangefinder.o)
-                                                  .././Library\libdragonfly.a(motor.o)
-                                                  .././Library\libdragonfly.a(lights.o)
-                                                  .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(eeprom.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  .././Library\libdragonfly.a(dio.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-                                                  bom_test.o
-__epilogue_restores__                             c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_epilogue.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__ftoa_engine                                     c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(ftoa_engine.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__heap_end                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__init                                            c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__prologue_saves__                                c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_prologue.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__stack                                           c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__udivmodhi4                                      c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_udivmodhi4.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o)
-__udivmodsi4                                      c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_udivmodsi4.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodsi4.o)
-__ultoa_invert                                    c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(ultoa_invert.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__vector_1                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_10                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_11                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_12                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_13                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_14                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_15                                       .././Library\libdragonfly.a(lights.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_16                                       .././Library\libdragonfly.a(lights.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_17                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_18                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_19                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_2                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_20                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_21                                       .././Library\libdragonfly.a(analog.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_22                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_23                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_24                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_25                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_26                                       .././Library\libdragonfly.a(time.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_27                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_28                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_29                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_3                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_30                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_31                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_32                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_33                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_34                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_4                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_5                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_6                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_7                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_8                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_9                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_default                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vectors                                         c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-_div                                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o)
-_exit                                             c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_exit.o)
-adc_current_port                                  .././Library\libdragonfly.a(analog.o)
-adc_loop_status                                   .././Library\libdragonfly.a(analog.o)
-adc_sig_stop_loop                                 .././Library\libdragonfly.a(analog.o)
-an_val                                            .././Library\libdragonfly.a(analog.o)
-analog10                                          .././Library\libdragonfly.a(analog.o)
-analog8                                           .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(rangefinder.o)
-analog_get10                                      .././Library\libdragonfly.a(analog.o)
-analog_get8                                       .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-analog_init                                       .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-analog_loop_status                                .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-analog_start_loop                                 .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-analog_stop_loop                                  .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-bom_get                                           .././Library\libdragonfly.a(bom.o)
-                                                  bom_test.o
-bom_get_max                                       .././Library\libdragonfly.a(bom.o)
-                                                  bom_test.o
-bom_init                                          .././Library\libdragonfly.a(bom.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-bom_off                                           .././Library\libdragonfly.a(bom.o)
-bom_on                                            .././Library\libdragonfly.a(bom.o)
-bom_refresh                                       .././Library\libdragonfly.a(bom.o)
-                                                  bom_test.o
-bom_set_leds                                      .././Library\libdragonfly.a(bom.o)
-button1_click                                     .././Library\libdragonfly.a(dio.o)
-button1_read                                      .././Library\libdragonfly.a(dio.o)
-button1_wait                                      .././Library\libdragonfly.a(dio.o)
-button2_click                                     .././Library\libdragonfly.a(dio.o)
-button2_read                                      .././Library\libdragonfly.a(dio.o)
-button2_wait                                      .././Library\libdragonfly.a(dio.o)
-buzzer_chirp                                      .././Library\libdragonfly.a(buzzer.o)
-buzzer_init                                       .././Library\libdragonfly.a(buzzer.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-buzzer_off                                        .././Library\libdragonfly.a(buzzer.o)
-buzzer_set_freq                                   .././Library\libdragonfly.a(buzzer.o)
-buzzer_set_val                                    .././Library\libdragonfly.a(buzzer.o)
-current_pwm_channel                               .././Library\libdragonfly.a(lights.o)
-delay_ms                                          .././Library\libdragonfly.a(time.o)
-                                                  .././Library\libdragonfly.a(buzzer.o)
-                                                  .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  .././Library\libdragonfly.a(dio.o)
-                                                  bom_test.o
-digital_input                                     .././Library\libdragonfly.a(dio.o)
-digital_output                                    .././Library\libdragonfly.a(dio.o)
-                                                  .././Library\libdragonfly.a(rangefinder.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-digital_pull_up                                   .././Library\libdragonfly.a(dio.o)
-dragonfly_init                                    .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  bom_test.o
-eeprom_get_byte                                   .././Library\libdragonfly.a(eeprom.o)
-eeprom_put_byte                                   .././Library\libdragonfly.a(eeprom.o)
-enable_orb_pwm                                    .././Library\libdragonfly.a(lights.o)
-exit                                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_exit.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-flash_red                                         .././Library\libdragonfly.a(dragonfly_lib.o)
-fputc                                             c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(fputc.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-get_bom_type                                      .././Library\libdragonfly.a(eeprom.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-get_max_bom                                       .././Library\libdragonfly.a(bom.o)
-get_robotid                                       .././Library\libdragonfly.a(eeprom.o)
-hex_digit                                         .././Library\libdragonfly.a(serial.o)
-lcd_clear_screen                                  .././Library\libdragonfly.a(lcd.o)
-lcd_gotoxy                                        .././Library\libdragonfly.a(lcd.o)
-lcd_init                                          .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-lcd_putbyte                                       .././Library\libdragonfly.a(lcd.o)
-lcd_putc                                          .././Library\libdragonfly.a(lcd.o)
-lcd_puti                                          .././Library\libdragonfly.a(lcd.o)
-lcd_puts                                          .././Library\libdragonfly.a(lcd.o)
-linearize_distance                                .././Library\libdragonfly.a(rangefinder.o)
-main                                              bom_test.o
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-memcpy_P                                          c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(memcpy_P.o)
-                                                  .././Library\libdragonfly.a(serial.o)
-motor1_set                                        .././Library\libdragonfly.a(motor.o)
-motor2_set                                        .././Library\libdragonfly.a(motor.o)
-motor_l_set                                       .././Library\libdragonfly.a(motor.o)
-motor_r_set                                       .././Library\libdragonfly.a(motor.o)
-motors_init                                       .././Library\libdragonfly.a(motor.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-motors_off                                        .././Library\libdragonfly.a(motor.o)
-orb1_set                                          .././Library\libdragonfly.a(lights.o)
-orb1_set_color                                    .././Library\libdragonfly.a(lights.o)
-orb2_set                                          .././Library\libdragonfly.a(lights.o)
-orb2_set_color                                    .././Library\libdragonfly.a(lights.o)
-orb_disable_timer                                 .././Library\libdragonfly.a(lights.o)
-orb_enable_timer                                  .././Library\libdragonfly.a(lights.o)
-orb_init                                          .././Library\libdragonfly.a(lights.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-orb_init_binary                                   .././Library\libdragonfly.a(lights.o)
-orb_init_pwm                                      .././Library\libdragonfly.a(lights.o)
-orb_lock                                          .././Library\libdragonfly.a(lights.o)
-orb_mask                                          .././Library\libdragonfly.a(lights.o)
-orb_n_set                                         .././Library\libdragonfly.a(lights.o)
-orb_n_set_color                                   .././Library\libdragonfly.a(lights.o)
-orb_set                                           .././Library\libdragonfly.a(lights.o)
-orb_set_color                                     .././Library\libdragonfly.a(lights.o)
-orb_set_mode                                      .././Library\libdragonfly.a(lights.o)
-orb_values                                        .././Library\libdragonfly.a(lights.o)
-orbs_set                                          .././Library\libdragonfly.a(lights.o)
-orbs_set_color                                    .././Library\libdragonfly.a(lights.o)
-                                                  bom_test.o
-pwm_buffer                                        .././Library\libdragonfly.a(lights.o)
-pwm_free_buffer                                   .././Library\libdragonfly.a(lights.o)
-pwm_page_flip                                     .././Library\libdragonfly.a(lights.o)
-pwm_read_buffer                                   .././Library\libdragonfly.a(lights.o)
-pwm_write_buffer                                  .././Library\libdragonfly.a(lights.o)
-range_init                                        .././Library\libdragonfly.a(rangefinder.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-range_read_distance                               .././Library\libdragonfly.a(rangefinder.o)
-rtc_get                                           .././Library\libdragonfly.a(time.o)
-rtc_init                                          .././Library\libdragonfly.a(time.o)
-rtc_reset                                         .././Library\libdragonfly.a(time.o)
-set_adc_mux                                       .././Library\libdragonfly.a(analog.o)
-strnlen                                           c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(strnlen.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-strnlen_P                                         c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(strnlen_P.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-usb_fd                                            .././Library\libdragonfly.a(serial.o)
-usb_getc                                          .././Library\libdragonfly.a(serial.o)
-usb_getc_nb                                       .././Library\libdragonfly.a(serial.o)
-usb_init                                          .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-usb_putc                                          .././Library\libdragonfly.a(serial.o)
-                                                  bom_test.o
-usb_puth16                                        .././Library\libdragonfly.a(serial.o)
-usb_puth8                                         .././Library\libdragonfly.a(serial.o)
-usb_puti                                          .././Library\libdragonfly.a(serial.o)
-                                                  bom_test.o
-usb_puts                                          .././Library\libdragonfly.a(serial.o)
-                                                  bom_test.o
-usb_puts_P                                        .././Library\libdragonfly.a(serial.o)
-vfprintf                                          c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-wheel                                             .././Library\libdragonfly.a(analog.o)
-xbee_fd                                           .././Library\libdragonfly.a(serial.o)
-xbee_getc                                         .././Library\libdragonfly.a(serial.o)
-xbee_getc_nb                                      .././Library\libdragonfly.a(serial.o)
-xbee_init                                         .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-xbee_putc                                         .././Library\libdragonfly.a(serial.o)
Index: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.sym
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.sym	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.sym	(nonexistent)
@@ -1,338 +0,0 @@
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Index: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/.dep/encoder_test.o.d
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/encoder_test/.dep/encoder_test.o.d	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/encoder_test/.dep/encoder_test.o.d	(nonexistent)
@@ -1,103 +0,0 @@
-encoder_test.o: encoder_test.c .././Library/dragonfly_lib.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/inttypes.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/stdint.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/stdio.h \
-  c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stdarg.h \
-  c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stddef.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/stdlib.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/io.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/sfr_defs.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/iom128.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/portpins.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/common.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/version.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/fuse.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/lock.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/interrupt.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/util/delay.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/util/delay_basic.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/util/twi.h \
-  .././Library/atomic.h .././Library/analog.h .././Library/dio.h \
-  .././Library/time.h .././Library/lcd.h .././Library/lights.h \
-  .././Library/motor.h .././Library/serial.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/avr/pgmspace.h \
-  .././Library/buzzer.h .././Library/rangefinder.h .././Library/bom.h \
-  .././Library/move.h .././Library/reset.h \
-  c:/program\ files/winavr/lib/gcc/../../avr/include/math.h \
-  .././Library/eeprom.h \
-  c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stdbool.h \
-  .././Library/encoders.h
-
-.././Library/dragonfly_lib.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/inttypes.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/stdint.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/stdio.h:
-
-c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stdarg.h:
-
-c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stddef.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/stdlib.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/io.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/sfr_defs.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/iom128.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/portpins.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/common.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/version.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/fuse.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/lock.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/interrupt.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/util/delay.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/util/delay_basic.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/util/twi.h:
-
-.././Library/atomic.h:
-
-.././Library/analog.h:
-
-.././Library/dio.h:
-
-.././Library/time.h:
-
-.././Library/lcd.h:
-
-.././Library/lights.h:
-
-.././Library/motor.h:
-
-.././Library/serial.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/avr/pgmspace.h:
-
-.././Library/buzzer.h:
-
-.././Library/rangefinder.h:
-
-.././Library/bom.h:
-
-.././Library/move.h:
-
-.././Library/reset.h:
-
-c:/program\ files/winavr/lib/gcc/../../avr/include/math.h:
-
-.././Library/eeprom.h:
-
-c:\program\ files\winavr\bin\../lib/gcc/avr/4.3.2/include/stdbool.h:
-
-.././Library/encoders.h:
Index: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.eep
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.eep	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.eep	(nonexistent)
@@ -1 +0,0 @@
-:00000001FF
Index: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.map
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.map	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.map	(nonexistent)
@@ -1,1006 +0,0 @@
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-.data           0x00800100      0x36e load address 0x00003040
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-.stab           0x00000000     0x68a0
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-.stabstr        0x00000000     0x2668
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-Cross Reference Table
-
-Symbol                                            File
-__bad_interrupt                                   c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__bss_end                                         c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_clear_bss.o)
-__bss_start                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_clear_bss.o)
-__data_end                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__data_load_start                                 c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__data_start                                      c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__divmodhi4                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o)
-                                                  .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(encoders.o)
-__divmodsi4                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodsi4.o)
-                                                  .././Library\libdragonfly.a(buzzer.o)
-__do_clear_bss                                    c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_clear_bss.o)
-                                                  .././Library\libdragonfly.a(buzzer.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-                                                  .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(time.o)
-                                                  .././Library\libdragonfly.a(spi.o)
-                                                  .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(rangefinder.o)
-                                                  .././Library\libdragonfly.a(motor.o)
-                                                  .././Library\libdragonfly.a(lights.o)
-                                                  .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(encoders.o)
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-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  .././Library\libdragonfly.a(dio.o)
-__do_copy_data                                    c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-                                                  .././Library\libdragonfly.a(buzzer.o)
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-                                                  .././Library\libdragonfly.a(analog.o)
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-                                                  .././Library\libdragonfly.a(serial.o)
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-                                                  .././Library\libdragonfly.a(motor.o)
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-                                                  .././Library\libdragonfly.a(encoders.o)
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-                                                  encoder_test.o
-__epilogue_restores__                             c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_epilogue.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__ftoa_engine                                     c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(ftoa_engine.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__heap_end                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__init                                            c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__prologue_saves__                                c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_prologue.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__stack                                           c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__udivmodhi4                                      c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_udivmodhi4.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o)
-__udivmodsi4                                      c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_udivmodsi4.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodsi4.o)
-__ultoa_invert                                    c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(ultoa_invert.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-__vector_1                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_10                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_11                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_12                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_13                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_14                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_15                                       .././Library\libdragonfly.a(lights.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_16                                       .././Library\libdragonfly.a(lights.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_17                                       .././Library\libdragonfly.a(spi.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_18                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_19                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_2                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_20                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_21                                       .././Library\libdragonfly.a(analog.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_22                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_23                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_24                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_25                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_26                                       .././Library\libdragonfly.a(time.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_27                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_28                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_29                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_3                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_30                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_31                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_32                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_33                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_34                                       c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_4                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_5                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_6                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_7                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_8                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_9                                        c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vector_default                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-__vectors                                         c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-_div                                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_divmodhi4.o)
-_exit                                             c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_exit.o)
-adc_current_port                                  .././Library\libdragonfly.a(analog.o)
-adc_loop_status                                   .././Library\libdragonfly.a(analog.o)
-adc_sig_stop_loop                                 .././Library\libdragonfly.a(analog.o)
-an_val                                            .././Library\libdragonfly.a(analog.o)
-analog10                                          .././Library\libdragonfly.a(analog.o)
-analog8                                           .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(rangefinder.o)
-analog_get10                                      .././Library\libdragonfly.a(analog.o)
-analog_get8                                       .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-analog_init                                       .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-analog_loop_status                                .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-analog_start_loop                                 .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-analog_stop_loop                                  .././Library\libdragonfly.a(analog.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-bom_get                                           .././Library\libdragonfly.a(bom.o)
-bom_get_max                                       .././Library\libdragonfly.a(bom.o)
-bom_init                                          .././Library\libdragonfly.a(bom.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-bom_off                                           .././Library\libdragonfly.a(bom.o)
-bom_on                                            .././Library\libdragonfly.a(bom.o)
-bom_refresh                                       .././Library\libdragonfly.a(bom.o)
-bom_set_leds                                      .././Library\libdragonfly.a(bom.o)
-button1_click                                     .././Library\libdragonfly.a(dio.o)
-button1_read                                      .././Library\libdragonfly.a(dio.o)
-                                                  encoder_test.o
-button1_wait                                      .././Library\libdragonfly.a(dio.o)
-button2_click                                     .././Library\libdragonfly.a(dio.o)
-button2_read                                      .././Library\libdragonfly.a(dio.o)
-button2_wait                                      .././Library\libdragonfly.a(dio.o)
-buzzer_chirp                                      .././Library\libdragonfly.a(buzzer.o)
-buzzer_init                                       .././Library\libdragonfly.a(buzzer.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-buzzer_off                                        .././Library\libdragonfly.a(buzzer.o)
-buzzer_set_freq                                   .././Library\libdragonfly.a(buzzer.o)
-buzzer_set_val                                    .././Library\libdragonfly.a(buzzer.o)
-current_pwm_channel                               .././Library\libdragonfly.a(lights.o)
-data_ready                                        .././Library\libdragonfly.a(encoders.o)
-delay_ms                                          .././Library\libdragonfly.a(time.o)
-                                                  .././Library\libdragonfly.a(buzzer.o)
-                                                  .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  .././Library\libdragonfly.a(dio.o)
-                                                  encoder_test.o
-digital_input                                     .././Library\libdragonfly.a(dio.o)
-digital_output                                    .././Library\libdragonfly.a(dio.o)
-                                                  .././Library\libdragonfly.a(bom.o)
-                                                  .././Library\libdragonfly.a(rangefinder.o)
-digital_pull_up                                   .././Library\libdragonfly.a(dio.o)
-dragonfly_init                                    .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  encoder_test.o
-eeprom_get_byte                                   .././Library\libdragonfly.a(eeprom.o)
-eeprom_put_byte                                   .././Library\libdragonfly.a(eeprom.o)
-enable_orb_pwm                                    .././Library\libdragonfly.a(lights.o)
-encoder_buf_index                                 .././Library\libdragonfly.a(encoders.o)
-encoder_get_dx                                    .././Library\libdragonfly.a(encoders.o)
-encoder_get_tc                                    .././Library\libdragonfly.a(encoders.o)
-                                                  encoder_test.o
-encoder_get_v                                     .././Library\libdragonfly.a(encoders.o)
-                                                  encoder_test.o
-encoder_get_x                                     .././Library\libdragonfly.a(encoders.o)
-                                                  encoder_test.o
-encoder_read                                      .././Library\libdragonfly.a(encoders.o)
-                                                  encoder_test.o
-encoder_recv                                      .././Library\libdragonfly.a(encoders.o)
-encoder_recv_complete                             .././Library\libdragonfly.a(encoders.o)
-encoder_rst_dx                                    .././Library\libdragonfly.a(encoders.o)
-                                                  encoder_test.o
-encoder_rst_tc                                    .././Library\libdragonfly.a(encoders.o)
-                                                  encoder_test.o
-encoder_wait                                      .././Library\libdragonfly.a(encoders.o)
-encoders_init                                     .././Library\libdragonfly.a(encoders.o)
-                                                  encoder_test.o
-exit                                              c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/avr51\libgcc.a(_exit.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-flash_red                                         .././Library\libdragonfly.a(dragonfly_lib.o)
-fputc                                             c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(fputc.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-get_bom_type                                      .././Library\libdragonfly.a(eeprom.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-get_dx                                            .././Library\libdragonfly.a(encoders.o)
-get_max_bom                                       .././Library\libdragonfly.a(bom.o)
-get_robotid                                       .././Library\libdragonfly.a(eeprom.o)
-hex_digit                                         .././Library\libdragonfly.a(serial.o)
-lcd_clear_screen                                  .././Library\libdragonfly.a(lcd.o)
-lcd_gotoxy                                        .././Library\libdragonfly.a(lcd.o)
-lcd_init                                          .././Library\libdragonfly.a(lcd.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-lcd_putbyte                                       .././Library\libdragonfly.a(lcd.o)
-lcd_putc                                          .././Library\libdragonfly.a(lcd.o)
-lcd_puti                                          .././Library\libdragonfly.a(lcd.o)
-lcd_puts                                          .././Library\libdragonfly.a(lcd.o)
-left_data                                         .././Library\libdragonfly.a(encoders.o)
-left_data_array                                   .././Library\libdragonfly.a(encoders.o)
-left_data_array_bottom                            .././Library\libdragonfly.a(encoders.o)
-left_data_array_prev                              .././Library\libdragonfly.a(encoders.o)
-left_data_array_put                               .././Library\libdragonfly.a(encoders.o)
-left_data_array_top                               .././Library\libdragonfly.a(encoders.o)
-left_data_at                                      .././Library\libdragonfly.a(encoders.o)
-left_data_buf                                     .././Library\libdragonfly.a(encoders.o)
-left_data_idx                                     .././Library\libdragonfly.a(encoders.o)
-left_dx                                           .././Library\libdragonfly.a(encoders.o)
-linearize_distance                                .././Library\libdragonfly.a(rangefinder.o)
-main                                              encoder_test.o
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51/crtm128.o
-memcpy_P                                          c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(memcpy_P.o)
-                                                  .././Library\libdragonfly.a(serial.o)
-motor1_set                                        .././Library\libdragonfly.a(motor.o)
-motor2_set                                        .././Library\libdragonfly.a(motor.o)
-motor_l_set                                       .././Library\libdragonfly.a(motor.o)
-motor_r_set                                       .././Library\libdragonfly.a(motor.o)
-motors_init                                       .././Library\libdragonfly.a(motor.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-motors_off                                        .././Library\libdragonfly.a(motor.o)
-orb1_set                                          .././Library\libdragonfly.a(lights.o)
-orb1_set_color                                    .././Library\libdragonfly.a(lights.o)
-orb2_set                                          .././Library\libdragonfly.a(lights.o)
-orb2_set_color                                    .././Library\libdragonfly.a(lights.o)
-orb_disable_timer                                 .././Library\libdragonfly.a(lights.o)
-orb_enable_timer                                  .././Library\libdragonfly.a(lights.o)
-orb_init                                          .././Library\libdragonfly.a(lights.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-orb_init_binary                                   .././Library\libdragonfly.a(lights.o)
-orb_init_pwm                                      .././Library\libdragonfly.a(lights.o)
-orb_lock                                          .././Library\libdragonfly.a(lights.o)
-orb_mask                                          .././Library\libdragonfly.a(lights.o)
-orb_n_set                                         .././Library\libdragonfly.a(lights.o)
-orb_n_set_color                                   .././Library\libdragonfly.a(lights.o)
-orb_set                                           .././Library\libdragonfly.a(lights.o)
-orb_set_color                                     .././Library\libdragonfly.a(lights.o)
-orb_set_mode                                      .././Library\libdragonfly.a(lights.o)
-orb_values                                        .././Library\libdragonfly.a(lights.o)
-orbs_set                                          .././Library\libdragonfly.a(lights.o)
-orbs_set_color                                    .././Library\libdragonfly.a(lights.o)
-pwm_buffer                                        .././Library\libdragonfly.a(lights.o)
-pwm_free_buffer                                   .././Library\libdragonfly.a(lights.o)
-pwm_page_flip                                     .././Library\libdragonfly.a(lights.o)
-pwm_read_buffer                                   .././Library\libdragonfly.a(lights.o)
-pwm_write_buffer                                  .././Library\libdragonfly.a(lights.o)
-range_init                                        .././Library\libdragonfly.a(rangefinder.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-range_read_distance                               .././Library\libdragonfly.a(rangefinder.o)
-right_data                                        .././Library\libdragonfly.a(encoders.o)
-right_data_array                                  .././Library\libdragonfly.a(encoders.o)
-right_data_array_bottom                           .././Library\libdragonfly.a(encoders.o)
-right_data_array_prev                             .././Library\libdragonfly.a(encoders.o)
-right_data_array_put                              .././Library\libdragonfly.a(encoders.o)
-right_data_array_top                              .././Library\libdragonfly.a(encoders.o)
-right_data_at                                     .././Library\libdragonfly.a(encoders.o)
-right_data_buf                                    .././Library\libdragonfly.a(encoders.o)
-right_data_idx                                    .././Library\libdragonfly.a(encoders.o)
-right_dx                                          .././Library\libdragonfly.a(encoders.o)
-rtc_get                                           .././Library\libdragonfly.a(time.o)
-rtc_init                                          .././Library\libdragonfly.a(time.o)
-rtc_reset                                         .././Library\libdragonfly.a(time.o)
-set_adc_mux                                       .././Library\libdragonfly.a(analog.o)
-spi_init                                          .././Library\libdragonfly.a(spi.o)
-                                                  .././Library\libdragonfly.a(encoders.o)
-spi_transfer                                      .././Library\libdragonfly.a(spi.o)
-                                                  .././Library\libdragonfly.a(encoders.o)
-strnlen                                           c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(strnlen.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-strnlen_P                                         c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libc.a(strnlen_P.o)
-                                                  c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-timecount                                         .././Library\libdragonfly.a(encoders.o)
-usb_fd                                            .././Library\libdragonfly.a(serial.o)
-usb_getc                                          .././Library\libdragonfly.a(serial.o)
-usb_getc_nb                                       .././Library\libdragonfly.a(serial.o)
-usb_init                                          .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-                                                  encoder_test.o
-usb_putc                                          .././Library\libdragonfly.a(serial.o)
-usb_puth16                                        .././Library\libdragonfly.a(serial.o)
-usb_puth8                                         .././Library\libdragonfly.a(serial.o)
-usb_puti                                          .././Library\libdragonfly.a(serial.o)
-                                                  encoder_test.o
-usb_puts                                          .././Library\libdragonfly.a(serial.o)
-                                                  encoder_test.o
-usb_puts_P                                        .././Library\libdragonfly.a(serial.o)
-vfprintf                                          c:/program files/winavr/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr51\libprintf_flt.a(vfprintf_flt.o)
-wheel                                             .././Library\libdragonfly.a(analog.o)
-xbee_fd                                           .././Library\libdragonfly.a(serial.o)
-xbee_getc                                         .././Library\libdragonfly.a(serial.o)
-xbee_getc_nb                                      .././Library\libdragonfly.a(serial.o)
-xbee_init                                         .././Library\libdragonfly.a(serial.o)
-                                                  .././Library\libdragonfly.a(dragonfly_lib.o)
-xbee_putc                                         .././Library\libdragonfly.a(serial.o)
Index: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/Makefile
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/encoder_test/Makefile	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/encoder_test/Makefile	(nonexistent)
@@ -1,520 +0,0 @@
-########Update This Section########
-#
-#
-
-# Relative path to the root directory (containing lib directory)
-ifndef COLONYROOT
-COLONYROOT = ../.
-endif
-
-# Target file name (without extension).
-TARGET = encoder_test
-
-# Uncomment this to use the wireless library
-#USE_WIRELESS = 1
-
-# com1 = serial port. Use lpt1 to connect to parallel port.
-AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
-
-#
-###################################
-
-# Hey Emacs, this is a -*- makefile -*-
-#----------------------------------------------------------------------------
-# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al.
-#
-# Released to the Public Domain
-#
-# Additional material for this makefile was written by:
-# Peter Fleury
-# Tim Henigan
-# Colin O'Flynn
-# Reiner Patommel
-# Markus Pfaff
-# Sander Pool
-# Frederik Rouleau
-#
-#----------------------------------------------------------------------------
-# On command line:
-#
-# make all = Make software.
-#
-# make clean = Clean out built project files.
-#
-# make coff = Convert ELF to AVR COFF.
-#
-# make extcoff = Convert ELF to AVR Extended COFF.
-#
-# make program = Download the hex file to the device, using avrdude.
-#                Please customize the avrdude settings below first!
-#
-# make debug = Start either simulavr or avarice as specified for debugging,
-#              with avr-gdb or avr-insight as the front end for debugging.
-#
-# make filename.s = Just compile filename.c into the assembler code only.
-#
-# make filename.i = Create a preprocessed source file for use in submitting
-#                   bug reports to the GCC project.
-#
-# To rebuild project do "make clean" then "make all".
-#----------------------------------------------------------------------------
-
-#if you want your code to work on the Firefly++ and not Firefly+
-#then add the -DFFPP line to CDEFS
-CDEFS =
-#-DFFPP
-
-# MCU name
-MCU = atmega128
-
-# Processor frequency.
-#     This will define a symbol, F_CPU, in all source code files equal to the
-#     processor frequency. You can then use this symbol in your source code to
-#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
-#     automatically to create a 32-bit value in your source code.
-F_CPU = 8000000
-
-# Output format. (can be srec, ihex, binary)
-FORMAT = ihex
-
-# List C source files here. (C dependencies are automatically generated.)
-SRC = $(wildcard *.c)
-
-# List Assembler source files here.
-#     Make them always end in a capital .S.  Files ending in a lowercase .s
-#     will not be considered source files but generated files (assembler
-#     output from the compiler), and will be deleted upon "make clean"!
-#     Even though the DOS/Win* filesystem matches both .s and .S the same,
-#     it will preserve the spelling of the filenames, and gcc itself does
-#     care about how the name is spelled on its command-line.
-ASRC =
-
-# Optimization level, can be [0, 1, 2, 3, s].
-#     0 = turn off optimization. s = optimize for size.
-#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
-OPT = s
-
-# Debugging format.
-#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
-#     AVR Studio 4.10 requires dwarf-2.
-#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
-DEBUG =
-
-# Compiler flag to set the C Standard level.
-#     c89   = "ANSI" C
-#     gnu89 = c89 plus GCC extensions
-#     c99   = ISO C99 standard (not yet fully implemented)
-#     gnu99 = c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-
-# Place -D or -U options here
-CDEFS += -DF_CPU=$(F_CPU)UL
-CDEFS += -DFFP
-# for wireless library
-ifdef USE_WIRELESS
-	CDEFS += -DROBOT
-endif
-
-# Place -I, -L options here
-CINCS = -I$(COLONYROOT)/Library
-CINCS += -L$(COLONYROOT)/Library
-ifdef USE_WIRELESS
-	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless
-endif
-
-#---------------- Compiler Options ----------------
-#  -g*:          generate debugging information
-#  -O*:          optimization level
-#  -f...:        tuning, see GCC manual and avr-libc documentation
-#  -Wall...:     warning level
-#  -Wa,...:      tell GCC to pass this to the assembler.
-#    -adhlns...: create assembler listing
-CFLAGS =
-# CFLAGS = -g$(DEBUG)
-CFLAGS += $(CDEFS) $(CINCS)
-CFLAGS += -O$(OPT)
-CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-CFLAGS += -Wall -Wstrict-prototypes
-CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
-CFLAGS += $(CSTANDARD)
-
-#---------------- Assembler Options ----------------
-#  -Wa,...:   tell GCC to pass this to the assembler.
-#  -ahlms:    create listing
-#  -gstabs:   have the assembler create line number information; note that
-#             for use in COFF files, additional information about filenames
-#             and function names needs to be present in the assembler source
-#             files -- see avr-libc docs [FIXME: not yet described there]
-ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
-
-
-#---------------- Library Options ----------------
-# Minimalistic printf version
-PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
-
-# Floating point printf version (requires MATH_LIB = -lm below)
-PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
-
-# If this is left blank, then it will use the Standard printf version.
-#PRINTF_LIB =
-#PRINTF_LIB = $(PRINTF_LIB_MIN)
-PRINTF_LIB = $(PRINTF_LIB_FLOAT)
-
-
-# Minimalistic scanf version
-SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
-
-# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
-SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
-
-# If this is left blank, then it will use the Standard scanf version.
-SCANF_LIB =
-#SCANF_LIB = $(SCANF_LIB_MIN)
-#SCANF_LIB = $(SCANF_LIB_FLOAT)
-
-MATH_LIB = -lm
-
-#---------------- External Memory Options ----------------
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# used for variables (.data/.bss) and heap (malloc()).
-#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
-
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),
-# only used for heap (malloc()).
-#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
-
-EXTMEMOPTS =
-
-#---------------- Linker Options ----------------
-#  -Wl,...:     tell GCC to pass this to linker.
-#    -Map:      create map file
-#    --cref:    add cross reference to  map file
-LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
-LDFLAGS += $(EXTMEMOPTS)
-LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
-ifdef USE_WIRELESS
-	LDFLAGS += -lwireless
-endif
-LDFLAGS += -ldragonfly
-
-
-
-#---------------- Programming Options (avrdude) ----------------
-
-# Programming hardware: alf avr910 avrisp bascom bsd
-# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
-#
-# Type: avrdude -c ?
-# to get a full listing.
-#
-AVRDUDE_PROGRAMMER = avrisp
-
-# programmer connected to serial device
-
-AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
-#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
-
-
-# Uncomment the following if you want avrdude's erase cycle counter.
-# Note that this counter needs to be initialized first using -Yn,
-# see avrdude manual.
-#AVRDUDE_ERASE_COUNTER = -y
-
-# Uncomment the following if you do /not/ wish a verification to be
-# performed after programming the device.
-#AVRDUDE_NO_VERIFY = -V
-
-# Increase verbosity level.  Please use this when submitting bug
-# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
-# to submit bug reports.
-#AVRDUDE_VERBOSE = -v -v
-
-AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
-AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
-AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
-AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
-
-#don't check for device signature
-AVRDUDE_FLAGS += -F
-
-
-
-#---------------- Debugging Options ----------------
-
-# For simulavr only - target MCU frequency.
-DEBUG_MFREQ = $(F_CPU)
-
-# Set the DEBUG_UI to either gdb or insight.
-# DEBUG_UI = gdb
-DEBUG_UI = insight
-
-# Set the debugging back-end to either avarice, simulavr.
-DEBUG_BACKEND = avarice
-#DEBUG_BACKEND = simulavr
-
-# GDB Init Filename.
-GDBINIT_FILE = __avr_gdbinit
-
-# When using avarice settings for the JTAG
-JTAG_DEV = /dev/com1
-
-# Debugging port used to communicate between GDB / avarice / simulavr.
-DEBUG_PORT = 4242
-
-# Debugging host used to communicate between GDB / avarice / simulavr, normally
-#     just set to localhost unless doing some sort of crazy debugging when
-#     avarice is running on a different computer.
-DEBUG_HOST = localhost
-
-
-
-#============================================================================
-
-
-# Define programs and commands.
-SHELL = sh
-CC = avr-gcc
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-NM = avr-nm
-AVRDUDE = avrdude
-REMOVE = rm -f
-REMOVEDIR = rm -rf
-COPY = cp
-WINSHELL = cmd
-
-
-# Define Messages
-# English
-MSG_ERRORS_NONE = Errors: none
-MSG_BEGIN = -------- begin --------
-MSG_END = --------  end  --------
-MSG_SIZE_BEFORE = Size before:
-MSG_SIZE_AFTER = Size after:
-MSG_COFF = Converting to AVR COFF:
-MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
-MSG_FLASH = Creating load file for Flash:
-MSG_EEPROM = Creating load file for EEPROM:
-MSG_EXTENDED_LISTING = Creating Extended Listing:
-MSG_SYMBOL_TABLE = Creating Symbol Table:
-MSG_LINKING = Linking:
-MSG_COMPILING = Compiling:
-MSG_ASSEMBLING = Assembling:
-MSG_CLEANING = Cleaning project:
-
-
-
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
-
-
-# Compiler flags to generate dependency files.
-GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
-
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-
-
-
-# Default target.
-all: begin gccversion sizebefore build sizeafter end
-
-build: elf hex eep lss sym
-
-elf: $(TARGET).elf
-hex: $(TARGET).hex
-eep: $(TARGET).eep
-lss: $(TARGET).lss
-sym: $(TARGET).sym
-
-
-
-# Eye candy.
-# AVR Studio 3.x does not check make's exit code but relies on
-# the following magic strings to be generated by the compile job.
-begin:
-	@echo
-	@echo $(MSG_BEGIN)
-
-end:
-	@echo $(MSG_END)
-	@echo
-
-
-# Display size of file.
-HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
-ELFSIZE = $(SIZE) -A $(TARGET).elf
-AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
-
-sizebefore:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
-	$(AVRMEM) 2>/dev/null; echo; fi
-
-sizeafter:
-	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
-	$(AVRMEM) 2>/dev/null; echo; fi
-
-
-
-# Display compiler version information.
-gccversion :
-	@$(CC) --version
-
-
-
-# Program the device.
-program: $(TARGET).hex $(TARGET).eep
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
-
-
-# Generate avr-gdb config/init file which does the following:
-#     define the reset signal, load the target file, connect to target, and set
-#     a breakpoint at main().
-gdb-config:
-	@$(REMOVE) $(GDBINIT_FILE)
-	@echo define reset >> $(GDBINIT_FILE)
-	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
-	@echo end >> $(GDBINIT_FILE)
-	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
-	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
-ifeq ($(DEBUG_BACKEND),simulavr)
-	@echo load  >> $(GDBINIT_FILE)
-endif
-	@echo break main >> $(GDBINIT_FILE)
-
-debug: gdb-config $(TARGET).elf
-ifeq ($(DEBUG_BACKEND), avarice)
-	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
-	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
-	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
-	@$(WINSHELL) /c pause
-
-else
-	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
-	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
-endif
-	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
-
-
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000
-
-
-coff: $(TARGET).elf
-	@echo
-	@echo $(MSG_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
-
-
-extcoff: $(TARGET).elf
-	@echo
-	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
-	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
-
-
-
-# Create final output files (.hex, .eep) from ELF output file.
-%.hex: %.elf
-	@echo
-	@echo $(MSG_FLASH) $@
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-%.eep: %.elf
-	@echo
-	@echo $(MSG_EEPROM) $@
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-%.lss: %.elf
-	@echo
-	@echo $(MSG_EXTENDED_LISTING) $@
-	$(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-	@echo
-	@echo $(MSG_SYMBOL_TABLE) $@
-	$(NM) -n $< > $@
-
-
-
-# Link: create ELF output file from object files.
-.SECONDARY : $(TARGET).elf
-.PRECIOUS : $(OBJ)
-%.elf: $(OBJ)
-	@echo
-	@echo $(MSG_LINKING) $@
-	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
-
-
-# Compile: create object files from C source files.
-%.o : %.c
-	@echo
-	@echo $(MSG_COMPILING) $<
-	$(CC) -c $(ALL_CFLAGS) $< -o $@
-
-
-# Compile: create assembler files from C source files.
-%.s : %.c
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-%.o : %.S
-	@echo
-	@echo $(MSG_ASSEMBLING) $<
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-# Create preprocessed source for use in sending a bug report.
-%.i : %.c
-	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
-
-
-# Target: clean project.
-clean: begin clean_list end
-
-clean_list :
-	@echo
-	@echo $(MSG_CLEANING)
-	$(REMOVE) $(TARGET).hex
-	$(REMOVE) $(TARGET).eep
-	$(REMOVE) $(TARGET).cof
-	$(REMOVE) $(TARGET).elf
-	$(REMOVE) $(TARGET).map
-	$(REMOVE) $(TARGET).sym
-	$(REMOVE) $(TARGET).lss
-	$(REMOVE) $(OBJ)
-	$(REMOVE) $(LST)
-	$(REMOVE) $(SRC:.c=.s)
-	$(REMOVE) $(SRC:.c=.d)
-	$(REMOVEDIR) .dep
-
-
-
-# Include the dependency files.
--include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
-
-
-# Listing of phony targets.
-.PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex eep lss sym coff extcoff \
-clean clean_list program debug gdb-config
-
Index: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.lss
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.lss	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.lss	(nonexistent)
@@ -1,5751 +0,0 @@
-
-encoder_test.elf:     file format elf32-avr
-
-Sections:
-Idx Name          Size      VMA       LMA       File off  Algn
-  0 .data         0000036e  00800100  00003040  000030d4  2**0
-                  CONTENTS, ALLOC, LOAD, DATA
-  1 .text         00003040  00000000  00000000  00000094  2**1
-                  CONTENTS, ALLOC, LOAD, READONLY, CODE
-  2 .bss          00000160  0080046e  0080046e  00003442  2**0
-                  ALLOC
-  3 .stab         000068a0  00000000  00000000  00003444  2**2
-                  CONTENTS, READONLY, DEBUGGING
-  4 .stabstr      00002668  00000000  00000000  00009ce4  2**0
-                  CONTENTS, READONLY, DEBUGGING
-
-Disassembly of section .text:
-
-00000000 <__vectors>:
-       0:	0c 94 c7 00 	jmp	0x18e	; 0x18e <__ctors_end>
-       4:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-       8:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-       c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      10:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      14:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      18:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      1c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      20:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      24:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      28:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      2c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      30:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      34:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      38:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      3c:	0c 94 cf 0c 	jmp	0x199e	; 0x199e <__vector_15>
-      40:	0c 94 86 0c 	jmp	0x190c	; 0x190c <__vector_16>
-      44:	0c 94 5b 12 	jmp	0x24b6	; 0x24b6 <__vector_17>
-      48:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      4c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      50:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      54:	0c 94 d1 13 	jmp	0x27a2	; 0x27a2 <__vector_21>
-      58:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      5c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      60:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      64:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      68:	0c 94 d1 12 	jmp	0x25a2	; 0x25a2 <__vector_26>
-      6c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      70:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      74:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      78:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      7c:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      80:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      84:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-      88:	0c 94 e6 00 	jmp	0x1cc	; 0x1cc <__bad_interrupt>
-
-0000008c <__c.1778>:
-      8c:	6e 61 6e 00                                         nan.
-
-00000090 <__c.1776>:
-      90:	69 6e 66 00 00 40 7a 10 f3 5a 00 a0 72 4e 18 09     inf..@z..Z..rN..
-      a0:	00 10 a5 d4 e8 00 00 e8 76 48 17 00 00 e4 0b 54     ........vH.....T
-      b0:	02 00 00 ca 9a 3b 00 00 00 e1 f5 05 00 00 80 96     .....;..........
-      c0:	98 00 00 00 40 42 0f 00 00 00 a0 86 01 00 00 00     ....@B..........
-      d0:	10 27 00 00 00 00 e8 03 00 00 00 00 64 00 00 00     .'..........d...
-      e0:	00 00 0a 00 00 00 00 00 01 00 00 00 00 00 2c 76     ..............,v
-      f0:	d8 88 dc 67 4f 08 23 df c1 df ae 59 e1 b1 b7 96     ...gO.#....Y....
-     100:	e5 e3 e4 53 c6 3a e6 51 99 76 96 e8 e6 c2 84 26     ...S.:.Q.v.....&
-     110:	eb 89 8c 9b 62 ed 40 7c 6f fc ef bc 9c 9f 40 f2     ....b.@|o.....@.
-     120:	ba a5 6f a5 f4 90 05 5a 2a f7 5c 93 6b 6c f9 67     ..o....Z*.\.kl.g
-     130:	6d c1 1b fc e0 e4 0d 47 fe f5 20 e6 b5 00 d0 ed     m......G.. .....
-     140:	90 2e 03 00 94 35 77 05 00 80 84 1e 08 00 00 20     .....5w........ 
-     150:	4e 0a 00 00 00 c8 0c 33 33 33 33 0f 98 6e 12 83     N......3333..n..
-     160:	11 41 ef 8d 21 14 89 3b e6 55 16 cf fe e6 db 18     .A..!..;.U......
-     170:	d1 84 4b 38 1b f7 7c 1d 90 1d a4 bb e4 24 20 32     ..K8..|......$ 2
-     180:	84 72 5e 22 81 00 c9 f1 24 ec a1 e5 3d 27           .r^"....$...='
-
-0000018e <__ctors_end>:
-     18e:	11 24       	eor	r1, r1
-     190:	1f be       	out	0x3f, r1	; 63
-     192:	cf ef       	ldi	r28, 0xFF	; 255
-     194:	d0 e1       	ldi	r29, 0x10	; 16
-     196:	de bf       	out	0x3e, r29	; 62
-     198:	cd bf       	out	0x3d, r28	; 61
-
-0000019a <__do_copy_data>:
-     19a:	14 e0       	ldi	r17, 0x04	; 4
-     19c:	a0 e0       	ldi	r26, 0x00	; 0
-     19e:	b1 e0       	ldi	r27, 0x01	; 1
-     1a0:	e0 e4       	ldi	r30, 0x40	; 64
-     1a2:	f0 e3       	ldi	r31, 0x30	; 48
-     1a4:	00 e0       	ldi	r16, 0x00	; 0
-     1a6:	0b bf       	out	0x3b, r16	; 59
-     1a8:	02 c0       	rjmp	.+4      	; 0x1ae <__do_copy_data+0x14>
-     1aa:	07 90       	elpm	r0, Z+
-     1ac:	0d 92       	st	X+, r0
-     1ae:	ae 36       	cpi	r26, 0x6E	; 110
-     1b0:	b1 07       	cpc	r27, r17
-     1b2:	d9 f7       	brne	.-10     	; 0x1aa <__do_copy_data+0x10>
-
-000001b4 <__do_clear_bss>:
-     1b4:	15 e0       	ldi	r17, 0x05	; 5
-     1b6:	ae e6       	ldi	r26, 0x6E	; 110
-     1b8:	b4 e0       	ldi	r27, 0x04	; 4
-     1ba:	01 c0       	rjmp	.+2      	; 0x1be <.do_clear_bss_start>
-
-000001bc <.do_clear_bss_loop>:
-     1bc:	1d 92       	st	X+, r1
-
-000001be <.do_clear_bss_start>:
-     1be:	ae 3c       	cpi	r26, 0xCE	; 206
-     1c0:	b1 07       	cpc	r27, r17
-     1c2:	e1 f7       	brne	.-8      	; 0x1bc <.do_clear_bss_loop>
-     1c4:	0e 94 e8 00 	call	0x1d0	; 0x1d0 <main>
-     1c8:	0c 94 1e 18 	jmp	0x303c	; 0x303c <_exit>
-
-000001cc <__bad_interrupt>:
-     1cc:	0c 94 00 00 	jmp	0	; 0x0 <__vectors>
-
-000001d0 <main>:
-     1d0:	ef 92       	push	r14
-     1d2:	ff 92       	push	r15
-     1d4:	0f 93       	push	r16
-     1d6:	1f 93       	push	r17
-     1d8:	8f ef       	ldi	r24, 0xFF	; 255
-     1da:	93 e0       	ldi	r25, 0x03	; 3
-     1dc:	0e 94 97 07 	call	0xf2e	; 0xf2e <dragonfly_init>
-     1e0:	0e 94 01 11 	call	0x2202	; 0x2202 <usb_init>
-     1e4:	0e 94 ec 09 	call	0x13d8	; 0x13d8 <encoders_init>
-     1e8:	0e 94 22 07 	call	0xe44	; 0xe44 <button1_read>
-     1ec:	89 2b       	or	r24, r25
-     1ee:	41 f0       	breq	.+16     	; 0x200 <main+0x30>
-     1f0:	80 e0       	ldi	r24, 0x00	; 0
-     1f2:	0e 94 80 08 	call	0x1100	; 0x1100 <encoder_rst_dx>
-     1f6:	81 e0       	ldi	r24, 0x01	; 1
-     1f8:	0e 94 80 08 	call	0x1100	; 0x1100 <encoder_rst_dx>
-     1fc:	0e 94 93 08 	call	0x1126	; 0x1126 <encoder_rst_tc>
-     200:	80 e0       	ldi	r24, 0x00	; 0
-     202:	0e 94 5e 08 	call	0x10bc	; 0x10bc <encoder_read>
-     206:	8c 01       	movw	r16, r24
-     208:	81 e0       	ldi	r24, 0x01	; 1
-     20a:	0e 94 5e 08 	call	0x10bc	; 0x10bc <encoder_read>
-     20e:	7c 01       	movw	r14, r24
-     210:	80 e0       	ldi	r24, 0x00	; 0
-     212:	91 e0       	ldi	r25, 0x01	; 1
-     214:	0e 94 66 11 	call	0x22cc	; 0x22cc <usb_puts>
-     218:	c8 01       	movw	r24, r16
-     21a:	0e 94 72 11 	call	0x22e4	; 0x22e4 <usb_puti>
-     21e:	8f e1       	ldi	r24, 0x1F	; 31
-     220:	91 e0       	ldi	r25, 0x01	; 1
-     222:	0e 94 66 11 	call	0x22cc	; 0x22cc <usb_puts>
-     226:	c7 01       	movw	r24, r14
-     228:	0e 94 72 11 	call	0x22e4	; 0x22e4 <usb_puti>
-     22c:	82 e2       	ldi	r24, 0x22	; 34
-     22e:	91 e0       	ldi	r25, 0x01	; 1
-     230:	0e 94 66 11 	call	0x22cc	; 0x22cc <usb_puts>
-     234:	80 e0       	ldi	r24, 0x00	; 0
-     236:	0e 94 7e 0b 	call	0x16fc	; 0x16fc <encoder_get_x>
-     23a:	8c 01       	movw	r16, r24
-     23c:	81 e0       	ldi	r24, 0x01	; 1
-     23e:	0e 94 7e 0b 	call	0x16fc	; 0x16fc <encoder_get_x>
-     242:	7c 01       	movw	r14, r24
-     244:	85 e2       	ldi	r24, 0x25	; 37
-     246:	91 e0       	ldi	r25, 0x01	; 1
-     248:	0e 94 66 11 	call	0x22cc	; 0x22cc <usb_puts>
-     24c:	c8 01       	movw	r24, r16
-     24e:	0e 94 72 11 	call	0x22e4	; 0x22e4 <usb_puti>
-     252:	8f e1       	ldi	r24, 0x1F	; 31
-     254:	91 e0       	ldi	r25, 0x01	; 1
-     256:	0e 94 66 11 	call	0x22cc	; 0x22cc <usb_puts>
-     25a:	c7 01       	movw	r24, r14
-     25c:	0e 94 72 11 	call	0x22e4	; 0x22e4 <usb_puti>
-     260:	82 e2       	ldi	r24, 0x22	; 34
-     262:	91 e0       	ldi	r25, 0x01	; 1
-     264:	0e 94 66 11 	call	0x22cc	; 0x22cc <usb_puts>
-     268:	80 e0       	ldi	r24, 0x00	; 0
-     26a:	0e 94 c5 09 	call	0x138a	; 0x138a <encoder_get_v>
-     26e:	8c 01       	movw	r16, r24
-     270:	81 e0       	ldi	r24, 0x01	; 1
-     272:	0e 94 c5 09 	call	0x138a	; 0x138a <encoder_get_v>
-     276:	7c 01       	movw	r14, r24
-     278:	84 e4       	ldi	r24, 0x44	; 68
-     27a:	91 e0       	ldi	r25, 0x01	; 1
-     27c:	0e 94 66 11 	call	0x22cc	; 0x22cc <usb_puts>
-     280:	c8 01       	movw	r24, r16
-     282:	0e 94 72 11 	call	0x22e4	; 0x22e4 <usb_puti>
-     286:	8f e1       	ldi	r24, 0x1F	; 31
-     288:	91 e0       	ldi	r25, 0x01	; 1
-     28a:	0e 94 66 11 	call	0x22cc	; 0x22cc <usb_puts>
-     28e:	c7 01       	movw	r24, r14
-     290:	0e 94 72 11 	call	0x22e4	; 0x22e4 <usb_puti>
-     294:	82 e2       	ldi	r24, 0x22	; 34
-     296:	91 e0       	ldi	r25, 0x01	; 1
-     298:	0e 94 66 11 	call	0x22cc	; 0x22cc <usb_puts>
-     29c:	0e 94 8e 08 	call	0x111c	; 0x111c <encoder_get_tc>
-     2a0:	8c 01       	movw	r16, r24
-     2a2:	8d e5       	ldi	r24, 0x5D	; 93
-     2a4:	91 e0       	ldi	r25, 0x01	; 1
-     2a6:	0e 94 66 11 	call	0x22cc	; 0x22cc <usb_puts>
-     2aa:	c8 01       	movw	r24, r16
-     2ac:	0e 94 72 11 	call	0x22e4	; 0x22e4 <usb_puti>
-     2b0:	8a e6       	ldi	r24, 0x6A	; 106
-     2b2:	91 e0       	ldi	r25, 0x01	; 1
-     2b4:	0e 94 66 11 	call	0x22cc	; 0x22cc <usb_puts>
-     2b8:	84 ef       	ldi	r24, 0xF4	; 244
-     2ba:	91 e0       	ldi	r25, 0x01	; 1
-     2bc:	0e 94 9b 12 	call	0x2536	; 0x2536 <delay_ms>
-     2c0:	93 cf       	rjmp	.-218    	; 0x1e8 <main+0x18>
-
-000002c2 <vfprintf>:
-     2c2:	a1 e1       	ldi	r26, 0x11	; 17
-     2c4:	b0 e0       	ldi	r27, 0x00	; 0
-     2c6:	e7 e6       	ldi	r30, 0x67	; 103
-     2c8:	f1 e0       	ldi	r31, 0x01	; 1
-     2ca:	0c 94 b1 17 	jmp	0x2f62	; 0x2f62 <__prologue_saves__>
-     2ce:	3c 01       	movw	r6, r24
-     2d0:	7f 87       	std	Y+15, r23	; 0x0f
-     2d2:	6e 87       	std	Y+14, r22	; 0x0e
-     2d4:	6a 01       	movw	r12, r20
-     2d6:	fc 01       	movw	r30, r24
-     2d8:	17 82       	std	Z+7, r1	; 0x07
-     2da:	16 82       	std	Z+6, r1	; 0x06
-     2dc:	83 81       	ldd	r24, Z+3	; 0x03
-     2de:	81 fd       	sbrc	r24, 1
-     2e0:	03 c0       	rjmp	.+6      	; 0x2e8 <vfprintf+0x26>
-     2e2:	6f ef       	ldi	r22, 0xFF	; 255
-     2e4:	7f ef       	ldi	r23, 0xFF	; 255
-     2e6:	71 c3       	rjmp	.+1762   	; 0x9ca <vfprintf+0x708>
-     2e8:	9e 01       	movw	r18, r28
-     2ea:	2f 5f       	subi	r18, 0xFF	; 255
-     2ec:	3f 4f       	sbci	r19, 0xFF	; 255
-     2ee:	39 8b       	std	Y+17, r19	; 0x11
-     2f0:	28 8b       	std	Y+16, r18	; 0x10
-     2f2:	f3 01       	movw	r30, r6
-     2f4:	23 81       	ldd	r18, Z+3	; 0x03
-     2f6:	ee 85       	ldd	r30, Y+14	; 0x0e
-     2f8:	ff 85       	ldd	r31, Y+15	; 0x0f
-     2fa:	23 fd       	sbrc	r18, 3
-     2fc:	85 91       	lpm	r24, Z+
-     2fe:	23 ff       	sbrs	r18, 3
-     300:	81 91       	ld	r24, Z+
-     302:	ff 87       	std	Y+15, r31	; 0x0f
-     304:	ee 87       	std	Y+14, r30	; 0x0e
-     306:	88 23       	and	r24, r24
-     308:	09 f4       	brne	.+2      	; 0x30c <vfprintf+0x4a>
-     30a:	5c c3       	rjmp	.+1720   	; 0x9c4 <vfprintf+0x702>
-     30c:	85 32       	cpi	r24, 0x25	; 37
-     30e:	51 f4       	brne	.+20     	; 0x324 <vfprintf+0x62>
-     310:	ee 85       	ldd	r30, Y+14	; 0x0e
-     312:	ff 85       	ldd	r31, Y+15	; 0x0f
-     314:	23 fd       	sbrc	r18, 3
-     316:	85 91       	lpm	r24, Z+
-     318:	23 ff       	sbrs	r18, 3
-     31a:	81 91       	ld	r24, Z+
-     31c:	ff 87       	std	Y+15, r31	; 0x0f
-     31e:	ee 87       	std	Y+14, r30	; 0x0e
-     320:	85 32       	cpi	r24, 0x25	; 37
-     322:	29 f4       	brne	.+10     	; 0x32e <vfprintf+0x6c>
-     324:	90 e0       	ldi	r25, 0x00	; 0
-     326:	b3 01       	movw	r22, r6
-     328:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     32c:	e2 cf       	rjmp	.-60     	; 0x2f2 <vfprintf+0x30>
-     32e:	98 2f       	mov	r25, r24
-     330:	10 e0       	ldi	r17, 0x00	; 0
-     332:	88 24       	eor	r8, r8
-     334:	99 24       	eor	r9, r9
-     336:	10 32       	cpi	r17, 0x20	; 32
-     338:	b0 f4       	brcc	.+44     	; 0x366 <vfprintf+0xa4>
-     33a:	9b 32       	cpi	r25, 0x2B	; 43
-     33c:	69 f0       	breq	.+26     	; 0x358 <vfprintf+0x96>
-     33e:	9c 32       	cpi	r25, 0x2C	; 44
-     340:	28 f4       	brcc	.+10     	; 0x34c <vfprintf+0x8a>
-     342:	90 32       	cpi	r25, 0x20	; 32
-     344:	51 f0       	breq	.+20     	; 0x35a <vfprintf+0x98>
-     346:	93 32       	cpi	r25, 0x23	; 35
-     348:	71 f4       	brne	.+28     	; 0x366 <vfprintf+0xa4>
-     34a:	0b c0       	rjmp	.+22     	; 0x362 <vfprintf+0xa0>
-     34c:	9d 32       	cpi	r25, 0x2D	; 45
-     34e:	39 f0       	breq	.+14     	; 0x35e <vfprintf+0x9c>
-     350:	90 33       	cpi	r25, 0x30	; 48
-     352:	49 f4       	brne	.+18     	; 0x366 <vfprintf+0xa4>
-     354:	11 60       	ori	r17, 0x01	; 1
-     356:	28 c0       	rjmp	.+80     	; 0x3a8 <vfprintf+0xe6>
-     358:	12 60       	ori	r17, 0x02	; 2
-     35a:	14 60       	ori	r17, 0x04	; 4
-     35c:	25 c0       	rjmp	.+74     	; 0x3a8 <vfprintf+0xe6>
-     35e:	18 60       	ori	r17, 0x08	; 8
-     360:	23 c0       	rjmp	.+70     	; 0x3a8 <vfprintf+0xe6>
-     362:	10 61       	ori	r17, 0x10	; 16
-     364:	21 c0       	rjmp	.+66     	; 0x3a8 <vfprintf+0xe6>
-     366:	17 fd       	sbrc	r17, 7
-     368:	2a c0       	rjmp	.+84     	; 0x3be <vfprintf+0xfc>
-     36a:	89 2f       	mov	r24, r25
-     36c:	80 53       	subi	r24, 0x30	; 48
-     36e:	8a 30       	cpi	r24, 0x0A	; 10
-     370:	78 f4       	brcc	.+30     	; 0x390 <vfprintf+0xce>
-     372:	16 ff       	sbrs	r17, 6
-     374:	06 c0       	rjmp	.+12     	; 0x382 <vfprintf+0xc0>
-     376:	fa e0       	ldi	r31, 0x0A	; 10
-     378:	9f 9e       	mul	r9, r31
-     37a:	90 2c       	mov	r9, r0
-     37c:	11 24       	eor	r1, r1
-     37e:	98 0e       	add	r9, r24
-     380:	13 c0       	rjmp	.+38     	; 0x3a8 <vfprintf+0xe6>
-     382:	3a e0       	ldi	r19, 0x0A	; 10
-     384:	83 9e       	mul	r8, r19
-     386:	80 2c       	mov	r8, r0
-     388:	11 24       	eor	r1, r1
-     38a:	88 0e       	add	r8, r24
-     38c:	10 62       	ori	r17, 0x20	; 32
-     38e:	0c c0       	rjmp	.+24     	; 0x3a8 <vfprintf+0xe6>
-     390:	9e 32       	cpi	r25, 0x2E	; 46
-     392:	21 f4       	brne	.+8      	; 0x39c <vfprintf+0xda>
-     394:	16 fd       	sbrc	r17, 6
-     396:	16 c3       	rjmp	.+1580   	; 0x9c4 <vfprintf+0x702>
-     398:	10 64       	ori	r17, 0x40	; 64
-     39a:	06 c0       	rjmp	.+12     	; 0x3a8 <vfprintf+0xe6>
-     39c:	9c 36       	cpi	r25, 0x6C	; 108
-     39e:	11 f4       	brne	.+4      	; 0x3a4 <vfprintf+0xe2>
-     3a0:	10 68       	ori	r17, 0x80	; 128
-     3a2:	02 c0       	rjmp	.+4      	; 0x3a8 <vfprintf+0xe6>
-     3a4:	98 36       	cpi	r25, 0x68	; 104
-     3a6:	59 f4       	brne	.+22     	; 0x3be <vfprintf+0xfc>
-     3a8:	ee 85       	ldd	r30, Y+14	; 0x0e
-     3aa:	ff 85       	ldd	r31, Y+15	; 0x0f
-     3ac:	23 fd       	sbrc	r18, 3
-     3ae:	95 91       	lpm	r25, Z+
-     3b0:	23 ff       	sbrs	r18, 3
-     3b2:	91 91       	ld	r25, Z+
-     3b4:	ff 87       	std	Y+15, r31	; 0x0f
-     3b6:	ee 87       	std	Y+14, r30	; 0x0e
-     3b8:	99 23       	and	r25, r25
-     3ba:	09 f0       	breq	.+2      	; 0x3be <vfprintf+0xfc>
-     3bc:	bc cf       	rjmp	.-136    	; 0x336 <vfprintf+0x74>
-     3be:	89 2f       	mov	r24, r25
-     3c0:	85 54       	subi	r24, 0x45	; 69
-     3c2:	83 30       	cpi	r24, 0x03	; 3
-     3c4:	20 f4       	brcc	.+8      	; 0x3ce <vfprintf+0x10c>
-     3c6:	81 2f       	mov	r24, r17
-     3c8:	80 61       	ori	r24, 0x10	; 16
-     3ca:	90 5e       	subi	r25, 0xE0	; 224
-     3cc:	07 c0       	rjmp	.+14     	; 0x3dc <vfprintf+0x11a>
-     3ce:	89 2f       	mov	r24, r25
-     3d0:	85 56       	subi	r24, 0x65	; 101
-     3d2:	83 30       	cpi	r24, 0x03	; 3
-     3d4:	08 f0       	brcs	.+2      	; 0x3d8 <vfprintf+0x116>
-     3d6:	a1 c1       	rjmp	.+834    	; 0x71a <vfprintf+0x458>
-     3d8:	81 2f       	mov	r24, r17
-     3da:	8f 7e       	andi	r24, 0xEF	; 239
-     3dc:	86 fd       	sbrc	r24, 6
-     3de:	02 c0       	rjmp	.+4      	; 0x3e4 <vfprintf+0x122>
-     3e0:	76 e0       	ldi	r23, 0x06	; 6
-     3e2:	97 2e       	mov	r9, r23
-     3e4:	6f e3       	ldi	r22, 0x3F	; 63
-     3e6:	f6 2e       	mov	r15, r22
-     3e8:	f8 22       	and	r15, r24
-     3ea:	95 36       	cpi	r25, 0x65	; 101
-     3ec:	19 f4       	brne	.+6      	; 0x3f4 <vfprintf+0x132>
-     3ee:	f0 e4       	ldi	r31, 0x40	; 64
-     3f0:	ff 2a       	or	r15, r31
-     3f2:	07 c0       	rjmp	.+14     	; 0x402 <vfprintf+0x140>
-     3f4:	96 36       	cpi	r25, 0x66	; 102
-     3f6:	19 f4       	brne	.+6      	; 0x3fe <vfprintf+0x13c>
-     3f8:	20 e8       	ldi	r18, 0x80	; 128
-     3fa:	f2 2a       	or	r15, r18
-     3fc:	02 c0       	rjmp	.+4      	; 0x402 <vfprintf+0x140>
-     3fe:	91 10       	cpse	r9, r1
-     400:	9a 94       	dec	r9
-     402:	f7 fe       	sbrs	r15, 7
-     404:	0b c0       	rjmp	.+22     	; 0x41c <vfprintf+0x15a>
-     406:	3b e3       	ldi	r19, 0x3B	; 59
-     408:	39 15       	cp	r19, r9
-     40a:	20 f4       	brcc	.+8      	; 0x414 <vfprintf+0x152>
-     40c:	27 e0       	ldi	r18, 0x07	; 7
-     40e:	5c e3       	ldi	r21, 0x3C	; 60
-     410:	b5 2e       	mov	r11, r21
-     412:	0e c0       	rjmp	.+28     	; 0x430 <vfprintf+0x16e>
-     414:	b9 2c       	mov	r11, r9
-     416:	b3 94       	inc	r11
-     418:	27 e0       	ldi	r18, 0x07	; 7
-     41a:	0a c0       	rjmp	.+20     	; 0x430 <vfprintf+0x16e>
-     41c:	47 e0       	ldi	r20, 0x07	; 7
-     41e:	49 15       	cp	r20, r9
-     420:	28 f4       	brcc	.+10     	; 0x42c <vfprintf+0x16a>
-     422:	27 e0       	ldi	r18, 0x07	; 7
-     424:	bb 24       	eor	r11, r11
-     426:	47 e0       	ldi	r20, 0x07	; 7
-     428:	94 2e       	mov	r9, r20
-     42a:	02 c0       	rjmp	.+4      	; 0x430 <vfprintf+0x16e>
-     42c:	29 2d       	mov	r18, r9
-     42e:	bb 24       	eor	r11, r11
-     430:	c6 01       	movw	r24, r12
-     432:	04 96       	adiw	r24, 0x04	; 4
-     434:	9d 87       	std	Y+13, r25	; 0x0d
-     436:	8c 87       	std	Y+12, r24	; 0x0c
-     438:	f6 01       	movw	r30, r12
-     43a:	60 81       	ld	r22, Z
-     43c:	71 81       	ldd	r23, Z+1	; 0x01
-     43e:	82 81       	ldd	r24, Z+2	; 0x02
-     440:	93 81       	ldd	r25, Z+3	; 0x03
-     442:	ae 01       	movw	r20, r28
-     444:	4f 5f       	subi	r20, 0xFF	; 255
-     446:	5f 4f       	sbci	r21, 0xFF	; 255
-     448:	0b 2d       	mov	r16, r11
-     44a:	0e 94 02 16 	call	0x2c04	; 0x2c04 <__ftoa_engine>
-     44e:	6c 01       	movw	r12, r24
-     450:	09 81       	ldd	r16, Y+1	; 0x01
-     452:	20 2e       	mov	r2, r16
-     454:	33 24       	eor	r3, r3
-     456:	00 ff       	sbrs	r16, 0
-     458:	04 c0       	rjmp	.+8      	; 0x462 <vfprintf+0x1a0>
-     45a:	03 fd       	sbrc	r16, 3
-     45c:	02 c0       	rjmp	.+4      	; 0x462 <vfprintf+0x1a0>
-     45e:	1d e2       	ldi	r17, 0x2D	; 45
-     460:	09 c0       	rjmp	.+18     	; 0x474 <vfprintf+0x1b2>
-     462:	f1 fe       	sbrs	r15, 1
-     464:	02 c0       	rjmp	.+4      	; 0x46a <vfprintf+0x1a8>
-     466:	1b e2       	ldi	r17, 0x2B	; 43
-     468:	05 c0       	rjmp	.+10     	; 0x474 <vfprintf+0x1b2>
-     46a:	f2 fc       	sbrc	r15, 2
-     46c:	02 c0       	rjmp	.+4      	; 0x472 <vfprintf+0x1b0>
-     46e:	10 e0       	ldi	r17, 0x00	; 0
-     470:	01 c0       	rjmp	.+2      	; 0x474 <vfprintf+0x1b2>
-     472:	10 e2       	ldi	r17, 0x20	; 32
-     474:	c1 01       	movw	r24, r2
-     476:	8c 70       	andi	r24, 0x0C	; 12
-     478:	90 70       	andi	r25, 0x00	; 0
-     47a:	89 2b       	or	r24, r25
-     47c:	b9 f1       	breq	.+110    	; 0x4ec <vfprintf+0x22a>
-     47e:	11 23       	and	r17, r17
-     480:	11 f4       	brne	.+4      	; 0x486 <vfprintf+0x1c4>
-     482:	83 e0       	ldi	r24, 0x03	; 3
-     484:	01 c0       	rjmp	.+2      	; 0x488 <vfprintf+0x1c6>
-     486:	84 e0       	ldi	r24, 0x04	; 4
-     488:	88 15       	cp	r24, r8
-     48a:	10 f0       	brcs	.+4      	; 0x490 <vfprintf+0x1ce>
-     48c:	88 24       	eor	r8, r8
-     48e:	0a c0       	rjmp	.+20     	; 0x4a4 <vfprintf+0x1e2>
-     490:	88 1a       	sub	r8, r24
-     492:	f3 fc       	sbrc	r15, 3
-     494:	07 c0       	rjmp	.+14     	; 0x4a4 <vfprintf+0x1e2>
-     496:	80 e2       	ldi	r24, 0x20	; 32
-     498:	90 e0       	ldi	r25, 0x00	; 0
-     49a:	b3 01       	movw	r22, r6
-     49c:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     4a0:	8a 94       	dec	r8
-     4a2:	c9 f7       	brne	.-14     	; 0x496 <vfprintf+0x1d4>
-     4a4:	11 23       	and	r17, r17
-     4a6:	29 f0       	breq	.+10     	; 0x4b2 <vfprintf+0x1f0>
-     4a8:	81 2f       	mov	r24, r17
-     4aa:	90 e0       	ldi	r25, 0x00	; 0
-     4ac:	b3 01       	movw	r22, r6
-     4ae:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     4b2:	23 fe       	sbrs	r2, 3
-     4b4:	03 c0       	rjmp	.+6      	; 0x4bc <vfprintf+0x1fa>
-     4b6:	0c e8       	ldi	r16, 0x8C	; 140
-     4b8:	10 e0       	ldi	r17, 0x00	; 0
-     4ba:	0e c0       	rjmp	.+28     	; 0x4d8 <vfprintf+0x216>
-     4bc:	00 e9       	ldi	r16, 0x90	; 144
-     4be:	10 e0       	ldi	r17, 0x00	; 0
-     4c0:	0b c0       	rjmp	.+22     	; 0x4d8 <vfprintf+0x216>
-     4c2:	e1 14       	cp	r14, r1
-     4c4:	f1 04       	cpc	r15, r1
-     4c6:	09 f0       	breq	.+2      	; 0x4ca <vfprintf+0x208>
-     4c8:	80 52       	subi	r24, 0x20	; 32
-     4ca:	90 e0       	ldi	r25, 0x00	; 0
-     4cc:	b3 01       	movw	r22, r6
-     4ce:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     4d2:	0f 5f       	subi	r16, 0xFF	; 255
-     4d4:	1f 4f       	sbci	r17, 0xFF	; 255
-     4d6:	05 c0       	rjmp	.+10     	; 0x4e2 <vfprintf+0x220>
-     4d8:	ef 2c       	mov	r14, r15
-     4da:	ff 24       	eor	r15, r15
-     4dc:	f0 e1       	ldi	r31, 0x10	; 16
-     4de:	ef 22       	and	r14, r31
-     4e0:	ff 24       	eor	r15, r15
-     4e2:	f8 01       	movw	r30, r16
-     4e4:	84 91       	lpm	r24, Z+
-     4e6:	88 23       	and	r24, r24
-     4e8:	61 f7       	brne	.-40     	; 0x4c2 <vfprintf+0x200>
-     4ea:	14 c1       	rjmp	.+552    	; 0x714 <vfprintf+0x452>
-     4ec:	f7 fe       	sbrs	r15, 7
-     4ee:	12 c0       	rjmp	.+36     	; 0x514 <vfprintf+0x252>
-     4f0:	bc 0c       	add	r11, r12
-     4f2:	24 fe       	sbrs	r2, 4
-     4f4:	04 c0       	rjmp	.+8      	; 0x4fe <vfprintf+0x23c>
-     4f6:	8a 81       	ldd	r24, Y+2	; 0x02
-     4f8:	81 33       	cpi	r24, 0x31	; 49
-     4fa:	09 f4       	brne	.+2      	; 0x4fe <vfprintf+0x23c>
-     4fc:	ba 94       	dec	r11
-     4fe:	1b 14       	cp	r1, r11
-     500:	1c f0       	brlt	.+6      	; 0x508 <vfprintf+0x246>
-     502:	bb 24       	eor	r11, r11
-     504:	b3 94       	inc	r11
-     506:	2d c0       	rjmp	.+90     	; 0x562 <vfprintf+0x2a0>
-     508:	f8 e0       	ldi	r31, 0x08	; 8
-     50a:	fb 15       	cp	r31, r11
-     50c:	50 f5       	brcc	.+84     	; 0x562 <vfprintf+0x2a0>
-     50e:	38 e0       	ldi	r19, 0x08	; 8
-     510:	b3 2e       	mov	r11, r19
-     512:	27 c0       	rjmp	.+78     	; 0x562 <vfprintf+0x2a0>
-     514:	f6 fc       	sbrc	r15, 6
-     516:	25 c0       	rjmp	.+74     	; 0x562 <vfprintf+0x2a0>
-     518:	89 2d       	mov	r24, r9
-     51a:	90 e0       	ldi	r25, 0x00	; 0
-     51c:	8c 15       	cp	r24, r12
-     51e:	9d 05       	cpc	r25, r13
-     520:	4c f0       	brlt	.+18     	; 0x534 <vfprintf+0x272>
-     522:	2c ef       	ldi	r18, 0xFC	; 252
-     524:	c2 16       	cp	r12, r18
-     526:	2f ef       	ldi	r18, 0xFF	; 255
-     528:	d2 06       	cpc	r13, r18
-     52a:	24 f0       	brlt	.+8      	; 0x534 <vfprintf+0x272>
-     52c:	30 e8       	ldi	r19, 0x80	; 128
-     52e:	f3 2a       	or	r15, r19
-     530:	01 c0       	rjmp	.+2      	; 0x534 <vfprintf+0x272>
-     532:	9a 94       	dec	r9
-     534:	99 20       	and	r9, r9
-     536:	49 f0       	breq	.+18     	; 0x54a <vfprintf+0x288>
-     538:	e2 e0       	ldi	r30, 0x02	; 2
-     53a:	f0 e0       	ldi	r31, 0x00	; 0
-     53c:	ec 0f       	add	r30, r28
-     53e:	fd 1f       	adc	r31, r29
-     540:	e9 0d       	add	r30, r9
-     542:	f1 1d       	adc	r31, r1
-     544:	80 81       	ld	r24, Z
-     546:	80 33       	cpi	r24, 0x30	; 48
-     548:	a1 f3       	breq	.-24     	; 0x532 <vfprintf+0x270>
-     54a:	f7 fe       	sbrs	r15, 7
-     54c:	0a c0       	rjmp	.+20     	; 0x562 <vfprintf+0x2a0>
-     54e:	b9 2c       	mov	r11, r9
-     550:	b3 94       	inc	r11
-     552:	89 2d       	mov	r24, r9
-     554:	90 e0       	ldi	r25, 0x00	; 0
-     556:	c8 16       	cp	r12, r24
-     558:	d9 06       	cpc	r13, r25
-     55a:	14 f0       	brlt	.+4      	; 0x560 <vfprintf+0x29e>
-     55c:	99 24       	eor	r9, r9
-     55e:	01 c0       	rjmp	.+2      	; 0x562 <vfprintf+0x2a0>
-     560:	9c 18       	sub	r9, r12
-     562:	f7 fc       	sbrc	r15, 7
-     564:	03 c0       	rjmp	.+6      	; 0x56c <vfprintf+0x2aa>
-     566:	25 e0       	ldi	r18, 0x05	; 5
-     568:	30 e0       	ldi	r19, 0x00	; 0
-     56a:	09 c0       	rjmp	.+18     	; 0x57e <vfprintf+0x2bc>
-     56c:	1c 14       	cp	r1, r12
-     56e:	1d 04       	cpc	r1, r13
-     570:	1c f0       	brlt	.+6      	; 0x578 <vfprintf+0x2b6>
-     572:	21 e0       	ldi	r18, 0x01	; 1
-     574:	30 e0       	ldi	r19, 0x00	; 0
-     576:	03 c0       	rjmp	.+6      	; 0x57e <vfprintf+0x2bc>
-     578:	96 01       	movw	r18, r12
-     57a:	2f 5f       	subi	r18, 0xFF	; 255
-     57c:	3f 4f       	sbci	r19, 0xFF	; 255
-     57e:	11 23       	and	r17, r17
-     580:	11 f0       	breq	.+4      	; 0x586 <vfprintf+0x2c4>
-     582:	2f 5f       	subi	r18, 0xFF	; 255
-     584:	3f 4f       	sbci	r19, 0xFF	; 255
-     586:	99 20       	and	r9, r9
-     588:	29 f0       	breq	.+10     	; 0x594 <vfprintf+0x2d2>
-     58a:	89 2d       	mov	r24, r9
-     58c:	90 e0       	ldi	r25, 0x00	; 0
-     58e:	01 96       	adiw	r24, 0x01	; 1
-     590:	28 0f       	add	r18, r24
-     592:	39 1f       	adc	r19, r25
-     594:	88 2d       	mov	r24, r8
-     596:	90 e0       	ldi	r25, 0x00	; 0
-     598:	28 17       	cp	r18, r24
-     59a:	39 07       	cpc	r19, r25
-     59c:	14 f0       	brlt	.+4      	; 0x5a2 <vfprintf+0x2e0>
-     59e:	88 24       	eor	r8, r8
-     5a0:	01 c0       	rjmp	.+2      	; 0x5a4 <vfprintf+0x2e2>
-     5a2:	82 1a       	sub	r8, r18
-     5a4:	4f 2c       	mov	r4, r15
-     5a6:	55 24       	eor	r5, r5
-     5a8:	c2 01       	movw	r24, r4
-     5aa:	89 70       	andi	r24, 0x09	; 9
-     5ac:	90 70       	andi	r25, 0x00	; 0
-     5ae:	89 2b       	or	r24, r25
-     5b0:	39 f0       	breq	.+14     	; 0x5c0 <vfprintf+0x2fe>
-     5b2:	08 c0       	rjmp	.+16     	; 0x5c4 <vfprintf+0x302>
-     5b4:	80 e2       	ldi	r24, 0x20	; 32
-     5b6:	90 e0       	ldi	r25, 0x00	; 0
-     5b8:	b3 01       	movw	r22, r6
-     5ba:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     5be:	8a 94       	dec	r8
-     5c0:	88 20       	and	r8, r8
-     5c2:	c1 f7       	brne	.-16     	; 0x5b4 <vfprintf+0x2f2>
-     5c4:	11 23       	and	r17, r17
-     5c6:	29 f0       	breq	.+10     	; 0x5d2 <vfprintf+0x310>
-     5c8:	81 2f       	mov	r24, r17
-     5ca:	90 e0       	ldi	r25, 0x00	; 0
-     5cc:	b3 01       	movw	r22, r6
-     5ce:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     5d2:	43 fe       	sbrs	r4, 3
-     5d4:	07 c0       	rjmp	.+14     	; 0x5e4 <vfprintf+0x322>
-     5d6:	08 c0       	rjmp	.+16     	; 0x5e8 <vfprintf+0x326>
-     5d8:	80 e3       	ldi	r24, 0x30	; 48
-     5da:	90 e0       	ldi	r25, 0x00	; 0
-     5dc:	b3 01       	movw	r22, r6
-     5de:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     5e2:	8a 94       	dec	r8
-     5e4:	88 20       	and	r8, r8
-     5e6:	c1 f7       	brne	.-16     	; 0x5d8 <vfprintf+0x316>
-     5e8:	f7 fe       	sbrs	r15, 7
-     5ea:	46 c0       	rjmp	.+140    	; 0x678 <vfprintf+0x3b6>
-     5ec:	86 01       	movw	r16, r12
-     5ee:	d7 fe       	sbrs	r13, 7
-     5f0:	02 c0       	rjmp	.+4      	; 0x5f6 <vfprintf+0x334>
-     5f2:	00 e0       	ldi	r16, 0x00	; 0
-     5f4:	10 e0       	ldi	r17, 0x00	; 0
-     5f6:	76 01       	movw	r14, r12
-     5f8:	08 94       	sec
-     5fa:	e1 1c       	adc	r14, r1
-     5fc:	f1 1c       	adc	r15, r1
-     5fe:	e0 1a       	sub	r14, r16
-     600:	f1 0a       	sbc	r15, r17
-     602:	41 e0       	ldi	r20, 0x01	; 1
-     604:	50 e0       	ldi	r21, 0x00	; 0
-     606:	4c 0f       	add	r20, r28
-     608:	5d 1f       	adc	r21, r29
-     60a:	e4 0e       	add	r14, r20
-     60c:	f5 1e       	adc	r15, r21
-     60e:	26 01       	movw	r4, r12
-     610:	4b 18       	sub	r4, r11
-     612:	51 08       	sbc	r5, r1
-     614:	89 2d       	mov	r24, r9
-     616:	90 e0       	ldi	r25, 0x00	; 0
-     618:	aa 24       	eor	r10, r10
-     61a:	bb 24       	eor	r11, r11
-     61c:	a8 1a       	sub	r10, r24
-     61e:	b9 0a       	sbc	r11, r25
-     620:	5f ef       	ldi	r21, 0xFF	; 255
-     622:	0f 3f       	cpi	r16, 0xFF	; 255
-     624:	15 07       	cpc	r17, r21
-     626:	29 f4       	brne	.+10     	; 0x632 <vfprintf+0x370>
-     628:	8e e2       	ldi	r24, 0x2E	; 46
-     62a:	90 e0       	ldi	r25, 0x00	; 0
-     62c:	b3 01       	movw	r22, r6
-     62e:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     632:	c0 16       	cp	r12, r16
-     634:	d1 06       	cpc	r13, r17
-     636:	34 f0       	brlt	.+12     	; 0x644 <vfprintf+0x382>
-     638:	40 16       	cp	r4, r16
-     63a:	51 06       	cpc	r5, r17
-     63c:	1c f4       	brge	.+6      	; 0x644 <vfprintf+0x382>
-     63e:	f7 01       	movw	r30, r14
-     640:	80 81       	ld	r24, Z
-     642:	01 c0       	rjmp	.+2      	; 0x646 <vfprintf+0x384>
-     644:	80 e3       	ldi	r24, 0x30	; 48
-     646:	01 50       	subi	r16, 0x01	; 1
-     648:	10 40       	sbci	r17, 0x00	; 0
-     64a:	08 94       	sec
-     64c:	e1 1c       	adc	r14, r1
-     64e:	f1 1c       	adc	r15, r1
-     650:	0a 15       	cp	r16, r10
-     652:	1b 05       	cpc	r17, r11
-     654:	2c f0       	brlt	.+10     	; 0x660 <vfprintf+0x39e>
-     656:	90 e0       	ldi	r25, 0x00	; 0
-     658:	b3 01       	movw	r22, r6
-     65a:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     65e:	e0 cf       	rjmp	.-64     	; 0x620 <vfprintf+0x35e>
-     660:	0c 15       	cp	r16, r12
-     662:	1d 05       	cpc	r17, r13
-     664:	39 f4       	brne	.+14     	; 0x674 <vfprintf+0x3b2>
-     666:	9a 81       	ldd	r25, Y+2	; 0x02
-     668:	96 33       	cpi	r25, 0x36	; 54
-     66a:	18 f4       	brcc	.+6      	; 0x672 <vfprintf+0x3b0>
-     66c:	95 33       	cpi	r25, 0x35	; 53
-     66e:	11 f4       	brne	.+4      	; 0x674 <vfprintf+0x3b2>
-     670:	24 fe       	sbrs	r2, 4
-     672:	81 e3       	ldi	r24, 0x31	; 49
-     674:	90 e0       	ldi	r25, 0x00	; 0
-     676:	4b c0       	rjmp	.+150    	; 0x70e <vfprintf+0x44c>
-     678:	8a 81       	ldd	r24, Y+2	; 0x02
-     67a:	81 33       	cpi	r24, 0x31	; 49
-     67c:	09 f0       	breq	.+2      	; 0x680 <vfprintf+0x3be>
-     67e:	0f 7e       	andi	r16, 0xEF	; 239
-     680:	90 e0       	ldi	r25, 0x00	; 0
-     682:	b3 01       	movw	r22, r6
-     684:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     688:	99 20       	and	r9, r9
-     68a:	a1 f0       	breq	.+40     	; 0x6b4 <vfprintf+0x3f2>
-     68c:	8e e2       	ldi	r24, 0x2E	; 46
-     68e:	90 e0       	ldi	r25, 0x00	; 0
-     690:	b3 01       	movw	r22, r6
-     692:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     696:	12 e0       	ldi	r17, 0x02	; 2
-     698:	e1 e0       	ldi	r30, 0x01	; 1
-     69a:	f0 e0       	ldi	r31, 0x00	; 0
-     69c:	ec 0f       	add	r30, r28
-     69e:	fd 1f       	adc	r31, r29
-     6a0:	e1 0f       	add	r30, r17
-     6a2:	f1 1d       	adc	r31, r1
-     6a4:	1f 5f       	subi	r17, 0xFF	; 255
-     6a6:	80 81       	ld	r24, Z
-     6a8:	90 e0       	ldi	r25, 0x00	; 0
-     6aa:	b3 01       	movw	r22, r6
-     6ac:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     6b0:	9a 94       	dec	r9
-     6b2:	91 f7       	brne	.-28     	; 0x698 <vfprintf+0x3d6>
-     6b4:	44 fc       	sbrc	r4, 4
-     6b6:	03 c0       	rjmp	.+6      	; 0x6be <vfprintf+0x3fc>
-     6b8:	85 e6       	ldi	r24, 0x65	; 101
-     6ba:	90 e0       	ldi	r25, 0x00	; 0
-     6bc:	02 c0       	rjmp	.+4      	; 0x6c2 <vfprintf+0x400>
-     6be:	85 e4       	ldi	r24, 0x45	; 69
-     6c0:	90 e0       	ldi	r25, 0x00	; 0
-     6c2:	b3 01       	movw	r22, r6
-     6c4:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     6c8:	d7 fc       	sbrc	r13, 7
-     6ca:	05 c0       	rjmp	.+10     	; 0x6d6 <vfprintf+0x414>
-     6cc:	c1 14       	cp	r12, r1
-     6ce:	d1 04       	cpc	r13, r1
-     6d0:	41 f4       	brne	.+16     	; 0x6e2 <vfprintf+0x420>
-     6d2:	04 ff       	sbrs	r16, 4
-     6d4:	06 c0       	rjmp	.+12     	; 0x6e2 <vfprintf+0x420>
-     6d6:	d0 94       	com	r13
-     6d8:	c1 94       	neg	r12
-     6da:	d1 08       	sbc	r13, r1
-     6dc:	d3 94       	inc	r13
-     6de:	8d e2       	ldi	r24, 0x2D	; 45
-     6e0:	01 c0       	rjmp	.+2      	; 0x6e4 <vfprintf+0x422>
-     6e2:	8b e2       	ldi	r24, 0x2B	; 43
-     6e4:	90 e0       	ldi	r25, 0x00	; 0
-     6e6:	b3 01       	movw	r22, r6
-     6e8:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     6ec:	80 e3       	ldi	r24, 0x30	; 48
-     6ee:	05 c0       	rjmp	.+10     	; 0x6fa <vfprintf+0x438>
-     6f0:	8f 5f       	subi	r24, 0xFF	; 255
-     6f2:	26 ef       	ldi	r18, 0xF6	; 246
-     6f4:	3f ef       	ldi	r19, 0xFF	; 255
-     6f6:	c2 0e       	add	r12, r18
-     6f8:	d3 1e       	adc	r13, r19
-     6fa:	3a e0       	ldi	r19, 0x0A	; 10
-     6fc:	c3 16       	cp	r12, r19
-     6fe:	d1 04       	cpc	r13, r1
-     700:	bc f7       	brge	.-18     	; 0x6f0 <vfprintf+0x42e>
-     702:	90 e0       	ldi	r25, 0x00	; 0
-     704:	b3 01       	movw	r22, r6
-     706:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     70a:	c6 01       	movw	r24, r12
-     70c:	c0 96       	adiw	r24, 0x30	; 48
-     70e:	b3 01       	movw	r22, r6
-     710:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     714:	cc 84       	ldd	r12, Y+12	; 0x0c
-     716:	dd 84       	ldd	r13, Y+13	; 0x0d
-     718:	52 c1       	rjmp	.+676    	; 0x9be <vfprintf+0x6fc>
-     71a:	93 36       	cpi	r25, 0x63	; 99
-     71c:	31 f0       	breq	.+12     	; 0x72a <vfprintf+0x468>
-     71e:	93 37       	cpi	r25, 0x73	; 115
-     720:	99 f0       	breq	.+38     	; 0x748 <vfprintf+0x486>
-     722:	93 35       	cpi	r25, 0x53	; 83
-     724:	09 f0       	breq	.+2      	; 0x728 <vfprintf+0x466>
-     726:	59 c0       	rjmp	.+178    	; 0x7da <vfprintf+0x518>
-     728:	23 c0       	rjmp	.+70     	; 0x770 <vfprintf+0x4ae>
-     72a:	f6 01       	movw	r30, r12
-     72c:	80 81       	ld	r24, Z
-     72e:	89 83       	std	Y+1, r24	; 0x01
-     730:	5e 01       	movw	r10, r28
-     732:	08 94       	sec
-     734:	a1 1c       	adc	r10, r1
-     736:	b1 1c       	adc	r11, r1
-     738:	22 e0       	ldi	r18, 0x02	; 2
-     73a:	30 e0       	ldi	r19, 0x00	; 0
-     73c:	c2 0e       	add	r12, r18
-     73e:	d3 1e       	adc	r13, r19
-     740:	21 e0       	ldi	r18, 0x01	; 1
-     742:	e2 2e       	mov	r14, r18
-     744:	f1 2c       	mov	r15, r1
-     746:	12 c0       	rjmp	.+36     	; 0x76c <vfprintf+0x4aa>
-     748:	f6 01       	movw	r30, r12
-     74a:	a0 80       	ld	r10, Z
-     74c:	b1 80       	ldd	r11, Z+1	; 0x01
-     74e:	16 fd       	sbrc	r17, 6
-     750:	03 c0       	rjmp	.+6      	; 0x758 <vfprintf+0x496>
-     752:	6f ef       	ldi	r22, 0xFF	; 255
-     754:	7f ef       	ldi	r23, 0xFF	; 255
-     756:	02 c0       	rjmp	.+4      	; 0x75c <vfprintf+0x49a>
-     758:	69 2d       	mov	r22, r9
-     75a:	70 e0       	ldi	r23, 0x00	; 0
-     75c:	22 e0       	ldi	r18, 0x02	; 2
-     75e:	30 e0       	ldi	r19, 0x00	; 0
-     760:	c2 0e       	add	r12, r18
-     762:	d3 1e       	adc	r13, r19
-     764:	c5 01       	movw	r24, r10
-     766:	0e 94 ee 16 	call	0x2ddc	; 0x2ddc <strnlen>
-     76a:	7c 01       	movw	r14, r24
-     76c:	1f 77       	andi	r17, 0x7F	; 127
-     76e:	13 c0       	rjmp	.+38     	; 0x796 <vfprintf+0x4d4>
-     770:	f6 01       	movw	r30, r12
-     772:	a0 80       	ld	r10, Z
-     774:	b1 80       	ldd	r11, Z+1	; 0x01
-     776:	16 fd       	sbrc	r17, 6
-     778:	03 c0       	rjmp	.+6      	; 0x780 <vfprintf+0x4be>
-     77a:	6f ef       	ldi	r22, 0xFF	; 255
-     77c:	7f ef       	ldi	r23, 0xFF	; 255
-     77e:	02 c0       	rjmp	.+4      	; 0x784 <vfprintf+0x4c2>
-     780:	69 2d       	mov	r22, r9
-     782:	70 e0       	ldi	r23, 0x00	; 0
-     784:	22 e0       	ldi	r18, 0x02	; 2
-     786:	30 e0       	ldi	r19, 0x00	; 0
-     788:	c2 0e       	add	r12, r18
-     78a:	d3 1e       	adc	r13, r19
-     78c:	c5 01       	movw	r24, r10
-     78e:	0e 94 e3 16 	call	0x2dc6	; 0x2dc6 <strnlen_P>
-     792:	7c 01       	movw	r14, r24
-     794:	10 68       	ori	r17, 0x80	; 128
-     796:	13 ff       	sbrs	r17, 3
-     798:	07 c0       	rjmp	.+14     	; 0x7a8 <vfprintf+0x4e6>
-     79a:	1b c0       	rjmp	.+54     	; 0x7d2 <vfprintf+0x510>
-     79c:	80 e2       	ldi	r24, 0x20	; 32
-     79e:	90 e0       	ldi	r25, 0x00	; 0
-     7a0:	b3 01       	movw	r22, r6
-     7a2:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     7a6:	8a 94       	dec	r8
-     7a8:	88 2d       	mov	r24, r8
-     7aa:	90 e0       	ldi	r25, 0x00	; 0
-     7ac:	e8 16       	cp	r14, r24
-     7ae:	f9 06       	cpc	r15, r25
-     7b0:	a8 f3       	brcs	.-22     	; 0x79c <vfprintf+0x4da>
-     7b2:	0f c0       	rjmp	.+30     	; 0x7d2 <vfprintf+0x510>
-     7b4:	f5 01       	movw	r30, r10
-     7b6:	17 fd       	sbrc	r17, 7
-     7b8:	85 91       	lpm	r24, Z+
-     7ba:	17 ff       	sbrs	r17, 7
-     7bc:	81 91       	ld	r24, Z+
-     7be:	5f 01       	movw	r10, r30
-     7c0:	90 e0       	ldi	r25, 0x00	; 0
-     7c2:	b3 01       	movw	r22, r6
-     7c4:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     7c8:	81 10       	cpse	r8, r1
-     7ca:	8a 94       	dec	r8
-     7cc:	08 94       	sec
-     7ce:	e1 08       	sbc	r14, r1
-     7d0:	f1 08       	sbc	r15, r1
-     7d2:	e1 14       	cp	r14, r1
-     7d4:	f1 04       	cpc	r15, r1
-     7d6:	71 f7       	brne	.-36     	; 0x7b4 <vfprintf+0x4f2>
-     7d8:	f2 c0       	rjmp	.+484    	; 0x9be <vfprintf+0x6fc>
-     7da:	94 36       	cpi	r25, 0x64	; 100
-     7dc:	11 f0       	breq	.+4      	; 0x7e2 <vfprintf+0x520>
-     7de:	99 36       	cpi	r25, 0x69	; 105
-     7e0:	89 f5       	brne	.+98     	; 0x844 <vfprintf+0x582>
-     7e2:	17 ff       	sbrs	r17, 7
-     7e4:	08 c0       	rjmp	.+16     	; 0x7f6 <vfprintf+0x534>
-     7e6:	f6 01       	movw	r30, r12
-     7e8:	20 81       	ld	r18, Z
-     7ea:	31 81       	ldd	r19, Z+1	; 0x01
-     7ec:	42 81       	ldd	r20, Z+2	; 0x02
-     7ee:	53 81       	ldd	r21, Z+3	; 0x03
-     7f0:	84 e0       	ldi	r24, 0x04	; 4
-     7f2:	90 e0       	ldi	r25, 0x00	; 0
-     7f4:	0a c0       	rjmp	.+20     	; 0x80a <vfprintf+0x548>
-     7f6:	f6 01       	movw	r30, r12
-     7f8:	80 81       	ld	r24, Z
-     7fa:	91 81       	ldd	r25, Z+1	; 0x01
-     7fc:	9c 01       	movw	r18, r24
-     7fe:	44 27       	eor	r20, r20
-     800:	37 fd       	sbrc	r19, 7
-     802:	40 95       	com	r20
-     804:	54 2f       	mov	r21, r20
-     806:	82 e0       	ldi	r24, 0x02	; 2
-     808:	90 e0       	ldi	r25, 0x00	; 0
-     80a:	c8 0e       	add	r12, r24
-     80c:	d9 1e       	adc	r13, r25
-     80e:	9f e6       	ldi	r25, 0x6F	; 111
-     810:	f9 2e       	mov	r15, r25
-     812:	f1 22       	and	r15, r17
-     814:	57 ff       	sbrs	r21, 7
-     816:	09 c0       	rjmp	.+18     	; 0x82a <vfprintf+0x568>
-     818:	50 95       	com	r21
-     81a:	40 95       	com	r20
-     81c:	30 95       	com	r19
-     81e:	21 95       	neg	r18
-     820:	3f 4f       	sbci	r19, 0xFF	; 255
-     822:	4f 4f       	sbci	r20, 0xFF	; 255
-     824:	5f 4f       	sbci	r21, 0xFF	; 255
-     826:	90 e8       	ldi	r25, 0x80	; 128
-     828:	f9 2a       	or	r15, r25
-     82a:	ca 01       	movw	r24, r20
-     82c:	b9 01       	movw	r22, r18
-     82e:	ae 01       	movw	r20, r28
-     830:	4f 5f       	subi	r20, 0xFF	; 255
-     832:	5f 4f       	sbci	r21, 0xFF	; 255
-     834:	2a e0       	ldi	r18, 0x0A	; 10
-     836:	30 e0       	ldi	r19, 0x00	; 0
-     838:	0e 94 25 17 	call	0x2e4a	; 0x2e4a <__ultoa_invert>
-     83c:	e8 2e       	mov	r14, r24
-     83e:	e8 89       	ldd	r30, Y+16	; 0x10
-     840:	ee 1a       	sub	r14, r30
-     842:	41 c0       	rjmp	.+130    	; 0x8c6 <vfprintf+0x604>
-     844:	95 37       	cpi	r25, 0x75	; 117
-     846:	21 f4       	brne	.+8      	; 0x850 <vfprintf+0x58e>
-     848:	1f 7e       	andi	r17, 0xEF	; 239
-     84a:	2a e0       	ldi	r18, 0x0A	; 10
-     84c:	30 e0       	ldi	r19, 0x00	; 0
-     84e:	1c c0       	rjmp	.+56     	; 0x888 <vfprintf+0x5c6>
-     850:	19 7f       	andi	r17, 0xF9	; 249
-     852:	9f 36       	cpi	r25, 0x6F	; 111
-     854:	61 f0       	breq	.+24     	; 0x86e <vfprintf+0x5ac>
-     856:	90 37       	cpi	r25, 0x70	; 112
-     858:	20 f4       	brcc	.+8      	; 0x862 <vfprintf+0x5a0>
-     85a:	98 35       	cpi	r25, 0x58	; 88
-     85c:	09 f0       	breq	.+2      	; 0x860 <vfprintf+0x59e>
-     85e:	b2 c0       	rjmp	.+356    	; 0x9c4 <vfprintf+0x702>
-     860:	0f c0       	rjmp	.+30     	; 0x880 <vfprintf+0x5be>
-     862:	90 37       	cpi	r25, 0x70	; 112
-     864:	39 f0       	breq	.+14     	; 0x874 <vfprintf+0x5b2>
-     866:	98 37       	cpi	r25, 0x78	; 120
-     868:	09 f0       	breq	.+2      	; 0x86c <vfprintf+0x5aa>
-     86a:	ac c0       	rjmp	.+344    	; 0x9c4 <vfprintf+0x702>
-     86c:	04 c0       	rjmp	.+8      	; 0x876 <vfprintf+0x5b4>
-     86e:	28 e0       	ldi	r18, 0x08	; 8
-     870:	30 e0       	ldi	r19, 0x00	; 0
-     872:	0a c0       	rjmp	.+20     	; 0x888 <vfprintf+0x5c6>
-     874:	10 61       	ori	r17, 0x10	; 16
-     876:	14 fd       	sbrc	r17, 4
-     878:	14 60       	ori	r17, 0x04	; 4
-     87a:	20 e1       	ldi	r18, 0x10	; 16
-     87c:	30 e0       	ldi	r19, 0x00	; 0
-     87e:	04 c0       	rjmp	.+8      	; 0x888 <vfprintf+0x5c6>
-     880:	14 fd       	sbrc	r17, 4
-     882:	16 60       	ori	r17, 0x06	; 6
-     884:	20 e1       	ldi	r18, 0x10	; 16
-     886:	32 e0       	ldi	r19, 0x02	; 2
-     888:	17 ff       	sbrs	r17, 7
-     88a:	08 c0       	rjmp	.+16     	; 0x89c <vfprintf+0x5da>
-     88c:	f6 01       	movw	r30, r12
-     88e:	60 81       	ld	r22, Z
-     890:	71 81       	ldd	r23, Z+1	; 0x01
-     892:	82 81       	ldd	r24, Z+2	; 0x02
-     894:	93 81       	ldd	r25, Z+3	; 0x03
-     896:	44 e0       	ldi	r20, 0x04	; 4
-     898:	50 e0       	ldi	r21, 0x00	; 0
-     89a:	08 c0       	rjmp	.+16     	; 0x8ac <vfprintf+0x5ea>
-     89c:	f6 01       	movw	r30, r12
-     89e:	80 81       	ld	r24, Z
-     8a0:	91 81       	ldd	r25, Z+1	; 0x01
-     8a2:	bc 01       	movw	r22, r24
-     8a4:	80 e0       	ldi	r24, 0x00	; 0
-     8a6:	90 e0       	ldi	r25, 0x00	; 0
-     8a8:	42 e0       	ldi	r20, 0x02	; 2
-     8aa:	50 e0       	ldi	r21, 0x00	; 0
-     8ac:	c4 0e       	add	r12, r20
-     8ae:	d5 1e       	adc	r13, r21
-     8b0:	ae 01       	movw	r20, r28
-     8b2:	4f 5f       	subi	r20, 0xFF	; 255
-     8b4:	5f 4f       	sbci	r21, 0xFF	; 255
-     8b6:	0e 94 25 17 	call	0x2e4a	; 0x2e4a <__ultoa_invert>
-     8ba:	e8 2e       	mov	r14, r24
-     8bc:	58 89       	ldd	r21, Y+16	; 0x10
-     8be:	e5 1a       	sub	r14, r21
-     8c0:	8f e7       	ldi	r24, 0x7F	; 127
-     8c2:	f8 2e       	mov	r15, r24
-     8c4:	f1 22       	and	r15, r17
-     8c6:	f6 fe       	sbrs	r15, 6
-     8c8:	0b c0       	rjmp	.+22     	; 0x8e0 <vfprintf+0x61e>
-     8ca:	8e ef       	ldi	r24, 0xFE	; 254
-     8cc:	f8 22       	and	r15, r24
-     8ce:	e9 14       	cp	r14, r9
-     8d0:	38 f4       	brcc	.+14     	; 0x8e0 <vfprintf+0x61e>
-     8d2:	f4 fe       	sbrs	r15, 4
-     8d4:	07 c0       	rjmp	.+14     	; 0x8e4 <vfprintf+0x622>
-     8d6:	f2 fc       	sbrc	r15, 2
-     8d8:	05 c0       	rjmp	.+10     	; 0x8e4 <vfprintf+0x622>
-     8da:	9f ee       	ldi	r25, 0xEF	; 239
-     8dc:	f9 22       	and	r15, r25
-     8de:	02 c0       	rjmp	.+4      	; 0x8e4 <vfprintf+0x622>
-     8e0:	1e 2d       	mov	r17, r14
-     8e2:	01 c0       	rjmp	.+2      	; 0x8e6 <vfprintf+0x624>
-     8e4:	19 2d       	mov	r17, r9
-     8e6:	f4 fe       	sbrs	r15, 4
-     8e8:	0d c0       	rjmp	.+26     	; 0x904 <vfprintf+0x642>
-     8ea:	fe 01       	movw	r30, r28
-     8ec:	ee 0d       	add	r30, r14
-     8ee:	f1 1d       	adc	r31, r1
-     8f0:	80 81       	ld	r24, Z
-     8f2:	80 33       	cpi	r24, 0x30	; 48
-     8f4:	19 f4       	brne	.+6      	; 0x8fc <vfprintf+0x63a>
-     8f6:	e9 ee       	ldi	r30, 0xE9	; 233
-     8f8:	fe 22       	and	r15, r30
-     8fa:	08 c0       	rjmp	.+16     	; 0x90c <vfprintf+0x64a>
-     8fc:	1f 5f       	subi	r17, 0xFF	; 255
-     8fe:	f2 fe       	sbrs	r15, 2
-     900:	05 c0       	rjmp	.+10     	; 0x90c <vfprintf+0x64a>
-     902:	03 c0       	rjmp	.+6      	; 0x90a <vfprintf+0x648>
-     904:	8f 2d       	mov	r24, r15
-     906:	86 78       	andi	r24, 0x86	; 134
-     908:	09 f0       	breq	.+2      	; 0x90c <vfprintf+0x64a>
-     90a:	1f 5f       	subi	r17, 0xFF	; 255
-     90c:	0f 2d       	mov	r16, r15
-     90e:	f3 fc       	sbrc	r15, 3
-     910:	14 c0       	rjmp	.+40     	; 0x93a <vfprintf+0x678>
-     912:	f0 fe       	sbrs	r15, 0
-     914:	0f c0       	rjmp	.+30     	; 0x934 <vfprintf+0x672>
-     916:	18 15       	cp	r17, r8
-     918:	10 f0       	brcs	.+4      	; 0x91e <vfprintf+0x65c>
-     91a:	9e 2c       	mov	r9, r14
-     91c:	0b c0       	rjmp	.+22     	; 0x934 <vfprintf+0x672>
-     91e:	9e 2c       	mov	r9, r14
-     920:	98 0c       	add	r9, r8
-     922:	91 1a       	sub	r9, r17
-     924:	18 2d       	mov	r17, r8
-     926:	06 c0       	rjmp	.+12     	; 0x934 <vfprintf+0x672>
-     928:	80 e2       	ldi	r24, 0x20	; 32
-     92a:	90 e0       	ldi	r25, 0x00	; 0
-     92c:	b3 01       	movw	r22, r6
-     92e:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     932:	1f 5f       	subi	r17, 0xFF	; 255
-     934:	18 15       	cp	r17, r8
-     936:	c0 f3       	brcs	.-16     	; 0x928 <vfprintf+0x666>
-     938:	04 c0       	rjmp	.+8      	; 0x942 <vfprintf+0x680>
-     93a:	18 15       	cp	r17, r8
-     93c:	10 f4       	brcc	.+4      	; 0x942 <vfprintf+0x680>
-     93e:	81 1a       	sub	r8, r17
-     940:	01 c0       	rjmp	.+2      	; 0x944 <vfprintf+0x682>
-     942:	88 24       	eor	r8, r8
-     944:	04 ff       	sbrs	r16, 4
-     946:	0f c0       	rjmp	.+30     	; 0x966 <vfprintf+0x6a4>
-     948:	80 e3       	ldi	r24, 0x30	; 48
-     94a:	90 e0       	ldi	r25, 0x00	; 0
-     94c:	b3 01       	movw	r22, r6
-     94e:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     952:	02 ff       	sbrs	r16, 2
-     954:	1d c0       	rjmp	.+58     	; 0x990 <vfprintf+0x6ce>
-     956:	01 fd       	sbrc	r16, 1
-     958:	03 c0       	rjmp	.+6      	; 0x960 <vfprintf+0x69e>
-     95a:	88 e7       	ldi	r24, 0x78	; 120
-     95c:	90 e0       	ldi	r25, 0x00	; 0
-     95e:	0e c0       	rjmp	.+28     	; 0x97c <vfprintf+0x6ba>
-     960:	88 e5       	ldi	r24, 0x58	; 88
-     962:	90 e0       	ldi	r25, 0x00	; 0
-     964:	0b c0       	rjmp	.+22     	; 0x97c <vfprintf+0x6ba>
-     966:	80 2f       	mov	r24, r16
-     968:	86 78       	andi	r24, 0x86	; 134
-     96a:	91 f0       	breq	.+36     	; 0x990 <vfprintf+0x6ce>
-     96c:	01 ff       	sbrs	r16, 1
-     96e:	02 c0       	rjmp	.+4      	; 0x974 <vfprintf+0x6b2>
-     970:	8b e2       	ldi	r24, 0x2B	; 43
-     972:	01 c0       	rjmp	.+2      	; 0x976 <vfprintf+0x6b4>
-     974:	80 e2       	ldi	r24, 0x20	; 32
-     976:	f7 fc       	sbrc	r15, 7
-     978:	8d e2       	ldi	r24, 0x2D	; 45
-     97a:	90 e0       	ldi	r25, 0x00	; 0
-     97c:	b3 01       	movw	r22, r6
-     97e:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     982:	06 c0       	rjmp	.+12     	; 0x990 <vfprintf+0x6ce>
-     984:	80 e3       	ldi	r24, 0x30	; 48
-     986:	90 e0       	ldi	r25, 0x00	; 0
-     988:	b3 01       	movw	r22, r6
-     98a:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     98e:	9a 94       	dec	r9
-     990:	e9 14       	cp	r14, r9
-     992:	c0 f3       	brcs	.-16     	; 0x984 <vfprintf+0x6c2>
-     994:	ea 94       	dec	r14
-     996:	e1 e0       	ldi	r30, 0x01	; 1
-     998:	f0 e0       	ldi	r31, 0x00	; 0
-     99a:	ec 0f       	add	r30, r28
-     99c:	fd 1f       	adc	r31, r29
-     99e:	ee 0d       	add	r30, r14
-     9a0:	f1 1d       	adc	r31, r1
-     9a2:	80 81       	ld	r24, Z
-     9a4:	90 e0       	ldi	r25, 0x00	; 0
-     9a6:	b3 01       	movw	r22, r6
-     9a8:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     9ac:	ee 20       	and	r14, r14
-     9ae:	91 f7       	brne	.-28     	; 0x994 <vfprintf+0x6d2>
-     9b0:	06 c0       	rjmp	.+12     	; 0x9be <vfprintf+0x6fc>
-     9b2:	80 e2       	ldi	r24, 0x20	; 32
-     9b4:	90 e0       	ldi	r25, 0x00	; 0
-     9b6:	b3 01       	movw	r22, r6
-     9b8:	0e 94 f9 16 	call	0x2df2	; 0x2df2 <fputc>
-     9bc:	8a 94       	dec	r8
-     9be:	88 20       	and	r8, r8
-     9c0:	c1 f7       	brne	.-16     	; 0x9b2 <vfprintf+0x6f0>
-     9c2:	97 cc       	rjmp	.-1746   	; 0x2f2 <vfprintf+0x30>
-     9c4:	f3 01       	movw	r30, r6
-     9c6:	66 81       	ldd	r22, Z+6	; 0x06
-     9c8:	77 81       	ldd	r23, Z+7	; 0x07
-     9ca:	cb 01       	movw	r24, r22
-     9cc:	61 96       	adiw	r28, 0x11	; 17
-     9ce:	e2 e1       	ldi	r30, 0x12	; 18
-     9d0:	0c 94 cd 17 	jmp	0x2f9a	; 0x2f9a <__epilogue_restores__>
-
-000009d4 <digital_input>:
-     9d4:	ac 01       	movw	r20, r24
-     9d6:	47 70       	andi	r20, 0x07	; 7
-     9d8:	50 70       	andi	r21, 0x00	; 0
-     9da:	9c 01       	movw	r18, r24
-     9dc:	83 e0       	ldi	r24, 0x03	; 3
-     9de:	35 95       	asr	r19
-     9e0:	27 95       	ror	r18
-     9e2:	8a 95       	dec	r24
-     9e4:	e1 f7       	brne	.-8      	; 0x9de <digital_input+0xa>
-     9e6:	24 30       	cpi	r18, 0x04	; 4
-     9e8:	31 05       	cpc	r19, r1
-     9ea:	09 f4       	brne	.+2      	; 0x9ee <digital_input+0x1a>
-     9ec:	44 c0       	rjmp	.+136    	; 0xa76 <digital_input+0xa2>
-     9ee:	25 30       	cpi	r18, 0x05	; 5
-     9f0:	31 05       	cpc	r19, r1
-     9f2:	54 f4       	brge	.+20     	; 0xa08 <digital_input+0x34>
-     9f4:	22 30       	cpi	r18, 0x02	; 2
-     9f6:	31 05       	cpc	r19, r1
-     9f8:	11 f1       	breq	.+68     	; 0xa3e <digital_input+0x6a>
-     9fa:	23 30       	cpi	r18, 0x03	; 3
-     9fc:	31 05       	cpc	r19, r1
-     9fe:	6c f5       	brge	.+90     	; 0xa5a <digital_input+0x86>
-     a00:	21 30       	cpi	r18, 0x01	; 1
-     a02:	31 05       	cpc	r19, r1
-     a04:	61 f4       	brne	.+24     	; 0xa1e <digital_input+0x4a>
-     a06:	0e c0       	rjmp	.+28     	; 0xa24 <digital_input+0x50>
-     a08:	26 30       	cpi	r18, 0x06	; 6
-     a0a:	31 05       	cpc	r19, r1
-     a0c:	09 f4       	brne	.+2      	; 0xa10 <digital_input+0x3c>
-     a0e:	4f c0       	rjmp	.+158    	; 0xaae <digital_input+0xda>
-     a10:	26 30       	cpi	r18, 0x06	; 6
-     a12:	31 05       	cpc	r19, r1
-     a14:	f4 f1       	brlt	.+124    	; 0xa92 <digital_input+0xbe>
-     a16:	27 30       	cpi	r18, 0x07	; 7
-     a18:	31 05       	cpc	r19, r1
-     a1a:	09 f4       	brne	.+2      	; 0xa1e <digital_input+0x4a>
-     a1c:	69 c0       	rjmp	.+210    	; 0xaf0 <digital_input+0x11c>
-     a1e:	8f ef       	ldi	r24, 0xFF	; 255
-     a20:	9f ef       	ldi	r25, 0xFF	; 255
-     a22:	08 95       	ret
-     a24:	8a b3       	in	r24, 0x1a	; 26
-     a26:	04 2e       	mov	r0, r20
-     a28:	02 c0       	rjmp	.+4      	; 0xa2e <digital_input+0x5a>
-     a2a:	22 0f       	add	r18, r18
-     a2c:	33 1f       	adc	r19, r19
-     a2e:	0a 94       	dec	r0
-     a30:	e2 f7       	brpl	.-8      	; 0xa2a <digital_input+0x56>
-     a32:	92 2f       	mov	r25, r18
-     a34:	90 95       	com	r25
-     a36:	98 23       	and	r25, r24
-     a38:	9a bb       	out	0x1a, r25	; 26
-     a3a:	89 b3       	in	r24, 0x19	; 25
-     a3c:	50 c0       	rjmp	.+160    	; 0xade <digital_input+0x10a>
-     a3e:	87 b3       	in	r24, 0x17	; 23
-     a40:	21 e0       	ldi	r18, 0x01	; 1
-     a42:	30 e0       	ldi	r19, 0x00	; 0
-     a44:	04 2e       	mov	r0, r20
-     a46:	02 c0       	rjmp	.+4      	; 0xa4c <digital_input+0x78>
-     a48:	22 0f       	add	r18, r18
-     a4a:	33 1f       	adc	r19, r19
-     a4c:	0a 94       	dec	r0
-     a4e:	e2 f7       	brpl	.-8      	; 0xa48 <digital_input+0x74>
-     a50:	20 95       	com	r18
-     a52:	28 23       	and	r18, r24
-     a54:	27 bb       	out	0x17, r18	; 23
-     a56:	86 b3       	in	r24, 0x16	; 22
-     a58:	42 c0       	rjmp	.+132    	; 0xade <digital_input+0x10a>
-     a5a:	84 b3       	in	r24, 0x14	; 20
-     a5c:	21 e0       	ldi	r18, 0x01	; 1
-     a5e:	30 e0       	ldi	r19, 0x00	; 0
-     a60:	04 2e       	mov	r0, r20
-     a62:	02 c0       	rjmp	.+4      	; 0xa68 <digital_input+0x94>
-     a64:	22 0f       	add	r18, r18
-     a66:	33 1f       	adc	r19, r19
-     a68:	0a 94       	dec	r0
-     a6a:	e2 f7       	brpl	.-8      	; 0xa64 <digital_input+0x90>
-     a6c:	20 95       	com	r18
-     a6e:	28 23       	and	r18, r24
-     a70:	24 bb       	out	0x14, r18	; 20
-     a72:	83 b3       	in	r24, 0x13	; 19
-     a74:	34 c0       	rjmp	.+104    	; 0xade <digital_input+0x10a>
-     a76:	81 b3       	in	r24, 0x11	; 17
-     a78:	21 e0       	ldi	r18, 0x01	; 1
-     a7a:	30 e0       	ldi	r19, 0x00	; 0
-     a7c:	04 2e       	mov	r0, r20
-     a7e:	02 c0       	rjmp	.+4      	; 0xa84 <digital_input+0xb0>
-     a80:	22 0f       	add	r18, r18
-     a82:	33 1f       	adc	r19, r19
-     a84:	0a 94       	dec	r0
-     a86:	e2 f7       	brpl	.-8      	; 0xa80 <digital_input+0xac>
-     a88:	20 95       	com	r18
-     a8a:	28 23       	and	r18, r24
-     a8c:	21 bb       	out	0x11, r18	; 17
-     a8e:	80 b3       	in	r24, 0x10	; 16
-     a90:	26 c0       	rjmp	.+76     	; 0xade <digital_input+0x10a>
-     a92:	82 b1       	in	r24, 0x02	; 2
-     a94:	21 e0       	ldi	r18, 0x01	; 1
-     a96:	30 e0       	ldi	r19, 0x00	; 0
-     a98:	04 2e       	mov	r0, r20
-     a9a:	02 c0       	rjmp	.+4      	; 0xaa0 <digital_input+0xcc>
-     a9c:	22 0f       	add	r18, r18
-     a9e:	33 1f       	adc	r19, r19
-     aa0:	0a 94       	dec	r0
-     aa2:	e2 f7       	brpl	.-8      	; 0xa9c <digital_input+0xc8>
-     aa4:	20 95       	com	r18
-     aa6:	28 23       	and	r18, r24
-     aa8:	22 b9       	out	0x02, r18	; 2
-     aaa:	81 b1       	in	r24, 0x01	; 1
-     aac:	18 c0       	rjmp	.+48     	; 0xade <digital_input+0x10a>
-     aae:	44 30       	cpi	r20, 0x04	; 4
-     ab0:	51 05       	cpc	r21, r1
-     ab2:	34 f0       	brlt	.+12     	; 0xac0 <digital_input+0xec>
-     ab4:	84 b7       	in	r24, 0x34	; 52
-     ab6:	80 68       	ori	r24, 0x80	; 128
-     ab8:	84 bf       	out	0x34, r24	; 52
-     aba:	84 b7       	in	r24, 0x34	; 52
-     abc:	80 68       	ori	r24, 0x80	; 128
-     abe:	84 bf       	out	0x34, r24	; 52
-     ac0:	80 91 61 00 	lds	r24, 0x0061
-     ac4:	21 e0       	ldi	r18, 0x01	; 1
-     ac6:	30 e0       	ldi	r19, 0x00	; 0
-     ac8:	04 2e       	mov	r0, r20
-     aca:	02 c0       	rjmp	.+4      	; 0xad0 <digital_input+0xfc>
-     acc:	22 0f       	add	r18, r18
-     ace:	33 1f       	adc	r19, r19
-     ad0:	0a 94       	dec	r0
-     ad2:	e2 f7       	brpl	.-8      	; 0xacc <digital_input+0xf8>
-     ad4:	20 95       	com	r18
-     ad6:	28 23       	and	r18, r24
-     ad8:	20 93 61 00 	sts	0x0061, r18
-     adc:	80 b1       	in	r24, 0x00	; 0
-     ade:	99 27       	eor	r25, r25
-     ae0:	02 c0       	rjmp	.+4      	; 0xae6 <digital_input+0x112>
-     ae2:	95 95       	asr	r25
-     ae4:	87 95       	ror	r24
-     ae6:	4a 95       	dec	r20
-     ae8:	e2 f7       	brpl	.-8      	; 0xae2 <digital_input+0x10e>
-     aea:	81 70       	andi	r24, 0x01	; 1
-     aec:	90 70       	andi	r25, 0x00	; 0
-     aee:	08 95       	ret
-     af0:	80 91 64 00 	lds	r24, 0x0064
-     af4:	21 e0       	ldi	r18, 0x01	; 1
-     af6:	30 e0       	ldi	r19, 0x00	; 0
-     af8:	04 2e       	mov	r0, r20
-     afa:	02 c0       	rjmp	.+4      	; 0xb00 <digital_input+0x12c>
-     afc:	22 0f       	add	r18, r18
-     afe:	33 1f       	adc	r19, r19
-     b00:	0a 94       	dec	r0
-     b02:	e2 f7       	brpl	.-8      	; 0xafc <digital_input+0x128>
-     b04:	20 95       	com	r18
-     b06:	28 23       	and	r18, r24
-     b08:	20 93 64 00 	sts	0x0064, r18
-     b0c:	80 91 63 00 	lds	r24, 0x0063
-     b10:	99 27       	eor	r25, r25
-     b12:	02 c0       	rjmp	.+4      	; 0xb18 <digital_input+0x144>
-     b14:	95 95       	asr	r25
-     b16:	87 95       	ror	r24
-     b18:	4a 95       	dec	r20
-     b1a:	e2 f7       	brpl	.-8      	; 0xb14 <digital_input+0x140>
-     b1c:	81 70       	andi	r24, 0x01	; 1
-     b1e:	90 70       	andi	r25, 0x00	; 0
-     b20:	08 95       	ret
-
-00000b22 <digital_pull_up>:
-     b22:	ac 01       	movw	r20, r24
-     b24:	47 70       	andi	r20, 0x07	; 7
-     b26:	50 70       	andi	r21, 0x00	; 0
-     b28:	9c 01       	movw	r18, r24
-     b2a:	93 e0       	ldi	r25, 0x03	; 3
-     b2c:	35 95       	asr	r19
-     b2e:	27 95       	ror	r18
-     b30:	9a 95       	dec	r25
-     b32:	e1 f7       	brne	.-8      	; 0xb2c <digital_pull_up+0xa>
-     b34:	24 30       	cpi	r18, 0x04	; 4
-     b36:	31 05       	cpc	r19, r1
-     b38:	c9 f1       	breq	.+114    	; 0xbac <digital_pull_up+0x8a>
-     b3a:	25 30       	cpi	r18, 0x05	; 5
-     b3c:	31 05       	cpc	r19, r1
-     b3e:	5c f4       	brge	.+22     	; 0xb56 <digital_pull_up+0x34>
-     b40:	22 30       	cpi	r18, 0x02	; 2
-     b42:	31 05       	cpc	r19, r1
-     b44:	e9 f0       	breq	.+58     	; 0xb80 <digital_pull_up+0x5e>
-     b46:	23 30       	cpi	r18, 0x03	; 3
-     b48:	31 05       	cpc	r19, r1
-     b4a:	2c f5       	brge	.+74     	; 0xb96 <digital_pull_up+0x74>
-     b4c:	21 30       	cpi	r18, 0x01	; 1
-     b4e:	31 05       	cpc	r19, r1
-     b50:	09 f0       	breq	.+2      	; 0xb54 <digital_pull_up+0x32>
-     b52:	5b c0       	rjmp	.+182    	; 0xc0a <digital_pull_up+0xe8>
-     b54:	0c c0       	rjmp	.+24     	; 0xb6e <digital_pull_up+0x4c>
-     b56:	26 30       	cpi	r18, 0x06	; 6
-     b58:	31 05       	cpc	r19, r1
-     b5a:	09 f4       	brne	.+2      	; 0xb5e <digital_pull_up+0x3c>
-     b5c:	3d c0       	rjmp	.+122    	; 0xbd8 <digital_pull_up+0xb6>
-     b5e:	26 30       	cpi	r18, 0x06	; 6
-     b60:	31 05       	cpc	r19, r1
-     b62:	7c f1       	brlt	.+94     	; 0xbc2 <digital_pull_up+0xa0>
-     b64:	27 30       	cpi	r18, 0x07	; 7
-     b66:	31 05       	cpc	r19, r1
-     b68:	09 f0       	breq	.+2      	; 0xb6c <digital_pull_up+0x4a>
-     b6a:	4f c0       	rjmp	.+158    	; 0xc0a <digital_pull_up+0xe8>
-     b6c:	42 c0       	rjmp	.+132    	; 0xbf2 <digital_pull_up+0xd0>
-     b6e:	8b b3       	in	r24, 0x1b	; 27
-     b70:	02 c0       	rjmp	.+4      	; 0xb76 <digital_pull_up+0x54>
-     b72:	22 0f       	add	r18, r18
-     b74:	33 1f       	adc	r19, r19
-     b76:	4a 95       	dec	r20
-     b78:	e2 f7       	brpl	.-8      	; 0xb72 <digital_pull_up+0x50>
-     b7a:	82 2b       	or	r24, r18
-     b7c:	8b bb       	out	0x1b, r24	; 27
-     b7e:	08 95       	ret
-     b80:	28 b3       	in	r18, 0x18	; 24
-     b82:	81 e0       	ldi	r24, 0x01	; 1
-     b84:	90 e0       	ldi	r25, 0x00	; 0
-     b86:	02 c0       	rjmp	.+4      	; 0xb8c <digital_pull_up+0x6a>
-     b88:	88 0f       	add	r24, r24
-     b8a:	99 1f       	adc	r25, r25
-     b8c:	4a 95       	dec	r20
-     b8e:	e2 f7       	brpl	.-8      	; 0xb88 <digital_pull_up+0x66>
-     b90:	28 2b       	or	r18, r24
-     b92:	28 bb       	out	0x18, r18	; 24
-     b94:	08 95       	ret
-     b96:	25 b3       	in	r18, 0x15	; 21
-     b98:	81 e0       	ldi	r24, 0x01	; 1
-     b9a:	90 e0       	ldi	r25, 0x00	; 0
-     b9c:	02 c0       	rjmp	.+4      	; 0xba2 <digital_pull_up+0x80>
-     b9e:	88 0f       	add	r24, r24
-     ba0:	99 1f       	adc	r25, r25
-     ba2:	4a 95       	dec	r20
-     ba4:	e2 f7       	brpl	.-8      	; 0xb9e <digital_pull_up+0x7c>
-     ba6:	28 2b       	or	r18, r24
-     ba8:	25 bb       	out	0x15, r18	; 21
-     baa:	08 95       	ret
-     bac:	22 b3       	in	r18, 0x12	; 18
-     bae:	81 e0       	ldi	r24, 0x01	; 1
-     bb0:	90 e0       	ldi	r25, 0x00	; 0
-     bb2:	02 c0       	rjmp	.+4      	; 0xbb8 <digital_pull_up+0x96>
-     bb4:	88 0f       	add	r24, r24
-     bb6:	99 1f       	adc	r25, r25
-     bb8:	4a 95       	dec	r20
-     bba:	e2 f7       	brpl	.-8      	; 0xbb4 <digital_pull_up+0x92>
-     bbc:	28 2b       	or	r18, r24
-     bbe:	22 bb       	out	0x12, r18	; 18
-     bc0:	08 95       	ret
-     bc2:	23 b1       	in	r18, 0x03	; 3
-     bc4:	81 e0       	ldi	r24, 0x01	; 1
-     bc6:	90 e0       	ldi	r25, 0x00	; 0
-     bc8:	02 c0       	rjmp	.+4      	; 0xbce <digital_pull_up+0xac>
-     bca:	88 0f       	add	r24, r24
-     bcc:	99 1f       	adc	r25, r25
-     bce:	4a 95       	dec	r20
-     bd0:	e2 f7       	brpl	.-8      	; 0xbca <digital_pull_up+0xa8>
-     bd2:	28 2b       	or	r18, r24
-     bd4:	23 b9       	out	0x03, r18	; 3
-     bd6:	08 95       	ret
-     bd8:	20 91 62 00 	lds	r18, 0x0062
-     bdc:	81 e0       	ldi	r24, 0x01	; 1
-     bde:	90 e0       	ldi	r25, 0x00	; 0
-     be0:	02 c0       	rjmp	.+4      	; 0xbe6 <digital_pull_up+0xc4>
-     be2:	88 0f       	add	r24, r24
-     be4:	99 1f       	adc	r25, r25
-     be6:	4a 95       	dec	r20
-     be8:	e2 f7       	brpl	.-8      	; 0xbe2 <digital_pull_up+0xc0>
-     bea:	28 2b       	or	r18, r24
-     bec:	20 93 62 00 	sts	0x0062, r18
-     bf0:	08 95       	ret
-     bf2:	20 91 65 00 	lds	r18, 0x0065
-     bf6:	81 e0       	ldi	r24, 0x01	; 1
-     bf8:	90 e0       	ldi	r25, 0x00	; 0
-     bfa:	02 c0       	rjmp	.+4      	; 0xc00 <digital_pull_up+0xde>
-     bfc:	88 0f       	add	r24, r24
-     bfe:	99 1f       	adc	r25, r25
-     c00:	4a 95       	dec	r20
-     c02:	e2 f7       	brpl	.-8      	; 0xbfc <digital_pull_up+0xda>
-     c04:	28 2b       	or	r18, r24
-     c06:	20 93 65 00 	sts	0x0065, r18
-     c0a:	08 95       	ret
-
-00000c0c <digital_output>:
-     c0c:	ac 01       	movw	r20, r24
-     c0e:	47 70       	andi	r20, 0x07	; 7
-     c10:	50 70       	andi	r21, 0x00	; 0
-     c12:	9c 01       	movw	r18, r24
-     c14:	53 e0       	ldi	r21, 0x03	; 3
-     c16:	35 95       	asr	r19
-     c18:	27 95       	ror	r18
-     c1a:	5a 95       	dec	r21
-     c1c:	e1 f7       	brne	.-8      	; 0xc16 <digital_output+0xa>
-     c1e:	67 2b       	or	r22, r23
-     c20:	09 f0       	breq	.+2      	; 0xc24 <digital_output+0x18>
-     c22:	88 c0       	rjmp	.+272    	; 0xd34 <digital_output+0x128>
-     c24:	24 30       	cpi	r18, 0x04	; 4
-     c26:	31 05       	cpc	r19, r1
-     c28:	09 f4       	brne	.+2      	; 0xc2c <digital_output+0x20>
-     c2a:	44 c0       	rjmp	.+136    	; 0xcb4 <digital_output+0xa8>
-     c2c:	25 30       	cpi	r18, 0x05	; 5
-     c2e:	31 05       	cpc	r19, r1
-     c30:	5c f4       	brge	.+22     	; 0xc48 <digital_output+0x3c>
-     c32:	22 30       	cpi	r18, 0x02	; 2
-     c34:	31 05       	cpc	r19, r1
-     c36:	11 f1       	breq	.+68     	; 0xc7c <digital_output+0x70>
-     c38:	23 30       	cpi	r18, 0x03	; 3
-     c3a:	31 05       	cpc	r19, r1
-     c3c:	6c f5       	brge	.+90     	; 0xc98 <digital_output+0x8c>
-     c3e:	21 30       	cpi	r18, 0x01	; 1
-     c40:	31 05       	cpc	r19, r1
-     c42:	09 f0       	breq	.+2      	; 0xc46 <digital_output+0x3a>
-     c44:	fe c0       	rjmp	.+508    	; 0xe42 <digital_output+0x236>
-     c46:	0d c0       	rjmp	.+26     	; 0xc62 <digital_output+0x56>
-     c48:	26 30       	cpi	r18, 0x06	; 6
-     c4a:	31 05       	cpc	r19, r1
-     c4c:	09 f4       	brne	.+2      	; 0xc50 <digital_output+0x44>
-     c4e:	4e c0       	rjmp	.+156    	; 0xcec <digital_output+0xe0>
-     c50:	26 30       	cpi	r18, 0x06	; 6
-     c52:	31 05       	cpc	r19, r1
-     c54:	0c f4       	brge	.+2      	; 0xc58 <digital_output+0x4c>
-     c56:	3c c0       	rjmp	.+120    	; 0xcd0 <digital_output+0xc4>
-     c58:	27 30       	cpi	r18, 0x07	; 7
-     c5a:	31 05       	cpc	r19, r1
-     c5c:	09 f0       	breq	.+2      	; 0xc60 <digital_output+0x54>
-     c5e:	f1 c0       	rjmp	.+482    	; 0xe42 <digital_output+0x236>
-     c60:	56 c0       	rjmp	.+172    	; 0xd0e <digital_output+0x102>
-     c62:	8a b3       	in	r24, 0x1a	; 26
-     c64:	02 c0       	rjmp	.+4      	; 0xc6a <digital_output+0x5e>
-     c66:	22 0f       	add	r18, r18
-     c68:	33 1f       	adc	r19, r19
-     c6a:	4a 95       	dec	r20
-     c6c:	e2 f7       	brpl	.-8      	; 0xc66 <digital_output+0x5a>
-     c6e:	82 2b       	or	r24, r18
-     c70:	8a bb       	out	0x1a, r24	; 26
-     c72:	8b b3       	in	r24, 0x1b	; 27
-     c74:	20 95       	com	r18
-     c76:	28 23       	and	r18, r24
-     c78:	2b bb       	out	0x1b, r18	; 27
-     c7a:	08 95       	ret
-     c7c:	87 b3       	in	r24, 0x17	; 23
-     c7e:	21 e0       	ldi	r18, 0x01	; 1
-     c80:	30 e0       	ldi	r19, 0x00	; 0
-     c82:	02 c0       	rjmp	.+4      	; 0xc88 <digital_output+0x7c>
-     c84:	22 0f       	add	r18, r18
-     c86:	33 1f       	adc	r19, r19
-     c88:	4a 95       	dec	r20
-     c8a:	e2 f7       	brpl	.-8      	; 0xc84 <digital_output+0x78>
-     c8c:	82 2b       	or	r24, r18
-     c8e:	87 bb       	out	0x17, r24	; 23
-     c90:	88 b3       	in	r24, 0x18	; 24
-     c92:	20 95       	com	r18
-     c94:	28 23       	and	r18, r24
-     c96:	86 c0       	rjmp	.+268    	; 0xda4 <digital_output+0x198>
-     c98:	84 b3       	in	r24, 0x14	; 20
-     c9a:	21 e0       	ldi	r18, 0x01	; 1
-     c9c:	30 e0       	ldi	r19, 0x00	; 0
-     c9e:	02 c0       	rjmp	.+4      	; 0xca4 <digital_output+0x98>
-     ca0:	22 0f       	add	r18, r18
-     ca2:	33 1f       	adc	r19, r19
-     ca4:	4a 95       	dec	r20
-     ca6:	e2 f7       	brpl	.-8      	; 0xca0 <digital_output+0x94>
-     ca8:	82 2b       	or	r24, r18
-     caa:	84 bb       	out	0x14, r24	; 20
-     cac:	85 b3       	in	r24, 0x15	; 21
-     cae:	20 95       	com	r18
-     cb0:	28 23       	and	r18, r24
-     cb2:	86 c0       	rjmp	.+268    	; 0xdc0 <digital_output+0x1b4>
-     cb4:	81 b3       	in	r24, 0x11	; 17
-     cb6:	21 e0       	ldi	r18, 0x01	; 1
-     cb8:	30 e0       	ldi	r19, 0x00	; 0
-     cba:	02 c0       	rjmp	.+4      	; 0xcc0 <digital_output+0xb4>
-     cbc:	22 0f       	add	r18, r18
-     cbe:	33 1f       	adc	r19, r19
-     cc0:	4a 95       	dec	r20
-     cc2:	e2 f7       	brpl	.-8      	; 0xcbc <digital_output+0xb0>
-     cc4:	82 2b       	or	r24, r18
-     cc6:	81 bb       	out	0x11, r24	; 17
-     cc8:	82 b3       	in	r24, 0x12	; 18
-     cca:	20 95       	com	r18
-     ccc:	28 23       	and	r18, r24
-     cce:	86 c0       	rjmp	.+268    	; 0xddc <digital_output+0x1d0>
-     cd0:	82 b1       	in	r24, 0x02	; 2
-     cd2:	21 e0       	ldi	r18, 0x01	; 1
-     cd4:	30 e0       	ldi	r19, 0x00	; 0
-     cd6:	02 c0       	rjmp	.+4      	; 0xcdc <digital_output+0xd0>
-     cd8:	22 0f       	add	r18, r18
-     cda:	33 1f       	adc	r19, r19
-     cdc:	4a 95       	dec	r20
-     cde:	e2 f7       	brpl	.-8      	; 0xcd8 <digital_output+0xcc>
-     ce0:	82 2b       	or	r24, r18
-     ce2:	82 b9       	out	0x02, r24	; 2
-     ce4:	83 b1       	in	r24, 0x03	; 3
-     ce6:	20 95       	com	r18
-     ce8:	28 23       	and	r18, r24
-     cea:	86 c0       	rjmp	.+268    	; 0xdf8 <digital_output+0x1ec>
-     cec:	80 91 61 00 	lds	r24, 0x0061
-     cf0:	21 e0       	ldi	r18, 0x01	; 1
-     cf2:	30 e0       	ldi	r19, 0x00	; 0
-     cf4:	02 c0       	rjmp	.+4      	; 0xcfa <digital_output+0xee>
-     cf6:	22 0f       	add	r18, r18
-     cf8:	33 1f       	adc	r19, r19
-     cfa:	4a 95       	dec	r20
-     cfc:	e2 f7       	brpl	.-8      	; 0xcf6 <digital_output+0xea>
-     cfe:	82 2b       	or	r24, r18
-     d00:	80 93 61 00 	sts	0x0061, r24
-     d04:	80 91 62 00 	lds	r24, 0x0062
-     d08:	20 95       	com	r18
-     d0a:	28 23       	and	r18, r24
-     d0c:	86 c0       	rjmp	.+268    	; 0xe1a <digital_output+0x20e>
-     d0e:	80 91 64 00 	lds	r24, 0x0064
-     d12:	21 e0       	ldi	r18, 0x01	; 1
-     d14:	30 e0       	ldi	r19, 0x00	; 0
-     d16:	02 c0       	rjmp	.+4      	; 0xd1c <digital_output+0x110>
-     d18:	22 0f       	add	r18, r18
-     d1a:	33 1f       	adc	r19, r19
-     d1c:	4a 95       	dec	r20
-     d1e:	e2 f7       	brpl	.-8      	; 0xd18 <digital_output+0x10c>
-     d20:	82 2b       	or	r24, r18
-     d22:	80 93 64 00 	sts	0x0064, r24
-     d26:	80 91 65 00 	lds	r24, 0x0065
-     d2a:	20 95       	com	r18
-     d2c:	28 23       	and	r18, r24
-     d2e:	20 93 65 00 	sts	0x0065, r18
-     d32:	08 95       	ret
-     d34:	24 30       	cpi	r18, 0x04	; 4
-     d36:	31 05       	cpc	r19, r1
-     d38:	09 f4       	brne	.+2      	; 0xd3c <digital_output+0x130>
-     d3a:	44 c0       	rjmp	.+136    	; 0xdc4 <digital_output+0x1b8>
-     d3c:	25 30       	cpi	r18, 0x05	; 5
-     d3e:	31 05       	cpc	r19, r1
-     d40:	5c f4       	brge	.+22     	; 0xd58 <digital_output+0x14c>
-     d42:	22 30       	cpi	r18, 0x02	; 2
-     d44:	31 05       	cpc	r19, r1
-     d46:	11 f1       	breq	.+68     	; 0xd8c <digital_output+0x180>
-     d48:	23 30       	cpi	r18, 0x03	; 3
-     d4a:	31 05       	cpc	r19, r1
-     d4c:	6c f5       	brge	.+90     	; 0xda8 <digital_output+0x19c>
-     d4e:	21 30       	cpi	r18, 0x01	; 1
-     d50:	31 05       	cpc	r19, r1
-     d52:	09 f0       	breq	.+2      	; 0xd56 <digital_output+0x14a>
-     d54:	76 c0       	rjmp	.+236    	; 0xe42 <digital_output+0x236>
-     d56:	0d c0       	rjmp	.+26     	; 0xd72 <digital_output+0x166>
-     d58:	26 30       	cpi	r18, 0x06	; 6
-     d5a:	31 05       	cpc	r19, r1
-     d5c:	09 f4       	brne	.+2      	; 0xd60 <digital_output+0x154>
-     d5e:	4e c0       	rjmp	.+156    	; 0xdfc <digital_output+0x1f0>
-     d60:	26 30       	cpi	r18, 0x06	; 6
-     d62:	31 05       	cpc	r19, r1
-     d64:	0c f4       	brge	.+2      	; 0xd68 <digital_output+0x15c>
-     d66:	3c c0       	rjmp	.+120    	; 0xde0 <digital_output+0x1d4>
-     d68:	27 30       	cpi	r18, 0x07	; 7
-     d6a:	31 05       	cpc	r19, r1
-     d6c:	09 f0       	breq	.+2      	; 0xd70 <digital_output+0x164>
-     d6e:	69 c0       	rjmp	.+210    	; 0xe42 <digital_output+0x236>
-     d70:	57 c0       	rjmp	.+174    	; 0xe20 <digital_output+0x214>
-     d72:	8a b3       	in	r24, 0x1a	; 26
-     d74:	02 c0       	rjmp	.+4      	; 0xd7a <digital_output+0x16e>
-     d76:	22 0f       	add	r18, r18
-     d78:	33 1f       	adc	r19, r19
-     d7a:	4a 95       	dec	r20
-     d7c:	e2 f7       	brpl	.-8      	; 0xd76 <digital_output+0x16a>
-     d7e:	92 2f       	mov	r25, r18
-     d80:	82 2b       	or	r24, r18
-     d82:	8a bb       	out	0x1a, r24	; 26
-     d84:	8b b3       	in	r24, 0x1b	; 27
-     d86:	98 2b       	or	r25, r24
-     d88:	9b bb       	out	0x1b, r25	; 27
-     d8a:	08 95       	ret
-     d8c:	87 b3       	in	r24, 0x17	; 23
-     d8e:	21 e0       	ldi	r18, 0x01	; 1
-     d90:	30 e0       	ldi	r19, 0x00	; 0
-     d92:	02 c0       	rjmp	.+4      	; 0xd98 <digital_output+0x18c>
-     d94:	22 0f       	add	r18, r18
-     d96:	33 1f       	adc	r19, r19
-     d98:	4a 95       	dec	r20
-     d9a:	e2 f7       	brpl	.-8      	; 0xd94 <digital_output+0x188>
-     d9c:	82 2b       	or	r24, r18
-     d9e:	87 bb       	out	0x17, r24	; 23
-     da0:	88 b3       	in	r24, 0x18	; 24
-     da2:	28 2b       	or	r18, r24
-     da4:	28 bb       	out	0x18, r18	; 24
-     da6:	08 95       	ret
-     da8:	84 b3       	in	r24, 0x14	; 20
-     daa:	21 e0       	ldi	r18, 0x01	; 1
-     dac:	30 e0       	ldi	r19, 0x00	; 0
-     dae:	02 c0       	rjmp	.+4      	; 0xdb4 <digital_output+0x1a8>
-     db0:	22 0f       	add	r18, r18
-     db2:	33 1f       	adc	r19, r19
-     db4:	4a 95       	dec	r20
-     db6:	e2 f7       	brpl	.-8      	; 0xdb0 <digital_output+0x1a4>
-     db8:	82 2b       	or	r24, r18
-     dba:	84 bb       	out	0x14, r24	; 20
-     dbc:	85 b3       	in	r24, 0x15	; 21
-     dbe:	28 2b       	or	r18, r24
-     dc0:	25 bb       	out	0x15, r18	; 21
-     dc2:	08 95       	ret
-     dc4:	81 b3       	in	r24, 0x11	; 17
-     dc6:	21 e0       	ldi	r18, 0x01	; 1
-     dc8:	30 e0       	ldi	r19, 0x00	; 0
-     dca:	02 c0       	rjmp	.+4      	; 0xdd0 <digital_output+0x1c4>
-     dcc:	22 0f       	add	r18, r18
-     dce:	33 1f       	adc	r19, r19
-     dd0:	4a 95       	dec	r20
-     dd2:	e2 f7       	brpl	.-8      	; 0xdcc <digital_output+0x1c0>
-     dd4:	82 2b       	or	r24, r18
-     dd6:	81 bb       	out	0x11, r24	; 17
-     dd8:	82 b3       	in	r24, 0x12	; 18
-     dda:	28 2b       	or	r18, r24
-     ddc:	22 bb       	out	0x12, r18	; 18
-     dde:	08 95       	ret
-     de0:	82 b1       	in	r24, 0x02	; 2
-     de2:	21 e0       	ldi	r18, 0x01	; 1
-     de4:	30 e0       	ldi	r19, 0x00	; 0
-     de6:	02 c0       	rjmp	.+4      	; 0xdec <digital_output+0x1e0>
-     de8:	22 0f       	add	r18, r18
-     dea:	33 1f       	adc	r19, r19
-     dec:	4a 95       	dec	r20
-     dee:	e2 f7       	brpl	.-8      	; 0xde8 <digital_output+0x1dc>
-     df0:	82 2b       	or	r24, r18
-     df2:	82 b9       	out	0x02, r24	; 2
-     df4:	83 b1       	in	r24, 0x03	; 3
-     df6:	28 2b       	or	r18, r24
-     df8:	23 b9       	out	0x03, r18	; 3
-     dfa:	08 95       	ret
-     dfc:	80 91 61 00 	lds	r24, 0x0061
-     e00:	21 e0       	ldi	r18, 0x01	; 1
-     e02:	30 e0       	ldi	r19, 0x00	; 0
-     e04:	02 c0       	rjmp	.+4      	; 0xe0a <digital_output+0x1fe>
-     e06:	22 0f       	add	r18, r18
-     e08:	33 1f       	adc	r19, r19
-     e0a:	4a 95       	dec	r20
-     e0c:	e2 f7       	brpl	.-8      	; 0xe06 <digital_output+0x1fa>
-     e0e:	82 2b       	or	r24, r18
-     e10:	80 93 61 00 	sts	0x0061, r24
-     e14:	80 91 62 00 	lds	r24, 0x0062
-     e18:	28 2b       	or	r18, r24
-     e1a:	20 93 62 00 	sts	0x0062, r18
-     e1e:	08 95       	ret
-     e20:	80 91 64 00 	lds	r24, 0x0064
-     e24:	21 e0       	ldi	r18, 0x01	; 1
-     e26:	30 e0       	ldi	r19, 0x00	; 0
-     e28:	02 c0       	rjmp	.+4      	; 0xe2e <digital_output+0x222>
-     e2a:	22 0f       	add	r18, r18
-     e2c:	33 1f       	adc	r19, r19
-     e2e:	4a 95       	dec	r20
-     e30:	e2 f7       	brpl	.-8      	; 0xe2a <digital_output+0x21e>
-     e32:	82 2b       	or	r24, r18
-     e34:	80 93 64 00 	sts	0x0064, r24
-     e38:	80 91 65 00 	lds	r24, 0x0065
-     e3c:	28 2b       	or	r18, r24
-     e3e:	20 93 65 00 	sts	0x0065, r18
-     e42:	08 95       	ret
-
-00000e44 <button1_read>:
-     e44:	e4 e6       	ldi	r30, 0x64	; 100
-     e46:	f0 e0       	ldi	r31, 0x00	; 0
-     e48:	80 81       	ld	r24, Z
-     e4a:	8e 7f       	andi	r24, 0xFE	; 254
-     e4c:	80 83       	st	Z, r24
-     e4e:	e5 e6       	ldi	r30, 0x65	; 101
-     e50:	f0 e0       	ldi	r31, 0x00	; 0
-     e52:	80 81       	ld	r24, Z
-     e54:	81 60       	ori	r24, 0x01	; 1
-     e56:	80 83       	st	Z, r24
-     e58:	80 91 63 00 	lds	r24, 0x0063
-     e5c:	99 27       	eor	r25, r25
-     e5e:	80 95       	com	r24
-     e60:	90 95       	com	r25
-     e62:	81 70       	andi	r24, 0x01	; 1
-     e64:	90 70       	andi	r25, 0x00	; 0
-     e66:	08 95       	ret
-
-00000e68 <button1_click>:
-     e68:	0e 94 22 07 	call	0xe44	; 0xe44 <button1_read>
-     e6c:	89 2b       	or	r24, r25
-     e6e:	19 f4       	brne	.+6      	; 0xe76 <button1_click+0xe>
-     e70:	80 e0       	ldi	r24, 0x00	; 0
-     e72:	90 e0       	ldi	r25, 0x00	; 0
-     e74:	08 95       	ret
-     e76:	0e 94 22 07 	call	0xe44	; 0xe44 <button1_read>
-     e7a:	89 2b       	or	r24, r25
-     e7c:	e1 f7       	brne	.-8      	; 0xe76 <button1_click+0xe>
-     e7e:	81 e0       	ldi	r24, 0x01	; 1
-     e80:	90 e0       	ldi	r25, 0x00	; 0
-     e82:	08 95       	ret
-
-00000e84 <button2_read>:
-     e84:	e4 e6       	ldi	r30, 0x64	; 100
-     e86:	f0 e0       	ldi	r31, 0x00	; 0
-     e88:	80 81       	ld	r24, Z
-     e8a:	8d 7f       	andi	r24, 0xFD	; 253
-     e8c:	80 83       	st	Z, r24
-     e8e:	e5 e6       	ldi	r30, 0x65	; 101
-     e90:	f0 e0       	ldi	r31, 0x00	; 0
-     e92:	80 81       	ld	r24, Z
-     e94:	82 60       	ori	r24, 0x02	; 2
-     e96:	80 83       	st	Z, r24
-     e98:	80 91 63 00 	lds	r24, 0x0063
-     e9c:	99 27       	eor	r25, r25
-     e9e:	96 95       	lsr	r25
-     ea0:	87 95       	ror	r24
-     ea2:	80 95       	com	r24
-     ea4:	90 95       	com	r25
-     ea6:	81 70       	andi	r24, 0x01	; 1
-     ea8:	90 70       	andi	r25, 0x00	; 0
-     eaa:	08 95       	ret
-
-00000eac <button2_click>:
-     eac:	0e 94 42 07 	call	0xe84	; 0xe84 <button2_read>
-     eb0:	89 2b       	or	r24, r25
-     eb2:	19 f4       	brne	.+6      	; 0xeba <button2_click+0xe>
-     eb4:	80 e0       	ldi	r24, 0x00	; 0
-     eb6:	90 e0       	ldi	r25, 0x00	; 0
-     eb8:	08 95       	ret
-     eba:	0e 94 42 07 	call	0xe84	; 0xe84 <button2_read>
-     ebe:	89 2b       	or	r24, r25
-     ec0:	e1 f7       	brne	.-8      	; 0xeba <button2_click+0xe>
-     ec2:	81 e0       	ldi	r24, 0x01	; 1
-     ec4:	90 e0       	ldi	r25, 0x00	; 0
-     ec6:	08 95       	ret
-
-00000ec8 <button2_wait>:
-     ec8:	04 c0       	rjmp	.+8      	; 0xed2 <button2_wait+0xa>
-     eca:	8f e0       	ldi	r24, 0x0F	; 15
-     ecc:	90 e0       	ldi	r25, 0x00	; 0
-     ece:	0e 94 9b 12 	call	0x2536	; 0x2536 <delay_ms>
-     ed2:	0e 94 42 07 	call	0xe84	; 0xe84 <button2_read>
-     ed6:	89 2b       	or	r24, r25
-     ed8:	c1 f3       	breq	.-16     	; 0xeca <button2_wait+0x2>
-     eda:	08 95       	ret
-
-00000edc <button1_wait>:
-     edc:	04 c0       	rjmp	.+8      	; 0xee6 <button1_wait+0xa>
-     ede:	8f e0       	ldi	r24, 0x0F	; 15
-     ee0:	90 e0       	ldi	r25, 0x00	; 0
-     ee2:	0e 94 9b 12 	call	0x2536	; 0x2536 <delay_ms>
-     ee6:	0e 94 22 07 	call	0xe44	; 0xe44 <button1_read>
-     eea:	89 2b       	or	r24, r25
-     eec:	c1 f3       	breq	.-16     	; 0xede <button1_wait+0x2>
-     eee:	08 95       	ret
-
-00000ef0 <flash_red>:
-     ef0:	ff 92       	push	r15
-     ef2:	0f 93       	push	r16
-     ef4:	1f 93       	push	r17
-     ef6:	f8 94       	cli
-     ef8:	f4 b2       	in	r15, 0x14	; 20
-     efa:	05 b3       	in	r16, 0x15	; 21
-     efc:	87 e7       	ldi	r24, 0x77	; 119
-     efe:	84 bb       	out	0x14, r24	; 20
-     f00:	10 e0       	ldi	r17, 0x00	; 0
-     f02:	87 e7       	ldi	r24, 0x77	; 119
-     f04:	85 bb       	out	0x15, r24	; 21
-     f06:	8c e2       	ldi	r24, 0x2C	; 44
-     f08:	91 e0       	ldi	r25, 0x01	; 1
-     f0a:	0e 94 9b 12 	call	0x2536	; 0x2536 <delay_ms>
-     f0e:	86 e6       	ldi	r24, 0x66	; 102
-     f10:	85 bb       	out	0x15, r24	; 21
-     f12:	8c e2       	ldi	r24, 0x2C	; 44
-     f14:	91 e0       	ldi	r25, 0x01	; 1
-     f16:	0e 94 9b 12 	call	0x2536	; 0x2536 <delay_ms>
-     f1a:	1f 5f       	subi	r17, 0xFF	; 255
-     f1c:	13 30       	cpi	r17, 0x03	; 3
-     f1e:	89 f7       	brne	.-30     	; 0xf02 <flash_red+0x12>
-     f20:	f4 ba       	out	0x14, r15	; 20
-     f22:	05 bb       	out	0x15, r16	; 21
-     f24:	78 94       	sei
-     f26:	1f 91       	pop	r17
-     f28:	0f 91       	pop	r16
-     f2a:	ff 90       	pop	r15
-     f2c:	08 95       	ret
-
-00000f2e <dragonfly_init>:
-     f2e:	cf 93       	push	r28
-     f30:	df 93       	push	r29
-     f32:	ec 01       	movw	r28, r24
-     f34:	78 94       	sei
-     f36:	80 91 64 00 	lds	r24, 0x0064
-     f3a:	8c 7f       	andi	r24, 0xFC	; 252
-     f3c:	80 93 64 00 	sts	0x0064, r24
-     f40:	80 91 65 00 	lds	r24, 0x0065
-     f44:	83 60       	ori	r24, 0x03	; 3
-     f46:	80 93 65 00 	sts	0x0065, r24
-     f4a:	c0 ff       	sbrs	r28, 0
-     f4c:	04 c0       	rjmp	.+8      	; 0xf56 <dragonfly_init+0x28>
-     f4e:	81 e0       	ldi	r24, 0x01	; 1
-     f50:	90 e0       	ldi	r25, 0x00	; 0
-     f52:	0e 94 a0 13 	call	0x2740	; 0x2740 <analog_init>
-     f56:	c1 ff       	sbrs	r28, 1
-     f58:	04 c0       	rjmp	.+8      	; 0xf62 <dragonfly_init+0x34>
-     f5a:	0e 94 01 11 	call	0x2202	; 0x2202 <usb_init>
-     f5e:	0e 94 0f 11 	call	0x221e	; 0x221e <xbee_init>
-     f62:	c6 ff       	sbrs	r28, 6
-     f64:	03 c0       	rjmp	.+6      	; 0xf6c <dragonfly_init+0x3e>
-     f66:	78 94       	sei
-     f68:	0e 94 cf 15 	call	0x2b9e	; 0x2b9e <buzzer_init>
-     f6c:	c2 ff       	sbrs	r28, 2
-     f6e:	03 c0       	rjmp	.+6      	; 0xf76 <dragonfly_init+0x48>
-     f70:	78 94       	sei
-     f72:	0e 94 96 10 	call	0x212c	; 0x212c <orb_init>
-     f76:	c3 ff       	sbrs	r28, 3
-     f78:	02 c0       	rjmp	.+4      	; 0xf7e <dragonfly_init+0x50>
-     f7a:	0e 94 99 10 	call	0x2132	; 0x2132 <motors_init>
-     f7e:	c7 ff       	sbrs	r28, 7
-     f80:	02 c0       	rjmp	.+4      	; 0xf86 <dragonfly_init+0x58>
-     f82:	0e 94 25 0c 	call	0x184a	; 0x184a <lcd_init>
-     f86:	d0 ff       	sbrs	r29, 0
-     f88:	02 c0       	rjmp	.+4      	; 0xf8e <dragonfly_init+0x60>
-     f8a:	0e 94 fa 10 	call	0x21f4	; 0x21f4 <range_init>
-     f8e:	d1 ff       	sbrs	r29, 1
-     f90:	09 c0       	rjmp	.+18     	; 0xfa4 <dragonfly_init+0x76>
-     f92:	0e 94 21 08 	call	0x1042	; 0x1042 <get_bom_type>
-     f96:	8f 3f       	cpi	r24, 0xFF	; 255
-     f98:	19 f4       	brne	.+6      	; 0xfa0 <dragonfly_init+0x72>
-     f9a:	0e 94 78 07 	call	0xef0	; 0xef0 <flash_red>
-     f9e:	02 c0       	rjmp	.+4      	; 0xfa4 <dragonfly_init+0x76>
-     fa0:	0e 94 f6 14 	call	0x29ec	; 0x29ec <bom_init>
-     fa4:	80 ea       	ldi	r24, 0xA0	; 160
-     fa6:	9f e0       	ldi	r25, 0x0F	; 15
-     fa8:	01 97       	sbiw	r24, 0x01	; 1
-     faa:	f1 f7       	brne	.-4      	; 0xfa8 <dragonfly_init+0x7a>
-     fac:	df 91       	pop	r29
-     fae:	cf 91       	pop	r28
-     fb0:	08 95       	ret
-
-00000fb2 <eeprom_put_byte>:
-     fb2:	e1 99       	sbic	0x1c, 1	; 28
-     fb4:	fe cf       	rjmp	.-4      	; 0xfb2 <eeprom_put_byte>
-     fb6:	9f bb       	out	0x1f, r25	; 31
-     fb8:	8e bb       	out	0x1e, r24	; 30
-     fba:	6d bb       	out	0x1d, r22	; 29
-     fbc:	e2 9a       	sbi	0x1c, 2	; 28
-     fbe:	e1 9a       	sbi	0x1c, 1	; 28
-     fc0:	80 e0       	ldi	r24, 0x00	; 0
-     fc2:	90 e0       	ldi	r25, 0x00	; 0
-     fc4:	08 95       	ret
-
-00000fc6 <eeprom_get_byte>:
-     fc6:	fb 01       	movw	r30, r22
-     fc8:	e1 99       	sbic	0x1c, 1	; 28
-     fca:	fe cf       	rjmp	.-4      	; 0xfc8 <eeprom_get_byte+0x2>
-     fcc:	9f bb       	out	0x1f, r25	; 31
-     fce:	8e bb       	out	0x1e, r24	; 30
-     fd0:	e0 9a       	sbi	0x1c, 0	; 28
-     fd2:	8d b3       	in	r24, 0x1d	; 29
-     fd4:	80 83       	st	Z, r24
-     fd6:	80 e0       	ldi	r24, 0x00	; 0
-     fd8:	90 e0       	ldi	r25, 0x00	; 0
-     fda:	08 95       	ret
-
-00000fdc <get_robotid>:
-     fdc:	cf 93       	push	r28
-     fde:	df 93       	push	r29
-     fe0:	cd b7       	in	r28, 0x3d	; 61
-     fe2:	de b7       	in	r29, 0x3e	; 62
-     fe4:	23 97       	sbiw	r28, 0x03	; 3
-     fe6:	0f b6       	in	r0, 0x3f	; 63
-     fe8:	f8 94       	cli
-     fea:	de bf       	out	0x3e, r29	; 62
-     fec:	0f be       	out	0x3f, r0	; 63
-     fee:	cd bf       	out	0x3d, r28	; 61
-     ff0:	be 01       	movw	r22, r28
-     ff2:	6f 5f       	subi	r22, 0xFF	; 255
-     ff4:	7f 4f       	sbci	r23, 0xFF	; 255
-     ff6:	80 e1       	ldi	r24, 0x10	; 16
-     ff8:	90 e0       	ldi	r25, 0x00	; 0
-     ffa:	0e 94 e3 07 	call	0xfc6	; 0xfc6 <eeprom_get_byte>
-     ffe:	be 01       	movw	r22, r28
-    1000:	6e 5f       	subi	r22, 0xFE	; 254
-    1002:	7f 4f       	sbci	r23, 0xFF	; 255
-    1004:	81 e1       	ldi	r24, 0x11	; 17
-    1006:	90 e0       	ldi	r25, 0x00	; 0
-    1008:	0e 94 e3 07 	call	0xfc6	; 0xfc6 <eeprom_get_byte>
-    100c:	be 01       	movw	r22, r28
-    100e:	6d 5f       	subi	r22, 0xFD	; 253
-    1010:	7f 4f       	sbci	r23, 0xFF	; 255
-    1012:	82 e1       	ldi	r24, 0x12	; 18
-    1014:	90 e0       	ldi	r25, 0x00	; 0
-    1016:	0e 94 e3 07 	call	0xfc6	; 0xfc6 <eeprom_get_byte>
-    101a:	89 81       	ldd	r24, Y+1	; 0x01
-    101c:	89 34       	cpi	r24, 0x49	; 73
-    101e:	31 f4       	brne	.+12     	; 0x102c <get_robotid+0x50>
-    1020:	8a 81       	ldd	r24, Y+2	; 0x02
-    1022:	84 34       	cpi	r24, 0x44	; 68
-    1024:	19 f4       	brne	.+6      	; 0x102c <get_robotid+0x50>
-    1026:	8b 81       	ldd	r24, Y+3	; 0x03
-    1028:	99 27       	eor	r25, r25
-    102a:	02 c0       	rjmp	.+4      	; 0x1030 <get_robotid+0x54>
-    102c:	8f ef       	ldi	r24, 0xFF	; 255
-    102e:	90 e0       	ldi	r25, 0x00	; 0
-    1030:	23 96       	adiw	r28, 0x03	; 3
-    1032:	0f b6       	in	r0, 0x3f	; 63
-    1034:	f8 94       	cli
-    1036:	de bf       	out	0x3e, r29	; 62
-    1038:	0f be       	out	0x3f, r0	; 63
-    103a:	cd bf       	out	0x3d, r28	; 61
-    103c:	df 91       	pop	r29
-    103e:	cf 91       	pop	r28
-    1040:	08 95       	ret
-
-00001042 <get_bom_type>:
-    1042:	cf 93       	push	r28
-    1044:	df 93       	push	r29
-    1046:	cd b7       	in	r28, 0x3d	; 61
-    1048:	de b7       	in	r29, 0x3e	; 62
-    104a:	24 97       	sbiw	r28, 0x04	; 4
-    104c:	0f b6       	in	r0, 0x3f	; 63
-    104e:	f8 94       	cli
-    1050:	de bf       	out	0x3e, r29	; 62
-    1052:	0f be       	out	0x3f, r0	; 63
-    1054:	cd bf       	out	0x3d, r28	; 61
-    1056:	be 01       	movw	r22, r28
-    1058:	6f 5f       	subi	r22, 0xFF	; 255
-    105a:	7f 4f       	sbci	r23, 0xFF	; 255
-    105c:	84 e1       	ldi	r24, 0x14	; 20
-    105e:	90 e0       	ldi	r25, 0x00	; 0
-    1060:	0e 94 e3 07 	call	0xfc6	; 0xfc6 <eeprom_get_byte>
-    1064:	be 01       	movw	r22, r28
-    1066:	6e 5f       	subi	r22, 0xFE	; 254
-    1068:	7f 4f       	sbci	r23, 0xFF	; 255
-    106a:	85 e1       	ldi	r24, 0x15	; 21
-    106c:	90 e0       	ldi	r25, 0x00	; 0
-    106e:	0e 94 e3 07 	call	0xfc6	; 0xfc6 <eeprom_get_byte>
-    1072:	be 01       	movw	r22, r28
-    1074:	6d 5f       	subi	r22, 0xFD	; 253
-    1076:	7f 4f       	sbci	r23, 0xFF	; 255
-    1078:	86 e1       	ldi	r24, 0x16	; 22
-    107a:	90 e0       	ldi	r25, 0x00	; 0
-    107c:	0e 94 e3 07 	call	0xfc6	; 0xfc6 <eeprom_get_byte>
-    1080:	be 01       	movw	r22, r28
-    1082:	6c 5f       	subi	r22, 0xFC	; 252
-    1084:	7f 4f       	sbci	r23, 0xFF	; 255
-    1086:	87 e1       	ldi	r24, 0x17	; 23
-    1088:	90 e0       	ldi	r25, 0x00	; 0
-    108a:	0e 94 e3 07 	call	0xfc6	; 0xfc6 <eeprom_get_byte>
-    108e:	89 81       	ldd	r24, Y+1	; 0x01
-    1090:	82 34       	cpi	r24, 0x42	; 66
-    1092:	49 f4       	brne	.+18     	; 0x10a6 <get_bom_type+0x64>
-    1094:	8a 81       	ldd	r24, Y+2	; 0x02
-    1096:	8f 34       	cpi	r24, 0x4F	; 79
-    1098:	31 f4       	brne	.+12     	; 0x10a6 <get_bom_type+0x64>
-    109a:	8b 81       	ldd	r24, Y+3	; 0x03
-    109c:	8d 34       	cpi	r24, 0x4D	; 77
-    109e:	19 f4       	brne	.+6      	; 0x10a6 <get_bom_type+0x64>
-    10a0:	8c 81       	ldd	r24, Y+4	; 0x04
-    10a2:	99 27       	eor	r25, r25
-    10a4:	02 c0       	rjmp	.+4      	; 0x10aa <get_bom_type+0x68>
-    10a6:	8f ef       	ldi	r24, 0xFF	; 255
-    10a8:	90 e0       	ldi	r25, 0x00	; 0
-    10aa:	24 96       	adiw	r28, 0x04	; 4
-    10ac:	0f b6       	in	r0, 0x3f	; 63
-    10ae:	f8 94       	cli
-    10b0:	de bf       	out	0x3e, r29	; 62
-    10b2:	0f be       	out	0x3f, r0	; 63
-    10b4:	cd bf       	out	0x3d, r28	; 61
-    10b6:	df 91       	pop	r29
-    10b8:	cf 91       	pop	r28
-    10ba:	08 95       	ret
-
-000010bc <encoder_read>:
-    10bc:	88 23       	and	r24, r24
-    10be:	29 f4       	brne	.+10     	; 0x10ca <encoder_read+0xe>
-    10c0:	80 91 7a 05 	lds	r24, 0x057A
-    10c4:	90 91 7b 05 	lds	r25, 0x057B
-    10c8:	08 95       	ret
-    10ca:	81 30       	cpi	r24, 0x01	; 1
-    10cc:	19 f0       	breq	.+6      	; 0x10d4 <encoder_read+0x18>
-    10ce:	8f ef       	ldi	r24, 0xFF	; 255
-    10d0:	9f ef       	ldi	r25, 0xFF	; 255
-    10d2:	08 95       	ret
-    10d4:	80 91 af 04 	lds	r24, 0x04AF
-    10d8:	90 91 b0 04 	lds	r25, 0x04B0
-    10dc:	08 95       	ret
-
-000010de <encoder_get_dx>:
-    10de:	88 23       	and	r24, r24
-    10e0:	29 f4       	brne	.+10     	; 0x10ec <encoder_get_dx+0xe>
-    10e2:	80 91 74 05 	lds	r24, 0x0574
-    10e6:	90 91 75 05 	lds	r25, 0x0575
-    10ea:	08 95       	ret
-    10ec:	81 30       	cpi	r24, 0x01	; 1
-    10ee:	19 f0       	breq	.+6      	; 0x10f6 <encoder_get_dx+0x18>
-    10f0:	8f ef       	ldi	r24, 0xFF	; 255
-    10f2:	9f ef       	ldi	r25, 0xFF	; 255
-    10f4:	08 95       	ret
-    10f6:	80 91 11 05 	lds	r24, 0x0511
-    10fa:	90 91 12 05 	lds	r25, 0x0512
-    10fe:	08 95       	ret
-
-00001100 <encoder_rst_dx>:
-    1100:	88 23       	and	r24, r24
-    1102:	29 f4       	brne	.+10     	; 0x110e <encoder_rst_dx+0xe>
-    1104:	10 92 75 05 	sts	0x0575, r1
-    1108:	10 92 74 05 	sts	0x0574, r1
-    110c:	08 95       	ret
-    110e:	81 30       	cpi	r24, 0x01	; 1
-    1110:	21 f4       	brne	.+8      	; 0x111a <encoder_rst_dx+0x1a>
-    1112:	10 92 12 05 	sts	0x0512, r1
-    1116:	10 92 11 05 	sts	0x0511, r1
-    111a:	08 95       	ret
-
-0000111c <encoder_get_tc>:
-    111c:	80 91 13 05 	lds	r24, 0x0513
-    1120:	90 91 14 05 	lds	r25, 0x0514
-    1124:	08 95       	ret
-
-00001126 <encoder_rst_tc>:
-    1126:	10 92 13 05 	sts	0x0513, r1
-    112a:	10 92 14 05 	sts	0x0514, r1
-    112e:	10 92 15 05 	sts	0x0515, r1
-    1132:	10 92 16 05 	sts	0x0516, r1
-    1136:	08 95       	ret
-
-00001138 <encoder_wait>:
-    1138:	9c 01       	movw	r18, r24
-    113a:	80 91 ad 04 	lds	r24, 0x04AD
-    113e:	90 91 ae 04 	lds	r25, 0x04AE
-    1142:	82 17       	cp	r24, r18
-    1144:	93 07       	cpc	r25, r19
-    1146:	cc f3       	brlt	.-14     	; 0x113a <encoder_wait+0x2>
-    1148:	10 92 ae 04 	sts	0x04AE, r1
-    114c:	10 92 ad 04 	sts	0x04AD, r1
-    1150:	08 95       	ret
-
-00001152 <left_data_array_put>:
-    1152:	20 91 0f 05 	lds	r18, 0x050F
-    1156:	30 91 10 05 	lds	r19, 0x0510
-    115a:	2d 32       	cpi	r18, 0x2D	; 45
-    115c:	31 05       	cpc	r19, r1
-    115e:	29 f4       	brne	.+10     	; 0x116a <left_data_array_put+0x18>
-    1160:	10 92 10 05 	sts	0x0510, r1
-    1164:	10 92 0f 05 	sts	0x050F, r1
-    1168:	06 c0       	rjmp	.+12     	; 0x1176 <left_data_array_put+0x24>
-    116a:	2f 5f       	subi	r18, 0xFF	; 255
-    116c:	3f 4f       	sbci	r19, 0xFF	; 255
-    116e:	30 93 10 05 	sts	0x0510, r19
-    1172:	20 93 0f 05 	sts	0x050F, r18
-    1176:	e0 91 0f 05 	lds	r30, 0x050F
-    117a:	f0 91 10 05 	lds	r31, 0x0510
-    117e:	ee 0f       	add	r30, r30
-    1180:	ff 1f       	adc	r31, r31
-    1182:	ed 54       	subi	r30, 0x4D	; 77
-    1184:	fb 4f       	sbci	r31, 0xFB	; 251
-    1186:	91 83       	std	Z+1, r25	; 0x01
-    1188:	80 83       	st	Z, r24
-    118a:	08 95       	ret
-
-0000118c <left_data_array_top>:
-    118c:	e0 91 0f 05 	lds	r30, 0x050F
-    1190:	f0 91 10 05 	lds	r31, 0x0510
-    1194:	ee 0f       	add	r30, r30
-    1196:	ff 1f       	adc	r31, r31
-    1198:	ed 54       	subi	r30, 0x4D	; 77
-    119a:	fb 4f       	sbci	r31, 0xFB	; 251
-    119c:	80 81       	ld	r24, Z
-    119e:	91 81       	ldd	r25, Z+1	; 0x01
-    11a0:	08 95       	ret
-
-000011a2 <left_data_array_prev>:
-    11a2:	e0 91 0f 05 	lds	r30, 0x050F
-    11a6:	f0 91 10 05 	lds	r31, 0x0510
-    11aa:	30 97       	sbiw	r30, 0x00	; 0
-    11ac:	29 f4       	brne	.+10     	; 0x11b8 <left_data_array_prev+0x16>
-    11ae:	80 91 0d 05 	lds	r24, 0x050D
-    11b2:	90 91 0e 05 	lds	r25, 0x050E
-    11b6:	08 95       	ret
-    11b8:	ee 0f       	add	r30, r30
-    11ba:	ff 1f       	adc	r31, r31
-    11bc:	ef 54       	subi	r30, 0x4F	; 79
-    11be:	fb 4f       	sbci	r31, 0xFB	; 251
-    11c0:	80 81       	ld	r24, Z
-    11c2:	91 81       	ldd	r25, Z+1	; 0x01
-    11c4:	08 95       	ret
-
-000011c6 <left_data_array_bottom>:
-    11c6:	e0 91 0f 05 	lds	r30, 0x050F
-    11ca:	f0 91 10 05 	lds	r31, 0x0510
-    11ce:	ed 32       	cpi	r30, 0x2D	; 45
-    11d0:	f1 05       	cpc	r31, r1
-    11d2:	29 f4       	brne	.+10     	; 0x11de <left_data_array_bottom+0x18>
-    11d4:	80 91 b3 04 	lds	r24, 0x04B3
-    11d8:	90 91 b4 04 	lds	r25, 0x04B4
-    11dc:	08 95       	ret
-    11de:	ee 0f       	add	r30, r30
-    11e0:	ff 1f       	adc	r31, r31
-    11e2:	eb 54       	subi	r30, 0x4B	; 75
-    11e4:	fb 4f       	sbci	r31, 0xFB	; 251
-    11e6:	80 81       	ld	r24, Z
-    11e8:	91 81       	ldd	r25, Z+1	; 0x01
-    11ea:	08 95       	ret
-
-000011ec <right_data_array_put>:
-    11ec:	20 91 76 05 	lds	r18, 0x0576
-    11f0:	30 91 77 05 	lds	r19, 0x0577
-    11f4:	2d 32       	cpi	r18, 0x2D	; 45
-    11f6:	31 05       	cpc	r19, r1
-    11f8:	29 f4       	brne	.+10     	; 0x1204 <right_data_array_put+0x18>
-    11fa:	10 92 77 05 	sts	0x0577, r1
-    11fe:	10 92 76 05 	sts	0x0576, r1
-    1202:	06 c0       	rjmp	.+12     	; 0x1210 <right_data_array_put+0x24>
-    1204:	2f 5f       	subi	r18, 0xFF	; 255
-    1206:	3f 4f       	sbci	r19, 0xFF	; 255
-    1208:	30 93 77 05 	sts	0x0577, r19
-    120c:	20 93 76 05 	sts	0x0576, r18
-    1210:	e0 91 76 05 	lds	r30, 0x0576
-    1214:	f0 91 77 05 	lds	r31, 0x0577
-    1218:	ee 0f       	add	r30, r30
-    121a:	ff 1f       	adc	r31, r31
-    121c:	e8 5e       	subi	r30, 0xE8	; 232
-    121e:	fa 4f       	sbci	r31, 0xFA	; 250
-    1220:	91 83       	std	Z+1, r25	; 0x01
-    1222:	80 83       	st	Z, r24
-    1224:	08 95       	ret
-
-00001226 <right_data_array_top>:
-    1226:	e0 91 76 05 	lds	r30, 0x0576
-    122a:	f0 91 77 05 	lds	r31, 0x0577
-    122e:	ee 0f       	add	r30, r30
-    1230:	ff 1f       	adc	r31, r31
-    1232:	e8 5e       	subi	r30, 0xE8	; 232
-    1234:	fa 4f       	sbci	r31, 0xFA	; 250
-    1236:	80 81       	ld	r24, Z
-    1238:	91 81       	ldd	r25, Z+1	; 0x01
-    123a:	08 95       	ret
-
-0000123c <right_data_array_prev>:
-    123c:	e0 91 76 05 	lds	r30, 0x0576
-    1240:	f0 91 77 05 	lds	r31, 0x0577
-    1244:	30 97       	sbiw	r30, 0x00	; 0
-    1246:	29 f4       	brne	.+10     	; 0x1252 <right_data_array_prev+0x16>
-    1248:	80 91 72 05 	lds	r24, 0x0572
-    124c:	90 91 73 05 	lds	r25, 0x0573
-    1250:	08 95       	ret
-    1252:	ee 0f       	add	r30, r30
-    1254:	ff 1f       	adc	r31, r31
-    1256:	ea 5e       	subi	r30, 0xEA	; 234
-    1258:	fa 4f       	sbci	r31, 0xFA	; 250
-    125a:	80 81       	ld	r24, Z
-    125c:	91 81       	ldd	r25, Z+1	; 0x01
-    125e:	08 95       	ret
-
-00001260 <right_data_array_bottom>:
-    1260:	e0 91 76 05 	lds	r30, 0x0576
-    1264:	f0 91 77 05 	lds	r31, 0x0577
-    1268:	ed 32       	cpi	r30, 0x2D	; 45
-    126a:	f1 05       	cpc	r31, r1
-    126c:	29 f4       	brne	.+10     	; 0x1278 <right_data_array_bottom+0x18>
-    126e:	80 91 18 05 	lds	r24, 0x0518
-    1272:	90 91 19 05 	lds	r25, 0x0519
-    1276:	08 95       	ret
-    1278:	ee 0f       	add	r30, r30
-    127a:	ff 1f       	adc	r31, r31
-    127c:	e6 5e       	subi	r30, 0xE6	; 230
-    127e:	fa 4f       	sbci	r31, 0xFA	; 250
-    1280:	80 81       	ld	r24, Z
-    1282:	91 81       	ldd	r25, Z+1	; 0x01
-    1284:	08 95       	ret
-
-00001286 <left_data_at>:
-    1286:	e0 91 0f 05 	lds	r30, 0x050F
-    128a:	f0 91 10 05 	lds	r31, 0x0510
-    128e:	e8 1b       	sub	r30, r24
-    1290:	f9 0b       	sbc	r31, r25
-    1292:	f7 fd       	sbrc	r31, 7
-    1294:	be 96       	adiw	r30, 0x2e	; 46
-    1296:	ee 0f       	add	r30, r30
-    1298:	ff 1f       	adc	r31, r31
-    129a:	ed 54       	subi	r30, 0x4D	; 77
-    129c:	fb 4f       	sbci	r31, 0xFB	; 251
-    129e:	80 81       	ld	r24, Z
-    12a0:	91 81       	ldd	r25, Z+1	; 0x01
-    12a2:	08 95       	ret
-
-000012a4 <right_data_at>:
-    12a4:	e0 91 76 05 	lds	r30, 0x0576
-    12a8:	f0 91 77 05 	lds	r31, 0x0577
-    12ac:	e8 1b       	sub	r30, r24
-    12ae:	f9 0b       	sbc	r31, r25
-    12b0:	f7 fd       	sbrc	r31, 7
-    12b2:	be 96       	adiw	r30, 0x2e	; 46
-    12b4:	ee 0f       	add	r30, r30
-    12b6:	ff 1f       	adc	r31, r31
-    12b8:	e8 5e       	subi	r30, 0xE8	; 232
-    12ba:	fa 4f       	sbci	r31, 0xFA	; 250
-    12bc:	80 81       	ld	r24, Z
-    12be:	91 81       	ldd	r25, Z+1	; 0x01
-    12c0:	08 95       	ret
-
-000012c2 <get_dx>:
-    12c2:	ff 92       	push	r15
-    12c4:	0f 93       	push	r16
-    12c6:	1f 93       	push	r17
-    12c8:	cf 93       	push	r28
-    12ca:	df 93       	push	r29
-    12cc:	f8 2e       	mov	r15, r24
-    12ce:	80 91 0f 05 	lds	r24, 0x050F
-    12d2:	90 91 10 05 	lds	r25, 0x0510
-    12d6:	20 91 76 05 	lds	r18, 0x0576
-    12da:	30 91 77 05 	lds	r19, 0x0577
-    12de:	86 97       	sbiw	r24, 0x26	; 38
-    12e0:	8c 01       	movw	r16, r24
-    12e2:	06 1b       	sub	r16, r22
-    12e4:	17 0b       	sbc	r17, r23
-    12e6:	dc 01       	movw	r26, r24
-    12e8:	96 96       	adiw	r26, 0x26	; 38
-    12ea:	a6 1b       	sub	r26, r22
-    12ec:	b7 0b       	sbc	r27, r23
-    12ee:	26 52       	subi	r18, 0x26	; 38
-    12f0:	30 40       	sbci	r19, 0x00	; 0
-    12f2:	e9 01       	movw	r28, r18
-    12f4:	c6 1b       	sub	r28, r22
-    12f6:	d7 0b       	sbc	r29, r23
-    12f8:	2a 5d       	subi	r18, 0xDA	; 218
-    12fa:	3f 4f       	sbci	r19, 0xFF	; 255
-    12fc:	26 1b       	sub	r18, r22
-    12fe:	37 0b       	sbc	r19, r23
-    1300:	60 e0       	ldi	r22, 0x00	; 0
-    1302:	70 e0       	ldi	r23, 0x00	; 0
-    1304:	ff 20       	and	r15, r15
-    1306:	99 f4       	brne	.+38     	; 0x132e <get_dx+0x6c>
-    1308:	fd 01       	movw	r30, r26
-    130a:	b7 fd       	sbrc	r27, 7
-    130c:	be 96       	adiw	r30, 0x2e	; 46
-    130e:	ee 0f       	add	r30, r30
-    1310:	ff 1f       	adc	r31, r31
-    1312:	ed 54       	subi	r30, 0x4D	; 77
-    1314:	fb 4f       	sbci	r31, 0xFB	; 251
-    1316:	40 81       	ld	r20, Z
-    1318:	51 81       	ldd	r21, Z+1	; 0x01
-    131a:	f8 01       	movw	r30, r16
-    131c:	17 ff       	sbrs	r17, 7
-    131e:	02 c0       	rjmp	.+4      	; 0x1324 <get_dx+0x62>
-    1320:	fd 01       	movw	r30, r26
-    1322:	38 96       	adiw	r30, 0x08	; 8
-    1324:	ee 0f       	add	r30, r30
-    1326:	ff 1f       	adc	r31, r31
-    1328:	ed 54       	subi	r30, 0x4D	; 77
-    132a:	fb 4f       	sbci	r31, 0xFB	; 251
-    132c:	12 c0       	rjmp	.+36     	; 0x1352 <get_dx+0x90>
-    132e:	f9 01       	movw	r30, r18
-    1330:	37 fd       	sbrc	r19, 7
-    1332:	be 96       	adiw	r30, 0x2e	; 46
-    1334:	ee 0f       	add	r30, r30
-    1336:	ff 1f       	adc	r31, r31
-    1338:	e8 5e       	subi	r30, 0xE8	; 232
-    133a:	fa 4f       	sbci	r31, 0xFA	; 250
-    133c:	40 81       	ld	r20, Z
-    133e:	51 81       	ldd	r21, Z+1	; 0x01
-    1340:	fe 01       	movw	r30, r28
-    1342:	d7 ff       	sbrs	r29, 7
-    1344:	02 c0       	rjmp	.+4      	; 0x134a <get_dx+0x88>
-    1346:	f9 01       	movw	r30, r18
-    1348:	38 96       	adiw	r30, 0x08	; 8
-    134a:	ee 0f       	add	r30, r30
-    134c:	ff 1f       	adc	r31, r31
-    134e:	e8 5e       	subi	r30, 0xE8	; 232
-    1350:	fa 4f       	sbci	r31, 0xFA	; 250
-    1352:	80 81       	ld	r24, Z
-    1354:	91 81       	ldd	r25, Z+1	; 0x01
-    1356:	48 1b       	sub	r20, r24
-    1358:	59 0b       	sbc	r21, r25
-    135a:	ca 01       	movw	r24, r20
-    135c:	4e 96       	adiw	r24, 0x1e	; 30
-    135e:	cd 97       	sbiw	r24, 0x3d	; 61
-    1360:	68 f0       	brcs	.+26     	; 0x137c <get_dx+0xba>
-    1362:	6f 5f       	subi	r22, 0xFF	; 255
-    1364:	7f 4f       	sbci	r23, 0xFF	; 255
-    1366:	01 50       	subi	r16, 0x01	; 1
-    1368:	10 40       	sbci	r17, 0x00	; 0
-    136a:	11 97       	sbiw	r26, 0x01	; 1
-    136c:	21 97       	sbiw	r28, 0x01	; 1
-    136e:	21 50       	subi	r18, 0x01	; 1
-    1370:	30 40       	sbci	r19, 0x00	; 0
-    1372:	63 30       	cpi	r22, 0x03	; 3
-    1374:	71 05       	cpc	r23, r1
-    1376:	31 f6       	brne	.-116    	; 0x1304 <get_dx+0x42>
-    1378:	40 e0       	ldi	r20, 0x00	; 0
-    137a:	54 e0       	ldi	r21, 0x04	; 4
-    137c:	ca 01       	movw	r24, r20
-    137e:	df 91       	pop	r29
-    1380:	cf 91       	pop	r28
-    1382:	1f 91       	pop	r17
-    1384:	0f 91       	pop	r16
-    1386:	ff 90       	pop	r15
-    1388:	08 95       	ret
-
-0000138a <encoder_get_v>:
-    138a:	1f 93       	push	r17
-    138c:	cf 93       	push	r28
-    138e:	df 93       	push	r29
-    1390:	18 2f       	mov	r17, r24
-    1392:	60 e0       	ldi	r22, 0x00	; 0
-    1394:	70 e0       	ldi	r23, 0x00	; 0
-    1396:	0e 94 61 09 	call	0x12c2	; 0x12c2 <get_dx>
-    139a:	ec 01       	movw	r28, r24
-    139c:	61 e0       	ldi	r22, 0x01	; 1
-    139e:	70 e0       	ldi	r23, 0x00	; 0
-    13a0:	81 2f       	mov	r24, r17
-    13a2:	0e 94 61 09 	call	0x12c2	; 0x12c2 <get_dx>
-    13a6:	24 e0       	ldi	r18, 0x04	; 4
-    13a8:	c0 30       	cpi	r28, 0x00	; 0
-    13aa:	d2 07       	cpc	r29, r18
-    13ac:	39 f4       	brne	.+14     	; 0x13bc <encoder_get_v+0x32>
-    13ae:	24 e0       	ldi	r18, 0x04	; 4
-    13b0:	80 30       	cpi	r24, 0x00	; 0
-    13b2:	92 07       	cpc	r25, r18
-    13b4:	41 f4       	brne	.+16     	; 0x13c6 <encoder_get_v+0x3c>
-    13b6:	80 e0       	ldi	r24, 0x00	; 0
-    13b8:	98 e0       	ldi	r25, 0x08	; 8
-    13ba:	0a c0       	rjmp	.+20     	; 0x13d0 <encoder_get_v+0x46>
-    13bc:	24 e0       	ldi	r18, 0x04	; 4
-    13be:	80 30       	cpi	r24, 0x00	; 0
-    13c0:	92 07       	cpc	r25, r18
-    13c2:	21 f4       	brne	.+8      	; 0x13cc <encoder_get_v+0x42>
-    13c4:	ce 01       	movw	r24, r28
-    13c6:	88 0f       	add	r24, r24
-    13c8:	99 1f       	adc	r25, r25
-    13ca:	02 c0       	rjmp	.+4      	; 0x13d0 <encoder_get_v+0x46>
-    13cc:	8c 0f       	add	r24, r28
-    13ce:	9d 1f       	adc	r25, r29
-    13d0:	df 91       	pop	r29
-    13d2:	cf 91       	pop	r28
-    13d4:	1f 91       	pop	r17
-    13d6:	08 95       	ret
-
-000013d8 <encoders_init>:
-    13d8:	10 92 ae 04 	sts	0x04AE, r1
-    13dc:	10 92 ad 04 	sts	0x04AD, r1
-    13e0:	66 e2       	ldi	r22, 0x26	; 38
-    13e2:	7a e0       	ldi	r23, 0x0A	; 10
-    13e4:	85 e3       	ldi	r24, 0x35	; 53
-    13e6:	9a e0       	ldi	r25, 0x0A	; 10
-    13e8:	0e 94 41 12 	call	0x2482	; 0x2482 <spi_init>
-    13ec:	10 92 17 05 	sts	0x0517, r1
-    13f0:	10 92 b2 04 	sts	0x04B2, r1
-    13f4:	10 92 b1 04 	sts	0x04B1, r1
-    13f8:	10 92 79 05 	sts	0x0579, r1
-    13fc:	10 92 78 05 	sts	0x0578, r1
-    1400:	8f ef       	ldi	r24, 0xFF	; 255
-    1402:	9f ef       	ldi	r25, 0xFF	; 255
-    1404:	90 93 7b 05 	sts	0x057B, r25
-    1408:	80 93 7a 05 	sts	0x057A, r24
-    140c:	90 93 b0 04 	sts	0x04B0, r25
-    1410:	80 93 af 04 	sts	0x04AF, r24
-    1414:	10 92 10 05 	sts	0x0510, r1
-    1418:	10 92 0f 05 	sts	0x050F, r1
-    141c:	10 92 77 05 	sts	0x0577, r1
-    1420:	10 92 76 05 	sts	0x0576, r1
-    1424:	e3 eb       	ldi	r30, 0xB3	; 179
-    1426:	f4 e0       	ldi	r31, 0x04	; 4
-    1428:	11 92       	st	Z+, r1
-    142a:	11 92       	st	Z+, r1
-    142c:	85 e0       	ldi	r24, 0x05	; 5
-    142e:	ef 30       	cpi	r30, 0x0F	; 15
-    1430:	f8 07       	cpc	r31, r24
-    1432:	d1 f7       	brne	.-12     	; 0x1428 <encoders_init+0x50>
-    1434:	e8 e1       	ldi	r30, 0x18	; 24
-    1436:	f5 e0       	ldi	r31, 0x05	; 5
-    1438:	11 92       	st	Z+, r1
-    143a:	11 92       	st	Z+, r1
-    143c:	85 e0       	ldi	r24, 0x05	; 5
-    143e:	e4 37       	cpi	r30, 0x74	; 116
-    1440:	f8 07       	cpc	r31, r24
-    1442:	d1 f7       	brne	.-12     	; 0x1438 <encoders_init+0x60>
-    1444:	85 e0       	ldi	r24, 0x05	; 5
-    1446:	0e 94 55 12 	call	0x24aa	; 0x24aa <spi_transfer>
-    144a:	08 95       	ret
-
-0000144c <encoder_recv_complete>:
-    144c:	10 92 17 05 	sts	0x0517, r1
-    1450:	80 91 ad 04 	lds	r24, 0x04AD
-    1454:	90 91 ae 04 	lds	r25, 0x04AE
-    1458:	01 96       	adiw	r24, 0x01	; 1
-    145a:	90 93 ae 04 	sts	0x04AE, r25
-    145e:	80 93 ad 04 	sts	0x04AD, r24
-    1462:	85 e0       	ldi	r24, 0x05	; 5
-    1464:	0e 94 55 12 	call	0x24aa	; 0x24aa <spi_transfer>
-    1468:	08 95       	ret
-
-0000146a <encoder_recv>:
-    146a:	40 91 17 05 	lds	r20, 0x0517
-    146e:	42 30       	cpi	r20, 0x02	; 2
-    1470:	f1 f0       	breq	.+60     	; 0x14ae <encoder_recv+0x44>
-    1472:	43 30       	cpi	r20, 0x03	; 3
-    1474:	28 f4       	brcc	.+10     	; 0x1480 <encoder_recv+0x16>
-    1476:	44 23       	and	r20, r20
-    1478:	41 f0       	breq	.+16     	; 0x148a <encoder_recv+0x20>
-    147a:	41 30       	cpi	r20, 0x01	; 1
-    147c:	91 f5       	brne	.+100    	; 0x14e2 <encoder_recv+0x78>
-    147e:	0a c0       	rjmp	.+20     	; 0x1494 <encoder_recv+0x2a>
-    1480:	43 30       	cpi	r20, 0x03	; 3
-    1482:	d9 f0       	breq	.+54     	; 0x14ba <encoder_recv+0x50>
-    1484:	44 30       	cpi	r20, 0x04	; 4
-    1486:	69 f5       	brne	.+90     	; 0x14e2 <encoder_recv+0x78>
-    1488:	1d c0       	rjmp	.+58     	; 0x14c4 <encoder_recv+0x5a>
-    148a:	28 2f       	mov	r18, r24
-    148c:	33 27       	eor	r19, r19
-    148e:	32 2f       	mov	r19, r18
-    1490:	22 27       	eor	r18, r18
-    1492:	02 c0       	rjmp	.+4      	; 0x1498 <encoder_recv+0x2e>
-    1494:	28 2f       	mov	r18, r24
-    1496:	33 27       	eor	r19, r19
-    1498:	80 91 78 05 	lds	r24, 0x0578
-    149c:	90 91 79 05 	lds	r25, 0x0579
-    14a0:	82 2b       	or	r24, r18
-    14a2:	93 2b       	or	r25, r19
-    14a4:	90 93 79 05 	sts	0x0579, r25
-    14a8:	80 93 78 05 	sts	0x0578, r24
-    14ac:	1a c0       	rjmp	.+52     	; 0x14e2 <encoder_recv+0x78>
-    14ae:	28 2f       	mov	r18, r24
-    14b0:	33 27       	eor	r19, r19
-    14b2:	32 2f       	mov	r19, r18
-    14b4:	22 27       	eor	r18, r18
-    14b6:	33 0f       	add	r19, r19
-    14b8:	0a c0       	rjmp	.+20     	; 0x14ce <encoder_recv+0x64>
-    14ba:	28 2f       	mov	r18, r24
-    14bc:	33 27       	eor	r19, r19
-    14be:	22 0f       	add	r18, r18
-    14c0:	33 1f       	adc	r19, r19
-    14c2:	05 c0       	rjmp	.+10     	; 0x14ce <encoder_recv+0x64>
-    14c4:	88 1f       	adc	r24, r24
-    14c6:	88 27       	eor	r24, r24
-    14c8:	88 1f       	adc	r24, r24
-    14ca:	28 2f       	mov	r18, r24
-    14cc:	33 27       	eor	r19, r19
-    14ce:	80 91 b1 04 	lds	r24, 0x04B1
-    14d2:	90 91 b2 04 	lds	r25, 0x04B2
-    14d6:	82 2b       	or	r24, r18
-    14d8:	93 2b       	or	r25, r19
-    14da:	90 93 b2 04 	sts	0x04B2, r25
-    14de:	80 93 b1 04 	sts	0x04B1, r24
-    14e2:	84 2f       	mov	r24, r20
-    14e4:	99 27       	eor	r25, r25
-    14e6:	01 96       	adiw	r24, 0x01	; 1
-    14e8:	65 e0       	ldi	r22, 0x05	; 5
-    14ea:	70 e0       	ldi	r23, 0x00	; 0
-    14ec:	0e 94 83 17 	call	0x2f06	; 0x2f06 <__divmodhi4>
-    14f0:	80 93 17 05 	sts	0x0517, r24
-    14f4:	88 23       	and	r24, r24
-    14f6:	09 f0       	breq	.+2      	; 0x14fa <encoder_recv+0x90>
-    14f8:	ed c0       	rjmp	.+474    	; 0x16d4 <encoder_recv+0x26a>
-    14fa:	20 91 b1 04 	lds	r18, 0x04B1
-    14fe:	30 91 b2 04 	lds	r19, 0x04B2
-    1502:	24 fd       	sbrc	r18, 4
-    1504:	06 c0       	rjmp	.+12     	; 0x1512 <encoder_recv+0xa8>
-    1506:	82 e0       	ldi	r24, 0x02	; 2
-    1508:	94 e0       	ldi	r25, 0x04	; 4
-    150a:	90 93 7b 05 	sts	0x057B, r25
-    150e:	80 93 7a 05 	sts	0x057A, r24
-    1512:	c9 01       	movw	r24, r18
-    1514:	8c 70       	andi	r24, 0x0C	; 12
-    1516:	90 70       	andi	r25, 0x00	; 0
-    1518:	89 2b       	or	r24, r25
-    151a:	19 f0       	breq	.+6      	; 0x1522 <encoder_recv+0xb8>
-    151c:	83 e0       	ldi	r24, 0x03	; 3
-    151e:	94 e0       	ldi	r25, 0x04	; 4
-    1520:	06 c0       	rjmp	.+12     	; 0x152e <encoder_recv+0xc4>
-    1522:	21 ff       	sbrs	r18, 1
-    1524:	09 c0       	rjmp	.+18     	; 0x1538 <encoder_recv+0xce>
-    1526:	20 ff       	sbrs	r18, 0
-    1528:	07 c0       	rjmp	.+14     	; 0x1538 <encoder_recv+0xce>
-    152a:	81 e0       	ldi	r24, 0x01	; 1
-    152c:	94 e0       	ldi	r25, 0x04	; 4
-    152e:	90 93 7b 05 	sts	0x057B, r25
-    1532:	80 93 7a 05 	sts	0x057A, r24
-    1536:	0a c0       	rjmp	.+20     	; 0x154c <encoder_recv+0xe2>
-    1538:	75 e0       	ldi	r23, 0x05	; 5
-    153a:	36 95       	lsr	r19
-    153c:	27 95       	ror	r18
-    153e:	7a 95       	dec	r23
-    1540:	e1 f7       	brne	.-8      	; 0x153a <encoder_recv+0xd0>
-    1542:	33 70       	andi	r19, 0x03	; 3
-    1544:	30 93 7b 05 	sts	0x057B, r19
-    1548:	20 93 7a 05 	sts	0x057A, r18
-    154c:	20 91 78 05 	lds	r18, 0x0578
-    1550:	30 91 79 05 	lds	r19, 0x0579
-    1554:	24 fd       	sbrc	r18, 4
-    1556:	06 c0       	rjmp	.+12     	; 0x1564 <encoder_recv+0xfa>
-    1558:	82 e0       	ldi	r24, 0x02	; 2
-    155a:	94 e0       	ldi	r25, 0x04	; 4
-    155c:	90 93 b0 04 	sts	0x04B0, r25
-    1560:	80 93 af 04 	sts	0x04AF, r24
-    1564:	c9 01       	movw	r24, r18
-    1566:	8c 70       	andi	r24, 0x0C	; 12
-    1568:	90 70       	andi	r25, 0x00	; 0
-    156a:	89 2b       	or	r24, r25
-    156c:	19 f0       	breq	.+6      	; 0x1574 <encoder_recv+0x10a>
-    156e:	83 e0       	ldi	r24, 0x03	; 3
-    1570:	94 e0       	ldi	r25, 0x04	; 4
-    1572:	06 c0       	rjmp	.+12     	; 0x1580 <encoder_recv+0x116>
-    1574:	21 ff       	sbrs	r18, 1
-    1576:	09 c0       	rjmp	.+18     	; 0x158a <encoder_recv+0x120>
-    1578:	20 ff       	sbrs	r18, 0
-    157a:	07 c0       	rjmp	.+14     	; 0x158a <encoder_recv+0x120>
-    157c:	81 e0       	ldi	r24, 0x01	; 1
-    157e:	94 e0       	ldi	r25, 0x04	; 4
-    1580:	90 93 b0 04 	sts	0x04B0, r25
-    1584:	80 93 af 04 	sts	0x04AF, r24
-    1588:	0a c0       	rjmp	.+20     	; 0x159e <encoder_recv+0x134>
-    158a:	65 e0       	ldi	r22, 0x05	; 5
-    158c:	36 95       	lsr	r19
-    158e:	27 95       	ror	r18
-    1590:	6a 95       	dec	r22
-    1592:	e1 f7       	brne	.-8      	; 0x158c <encoder_recv+0x122>
-    1594:	33 70       	andi	r19, 0x03	; 3
-    1596:	30 93 b0 04 	sts	0x04B0, r19
-    159a:	20 93 af 04 	sts	0x04AF, r18
-    159e:	10 92 b2 04 	sts	0x04B2, r1
-    15a2:	10 92 b1 04 	sts	0x04B1, r1
-    15a6:	10 92 79 05 	sts	0x0579, r1
-    15aa:	10 92 78 05 	sts	0x0578, r1
-    15ae:	20 91 7a 05 	lds	r18, 0x057A
-    15b2:	30 91 7b 05 	lds	r19, 0x057B
-    15b6:	84 e0       	ldi	r24, 0x04	; 4
-    15b8:	20 30       	cpi	r18, 0x00	; 0
-    15ba:	38 07       	cpc	r19, r24
-    15bc:	08 f0       	brcs	.+2      	; 0x15c0 <encoder_recv+0x156>
-    15be:	45 c0       	rjmp	.+138    	; 0x164a <encoder_recv+0x1e0>
-    15c0:	8f ef       	ldi	r24, 0xFF	; 255
-    15c2:	93 e0       	ldi	r25, 0x03	; 3
-    15c4:	82 1b       	sub	r24, r18
-    15c6:	93 0b       	sbc	r25, r19
-    15c8:	90 93 7b 05 	sts	0x057B, r25
-    15cc:	80 93 7a 05 	sts	0x057A, r24
-    15d0:	0e 94 a9 08 	call	0x1152	; 0x1152 <left_data_array_put>
-    15d4:	20 91 7a 05 	lds	r18, 0x057A
-    15d8:	30 91 7b 05 	lds	r19, 0x057B
-    15dc:	e0 91 0f 05 	lds	r30, 0x050F
-    15e0:	f0 91 10 05 	lds	r31, 0x0510
-    15e4:	30 97       	sbiw	r30, 0x00	; 0
-    15e6:	29 f4       	brne	.+10     	; 0x15f2 <encoder_recv+0x188>
-    15e8:	80 91 0d 05 	lds	r24, 0x050D
-    15ec:	90 91 0e 05 	lds	r25, 0x050E
-    15f0:	06 c0       	rjmp	.+12     	; 0x15fe <encoder_recv+0x194>
-    15f2:	ee 0f       	add	r30, r30
-    15f4:	ff 1f       	adc	r31, r31
-    15f6:	ef 54       	subi	r30, 0x4F	; 79
-    15f8:	fb 4f       	sbci	r31, 0xFB	; 251
-    15fa:	80 81       	ld	r24, Z
-    15fc:	91 81       	ldd	r25, Z+1	; 0x01
-    15fe:	00 97       	sbiw	r24, 0x00	; 0
-    1600:	c1 f0       	breq	.+48     	; 0x1632 <encoder_recv+0x1c8>
-    1602:	28 1b       	sub	r18, r24
-    1604:	39 0b       	sbc	r19, r25
-    1606:	82 e0       	ldi	r24, 0x02	; 2
-    1608:	21 30       	cpi	r18, 0x01	; 1
-    160a:	38 07       	cpc	r19, r24
-    160c:	3c f0       	brlt	.+14     	; 0x161c <encoder_recv+0x1b2>
-    160e:	80 91 74 05 	lds	r24, 0x0574
-    1612:	90 91 75 05 	lds	r25, 0x0575
-    1616:	8f 5f       	subi	r24, 0xFF	; 255
-    1618:	93 40       	sbci	r25, 0x03	; 3
-    161a:	11 c0       	rjmp	.+34     	; 0x163e <encoder_recv+0x1d4>
-    161c:	8e ef       	ldi	r24, 0xFE	; 254
-    161e:	20 30       	cpi	r18, 0x00	; 0
-    1620:	38 07       	cpc	r19, r24
-    1622:	4c f4       	brge	.+18     	; 0x1636 <encoder_recv+0x1cc>
-    1624:	80 91 74 05 	lds	r24, 0x0574
-    1628:	90 91 75 05 	lds	r25, 0x0575
-    162c:	81 50       	subi	r24, 0x01	; 1
-    162e:	9c 4f       	sbci	r25, 0xFC	; 252
-    1630:	06 c0       	rjmp	.+12     	; 0x163e <encoder_recv+0x1d4>
-    1632:	20 e0       	ldi	r18, 0x00	; 0
-    1634:	30 e0       	ldi	r19, 0x00	; 0
-    1636:	80 91 74 05 	lds	r24, 0x0574
-    163a:	90 91 75 05 	lds	r25, 0x0575
-    163e:	82 0f       	add	r24, r18
-    1640:	93 1f       	adc	r25, r19
-    1642:	90 93 75 05 	sts	0x0575, r25
-    1646:	80 93 74 05 	sts	0x0574, r24
-    164a:	80 91 af 04 	lds	r24, 0x04AF
-    164e:	90 91 b0 04 	lds	r25, 0x04B0
-    1652:	24 e0       	ldi	r18, 0x04	; 4
-    1654:	80 30       	cpi	r24, 0x00	; 0
-    1656:	92 07       	cpc	r25, r18
-    1658:	e8 f5       	brcc	.+122    	; 0x16d4 <encoder_recv+0x26a>
-    165a:	0e 94 f6 08 	call	0x11ec	; 0x11ec <right_data_array_put>
-    165e:	20 91 af 04 	lds	r18, 0x04AF
-    1662:	30 91 b0 04 	lds	r19, 0x04B0
-    1666:	e0 91 76 05 	lds	r30, 0x0576
-    166a:	f0 91 77 05 	lds	r31, 0x0577
-    166e:	30 97       	sbiw	r30, 0x00	; 0
-    1670:	29 f4       	brne	.+10     	; 0x167c <encoder_recv+0x212>
-    1672:	80 91 72 05 	lds	r24, 0x0572
-    1676:	90 91 73 05 	lds	r25, 0x0573
-    167a:	06 c0       	rjmp	.+12     	; 0x1688 <encoder_recv+0x21e>
-    167c:	ee 0f       	add	r30, r30
-    167e:	ff 1f       	adc	r31, r31
-    1680:	ea 5e       	subi	r30, 0xEA	; 234
-    1682:	fa 4f       	sbci	r31, 0xFA	; 250
-    1684:	80 81       	ld	r24, Z
-    1686:	91 81       	ldd	r25, Z+1	; 0x01
-    1688:	00 97       	sbiw	r24, 0x00	; 0
-    168a:	c1 f0       	breq	.+48     	; 0x16bc <encoder_recv+0x252>
-    168c:	28 1b       	sub	r18, r24
-    168e:	39 0b       	sbc	r19, r25
-    1690:	82 e0       	ldi	r24, 0x02	; 2
-    1692:	21 30       	cpi	r18, 0x01	; 1
-    1694:	38 07       	cpc	r19, r24
-    1696:	3c f0       	brlt	.+14     	; 0x16a6 <encoder_recv+0x23c>
-    1698:	80 91 11 05 	lds	r24, 0x0511
-    169c:	90 91 12 05 	lds	r25, 0x0512
-    16a0:	8f 5f       	subi	r24, 0xFF	; 255
-    16a2:	93 40       	sbci	r25, 0x03	; 3
-    16a4:	11 c0       	rjmp	.+34     	; 0x16c8 <encoder_recv+0x25e>
-    16a6:	8e ef       	ldi	r24, 0xFE	; 254
-    16a8:	20 30       	cpi	r18, 0x00	; 0
-    16aa:	38 07       	cpc	r19, r24
-    16ac:	4c f4       	brge	.+18     	; 0x16c0 <encoder_recv+0x256>
-    16ae:	80 91 11 05 	lds	r24, 0x0511
-    16b2:	90 91 12 05 	lds	r25, 0x0512
-    16b6:	81 50       	subi	r24, 0x01	; 1
-    16b8:	9c 4f       	sbci	r25, 0xFC	; 252
-    16ba:	06 c0       	rjmp	.+12     	; 0x16c8 <encoder_recv+0x25e>
-    16bc:	20 e0       	ldi	r18, 0x00	; 0
-    16be:	30 e0       	ldi	r19, 0x00	; 0
-    16c0:	80 91 11 05 	lds	r24, 0x0511
-    16c4:	90 91 12 05 	lds	r25, 0x0512
-    16c8:	82 0f       	add	r24, r18
-    16ca:	93 1f       	adc	r25, r19
-    16cc:	90 93 12 05 	sts	0x0512, r25
-    16d0:	80 93 11 05 	sts	0x0511, r24
-    16d4:	80 91 13 05 	lds	r24, 0x0513
-    16d8:	90 91 14 05 	lds	r25, 0x0514
-    16dc:	a0 91 15 05 	lds	r26, 0x0515
-    16e0:	b0 91 16 05 	lds	r27, 0x0516
-    16e4:	01 96       	adiw	r24, 0x01	; 1
-    16e6:	a1 1d       	adc	r26, r1
-    16e8:	b1 1d       	adc	r27, r1
-    16ea:	80 93 13 05 	sts	0x0513, r24
-    16ee:	90 93 14 05 	sts	0x0514, r25
-    16f2:	a0 93 15 05 	sts	0x0515, r26
-    16f6:	b0 93 16 05 	sts	0x0516, r27
-    16fa:	08 95       	ret
-
-000016fc <encoder_get_x>:
-    16fc:	88 23       	and	r24, r24
-    16fe:	29 f4       	brne	.+10     	; 0x170a <encoder_get_x+0xe>
-    1700:	80 91 74 05 	lds	r24, 0x0574
-    1704:	90 91 75 05 	lds	r25, 0x0575
-    1708:	08 95       	ret
-    170a:	81 30       	cpi	r24, 0x01	; 1
-    170c:	19 f0       	breq	.+6      	; 0x1714 <encoder_get_x+0x18>
-    170e:	8f ef       	ldi	r24, 0xFF	; 255
-    1710:	9f ef       	ldi	r25, 0xFF	; 255
-    1712:	08 95       	ret
-    1714:	80 91 11 05 	lds	r24, 0x0511
-    1718:	90 91 12 05 	lds	r25, 0x0512
-    171c:	08 95       	ret
-
-0000171e <lcd_putc>:
-    171e:	95 e0       	ldi	r25, 0x05	; 5
-    1720:	89 9f       	mul	r24, r25
-    1722:	f0 01       	movw	r30, r0
-    1724:	11 24       	eor	r1, r1
-    1726:	ec 52       	subi	r30, 0x2C	; 44
-    1728:	ff 4f       	sbci	r31, 0xFF	; 255
-    172a:	20 e0       	ldi	r18, 0x00	; 0
-    172c:	30 e0       	ldi	r19, 0x00	; 0
-    172e:	80 81       	ld	r24, Z
-    1730:	8f b9       	out	0x0f, r24	; 15
-    1732:	77 9b       	sbis	0x0e, 7	; 14
-    1734:	fe cf       	rjmp	.-4      	; 0x1732 <lcd_putc+0x14>
-    1736:	2f 5f       	subi	r18, 0xFF	; 255
-    1738:	3f 4f       	sbci	r19, 0xFF	; 255
-    173a:	31 96       	adiw	r30, 0x01	; 1
-    173c:	25 30       	cpi	r18, 0x05	; 5
-    173e:	31 05       	cpc	r19, r1
-    1740:	b1 f7       	brne	.-20     	; 0x172e <lcd_putc+0x10>
-    1742:	1f b8       	out	0x0f, r1	; 15
-    1744:	77 9b       	sbis	0x0e, 7	; 14
-    1746:	fe cf       	rjmp	.-4      	; 0x1744 <lcd_putc+0x26>
-    1748:	08 95       	ret
-
-0000174a <lcd_puts>:
-    174a:	cf 93       	push	r28
-    174c:	df 93       	push	r29
-    174e:	ec 01       	movw	r28, r24
-    1750:	03 c0       	rjmp	.+6      	; 0x1758 <lcd_puts+0xe>
-    1752:	0e 94 8f 0b 	call	0x171e	; 0x171e <lcd_putc>
-    1756:	21 96       	adiw	r28, 0x01	; 1
-    1758:	88 81       	ld	r24, Y
-    175a:	88 23       	and	r24, r24
-    175c:	d1 f7       	brne	.-12     	; 0x1752 <lcd_puts+0x8>
-    175e:	df 91       	pop	r29
-    1760:	cf 91       	pop	r28
-    1762:	08 95       	ret
-
-00001764 <lcd_gotoxy>:
-    1764:	95 98       	cbi	0x12, 5	; 18
-    1766:	67 70       	andi	r22, 0x07	; 7
-    1768:	60 64       	ori	r22, 0x40	; 64
-    176a:	6f b9       	out	0x0f, r22	; 15
-    176c:	77 9b       	sbis	0x0e, 7	; 14
-    176e:	fe cf       	rjmp	.-4      	; 0x176c <lcd_gotoxy+0x8>
-    1770:	80 68       	ori	r24, 0x80	; 128
-    1772:	8f b9       	out	0x0f, r24	; 15
-    1774:	77 9b       	sbis	0x0e, 7	; 14
-    1776:	fe cf       	rjmp	.-4      	; 0x1774 <lcd_gotoxy+0x10>
-    1778:	95 9a       	sbi	0x12, 5	; 18
-    177a:	08 95       	ret
-
-0000177c <lcd_clear_screen>:
-    177c:	80 e0       	ldi	r24, 0x00	; 0
-    177e:	90 e0       	ldi	r25, 0x00	; 0
-    1780:	1f b8       	out	0x0f, r1	; 15
-    1782:	77 9b       	sbis	0x0e, 7	; 14
-    1784:	fe cf       	rjmp	.-4      	; 0x1782 <lcd_clear_screen+0x6>
-    1786:	01 96       	adiw	r24, 0x01	; 1
-    1788:	21 e0       	ldi	r18, 0x01	; 1
-    178a:	88 3f       	cpi	r24, 0xF8	; 248
-    178c:	92 07       	cpc	r25, r18
-    178e:	c1 f7       	brne	.-16     	; 0x1780 <lcd_clear_screen+0x4>
-    1790:	60 e0       	ldi	r22, 0x00	; 0
-    1792:	70 e0       	ldi	r23, 0x00	; 0
-    1794:	80 e0       	ldi	r24, 0x00	; 0
-    1796:	90 e0       	ldi	r25, 0x00	; 0
-    1798:	0e 94 b2 0b 	call	0x1764	; 0x1764 <lcd_gotoxy>
-    179c:	08 95       	ret
-
-0000179e <lcd_puti>:
-    179e:	ff 92       	push	r15
-    17a0:	0f 93       	push	r16
-    17a2:	1f 93       	push	r17
-    17a4:	cf 93       	push	r28
-    17a6:	df 93       	push	r29
-    17a8:	cd b7       	in	r28, 0x3d	; 61
-    17aa:	de b7       	in	r29, 0x3e	; 62
-    17ac:	26 97       	sbiw	r28, 0x06	; 6
-    17ae:	0f b6       	in	r0, 0x3f	; 63
-    17b0:	f8 94       	cli
-    17b2:	de bf       	out	0x3e, r29	; 62
-    17b4:	0f be       	out	0x3f, r0	; 63
-    17b6:	cd bf       	out	0x3d, r28	; 61
-    17b8:	8c 01       	movw	r16, r24
-    17ba:	de 01       	movw	r26, r28
-    17bc:	11 96       	adiw	r26, 0x01	; 1
-    17be:	ee e6       	ldi	r30, 0x6E	; 110
-    17c0:	f1 e0       	ldi	r31, 0x01	; 1
-    17c2:	86 e0       	ldi	r24, 0x06	; 6
-    17c4:	01 90       	ld	r0, Z+
-    17c6:	0d 92       	st	X+, r0
-    17c8:	81 50       	subi	r24, 0x01	; 1
-    17ca:	e1 f7       	brne	.-8      	; 0x17c4 <lcd_puti+0x26>
-    17cc:	17 ff       	sbrs	r17, 7
-    17ce:	06 c0       	rjmp	.+12     	; 0x17dc <lcd_puti+0x3e>
-    17d0:	8d e2       	ldi	r24, 0x2D	; 45
-    17d2:	0e 94 8f 0b 	call	0x171e	; 0x171e <lcd_putc>
-    17d6:	10 95       	com	r17
-    17d8:	01 95       	neg	r16
-    17da:	1f 4f       	sbci	r17, 0xFF	; 255
-    17dc:	86 e0       	ldi	r24, 0x06	; 6
-    17de:	f8 2e       	mov	r15, r24
-    17e0:	9e 01       	movw	r18, r28
-    17e2:	2f 5f       	subi	r18, 0xFF	; 255
-    17e4:	3f 4f       	sbci	r19, 0xFF	; 255
-    17e6:	fa 94       	dec	r15
-    17e8:	f9 01       	movw	r30, r18
-    17ea:	ef 0d       	add	r30, r15
-    17ec:	f1 1d       	adc	r31, r1
-    17ee:	c8 01       	movw	r24, r16
-    17f0:	6a e0       	ldi	r22, 0x0A	; 10
-    17f2:	70 e0       	ldi	r23, 0x00	; 0
-    17f4:	0e 94 83 17 	call	0x2f06	; 0x2f06 <__divmodhi4>
-    17f8:	80 5d       	subi	r24, 0xD0	; 208
-    17fa:	80 83       	st	Z, r24
-    17fc:	c8 01       	movw	r24, r16
-    17fe:	6a e0       	ldi	r22, 0x0A	; 10
-    1800:	70 e0       	ldi	r23, 0x00	; 0
-    1802:	0e 94 83 17 	call	0x2f06	; 0x2f06 <__divmodhi4>
-    1806:	8b 01       	movw	r16, r22
-    1808:	67 2b       	or	r22, r23
-    180a:	49 f0       	breq	.+18     	; 0x181e <lcd_puti+0x80>
-    180c:	ec cf       	rjmp	.-40     	; 0x17e6 <lcd_puti+0x48>
-    180e:	f8 01       	movw	r30, r16
-    1810:	ef 0d       	add	r30, r15
-    1812:	f1 1d       	adc	r31, r1
-    1814:	80 81       	ld	r24, Z
-    1816:	0e 94 8f 0b 	call	0x171e	; 0x171e <lcd_putc>
-    181a:	f3 94       	inc	r15
-    181c:	03 c0       	rjmp	.+6      	; 0x1824 <lcd_puti+0x86>
-    181e:	8e 01       	movw	r16, r28
-    1820:	0f 5f       	subi	r16, 0xFF	; 255
-    1822:	1f 4f       	sbci	r17, 0xFF	; 255
-    1824:	85 e0       	ldi	r24, 0x05	; 5
-    1826:	8f 15       	cp	r24, r15
-    1828:	90 f7       	brcc	.-28     	; 0x180e <lcd_puti+0x70>
-    182a:	26 96       	adiw	r28, 0x06	; 6
-    182c:	0f b6       	in	r0, 0x3f	; 63
-    182e:	f8 94       	cli
-    1830:	de bf       	out	0x3e, r29	; 62
-    1832:	0f be       	out	0x3f, r0	; 63
-    1834:	cd bf       	out	0x3d, r28	; 61
-    1836:	df 91       	pop	r29
-    1838:	cf 91       	pop	r28
-    183a:	1f 91       	pop	r17
-    183c:	0f 91       	pop	r16
-    183e:	ff 90       	pop	r15
-    1840:	08 95       	ret
-
-00001842 <lcd_putbyte>:
-    1842:	8f b9       	out	0x0f, r24	; 15
-    1844:	77 9b       	sbis	0x0e, 7	; 14
-    1846:	fe cf       	rjmp	.-4      	; 0x1844 <lcd_putbyte+0x2>
-    1848:	08 95       	ret
-
-0000184a <lcd_init>:
-    184a:	87 b3       	in	r24, 0x17	; 23
-    184c:	87 60       	ori	r24, 0x07	; 7
-    184e:	87 bb       	out	0x17, r24	; 23
-    1850:	81 b3       	in	r24, 0x11	; 17
-    1852:	80 63       	ori	r24, 0x30	; 48
-    1854:	81 bb       	out	0x11, r24	; 17
-    1856:	88 b3       	in	r24, 0x18	; 24
-    1858:	88 7f       	andi	r24, 0xF8	; 248
-    185a:	88 bb       	out	0x18, r24	; 24
-    185c:	95 98       	cbi	0x12, 5	; 18
-    185e:	8d b1       	in	r24, 0x0d	; 13
-    1860:	80 65       	ori	r24, 0x50	; 80
-    1862:	8d b9       	out	0x0d, r24	; 13
-    1864:	70 9a       	sbi	0x0e, 0	; 14
-    1866:	94 9a       	sbi	0x12, 4	; 18
-    1868:	8a e0       	ldi	r24, 0x0A	; 10
-    186a:	90 e0       	ldi	r25, 0x00	; 0
-    186c:	0e 94 9b 12 	call	0x2536	; 0x2536 <delay_ms>
-    1870:	94 98       	cbi	0x12, 4	; 18
-    1872:	84 e6       	ldi	r24, 0x64	; 100
-    1874:	90 e0       	ldi	r25, 0x00	; 0
-    1876:	0e 94 9b 12 	call	0x2536	; 0x2536 <delay_ms>
-    187a:	94 9a       	sbi	0x12, 4	; 18
-    187c:	81 e2       	ldi	r24, 0x21	; 33
-    187e:	8f b9       	out	0x0f, r24	; 15
-    1880:	77 9b       	sbis	0x0e, 7	; 14
-    1882:	fe cf       	rjmp	.-4      	; 0x1880 <lcd_init+0x36>
-    1884:	88 ec       	ldi	r24, 0xC8	; 200
-    1886:	8f b9       	out	0x0f, r24	; 15
-    1888:	77 9b       	sbis	0x0e, 7	; 14
-    188a:	fe cf       	rjmp	.-4      	; 0x1888 <lcd_init+0x3e>
-    188c:	86 e0       	ldi	r24, 0x06	; 6
-    188e:	8f b9       	out	0x0f, r24	; 15
-    1890:	77 9b       	sbis	0x0e, 7	; 14
-    1892:	fe cf       	rjmp	.-4      	; 0x1890 <lcd_init+0x46>
-    1894:	83 e1       	ldi	r24, 0x13	; 19
-    1896:	8f b9       	out	0x0f, r24	; 15
-    1898:	77 9b       	sbis	0x0e, 7	; 14
-    189a:	fe cf       	rjmp	.-4      	; 0x1898 <lcd_init+0x4e>
-    189c:	80 e2       	ldi	r24, 0x20	; 32
-    189e:	8f b9       	out	0x0f, r24	; 15
-    18a0:	77 9b       	sbis	0x0e, 7	; 14
-    18a2:	fe cf       	rjmp	.-4      	; 0x18a0 <lcd_init+0x56>
-    18a4:	8c e0       	ldi	r24, 0x0C	; 12
-    18a6:	8f b9       	out	0x0f, r24	; 15
-    18a8:	77 9b       	sbis	0x0e, 7	; 14
-    18aa:	fe cf       	rjmp	.-4      	; 0x18a8 <lcd_init+0x5e>
-    18ac:	95 9a       	sbi	0x12, 5	; 18
-    18ae:	0e 94 be 0b 	call	0x177c	; 0x177c <lcd_clear_screen>
-    18b2:	08 95       	ret
-
-000018b4 <output_compare>:
-    18b4:	40 91 5b 03 	lds	r20, 0x035B
-    18b8:	50 91 5c 03 	lds	r21, 0x035C
-    18bc:	20 91 6f 04 	lds	r18, 0x046F
-    18c0:	a2 2f       	mov	r26, r18
-    18c2:	bb 27       	eor	r27, r27
-    18c4:	82 b7       	in	r24, 0x32	; 50
-    18c6:	fd 01       	movw	r30, r26
-    18c8:	ee 0f       	add	r30, r30
-    18ca:	ff 1f       	adc	r31, r31
-    18cc:	e4 0f       	add	r30, r20
-    18ce:	f5 1f       	adc	r31, r21
-    18d0:	91 81       	ldd	r25, Z+1	; 0x01
-    18d2:	9f 5f       	subi	r25, 0xFF	; 255
-    18d4:	89 17       	cp	r24, r25
-    18d6:	b8 f0       	brcs	.+46     	; 0x1906 <output_compare+0x52>
-    18d8:	95 b3       	in	r25, 0x15	; 21
-    18da:	11 96       	adiw	r26, 0x01	; 1
-    18dc:	aa 0f       	add	r26, r26
-    18de:	bb 1f       	adc	r27, r27
-    18e0:	a4 0f       	add	r26, r20
-    18e2:	b5 1f       	adc	r27, r21
-    18e4:	8c 91       	ld	r24, X
-    18e6:	98 2b       	or	r25, r24
-    18e8:	95 bb       	out	0x15, r25	; 21
-    18ea:	25 30       	cpi	r18, 0x05	; 5
-    18ec:	61 f0       	breq	.+24     	; 0x1906 <output_compare+0x52>
-    18ee:	2f 5f       	subi	r18, 0xFF	; 255
-    18f0:	e2 2f       	mov	r30, r18
-    18f2:	ff 27       	eor	r31, r31
-    18f4:	ee 0f       	add	r30, r30
-    18f6:	ff 1f       	adc	r31, r31
-    18f8:	e4 0f       	add	r30, r20
-    18fa:	f5 1f       	adc	r31, r21
-    18fc:	81 81       	ldd	r24, Z+1	; 0x01
-    18fe:	8f 3f       	cpi	r24, 0xFF	; 255
-    1900:	f9 f2       	breq	.-66     	; 0x18c0 <output_compare+0xc>
-    1902:	81 bf       	out	0x31, r24	; 49
-    1904:	dd cf       	rjmp	.-70     	; 0x18c0 <output_compare+0xc>
-    1906:	20 93 6f 04 	sts	0x046F, r18
-    190a:	08 95       	ret
-
-0000190c <__vector_16>:
-    190c:	1f 92       	push	r1
-    190e:	0f 92       	push	r0
-    1910:	0f b6       	in	r0, 0x3f	; 63
-    1912:	0f 92       	push	r0
-    1914:	11 24       	eor	r1, r1
-    1916:	2f 93       	push	r18
-    1918:	3f 93       	push	r19
-    191a:	4f 93       	push	r20
-    191c:	5f 93       	push	r21
-    191e:	6f 93       	push	r22
-    1920:	7f 93       	push	r23
-    1922:	8f 93       	push	r24
-    1924:	9f 93       	push	r25
-    1926:	af 93       	push	r26
-    1928:	bf 93       	push	r27
-    192a:	ef 93       	push	r30
-    192c:	ff 93       	push	r31
-    192e:	80 91 6e 04 	lds	r24, 0x046E
-    1932:	88 23       	and	r24, r24
-    1934:	91 f0       	breq	.+36     	; 0x195a <__vector_16+0x4e>
-    1936:	20 91 5b 03 	lds	r18, 0x035B
-    193a:	30 91 5c 03 	lds	r19, 0x035C
-    193e:	80 91 5f 03 	lds	r24, 0x035F
-    1942:	90 91 60 03 	lds	r25, 0x0360
-    1946:	90 93 5c 03 	sts	0x035C, r25
-    194a:	80 93 5b 03 	sts	0x035B, r24
-    194e:	30 93 60 03 	sts	0x0360, r19
-    1952:	20 93 5f 03 	sts	0x035F, r18
-    1956:	10 92 6e 04 	sts	0x046E, r1
-    195a:	85 b3       	in	r24, 0x15	; 21
-    195c:	87 67       	ori	r24, 0x77	; 119
-    195e:	85 bb       	out	0x15, r24	; 21
-    1960:	85 b3       	in	r24, 0x15	; 21
-    1962:	e0 91 5b 03 	lds	r30, 0x035B
-    1966:	f0 91 5c 03 	lds	r31, 0x035C
-    196a:	90 81       	ld	r25, Z
-    196c:	89 23       	and	r24, r25
-    196e:	85 bb       	out	0x15, r24	; 21
-    1970:	10 92 6f 04 	sts	0x046F, r1
-    1974:	81 81       	ldd	r24, Z+1	; 0x01
-    1976:	81 bf       	out	0x31, r24	; 49
-    1978:	0e 94 5a 0c 	call	0x18b4	; 0x18b4 <output_compare>
-    197c:	ff 91       	pop	r31
-    197e:	ef 91       	pop	r30
-    1980:	bf 91       	pop	r27
-    1982:	af 91       	pop	r26
-    1984:	9f 91       	pop	r25
-    1986:	8f 91       	pop	r24
-    1988:	7f 91       	pop	r23
-    198a:	6f 91       	pop	r22
-    198c:	5f 91       	pop	r21
-    198e:	4f 91       	pop	r20
-    1990:	3f 91       	pop	r19
-    1992:	2f 91       	pop	r18
-    1994:	0f 90       	pop	r0
-    1996:	0f be       	out	0x3f, r0	; 63
-    1998:	0f 90       	pop	r0
-    199a:	1f 90       	pop	r1
-    199c:	18 95       	reti
-
-0000199e <__vector_15>:
-    199e:	1f 92       	push	r1
-    19a0:	0f 92       	push	r0
-    19a2:	0f b6       	in	r0, 0x3f	; 63
-    19a4:	0f 92       	push	r0
-    19a6:	11 24       	eor	r1, r1
-    19a8:	2f 93       	push	r18
-    19aa:	3f 93       	push	r19
-    19ac:	4f 93       	push	r20
-    19ae:	5f 93       	push	r21
-    19b0:	6f 93       	push	r22
-    19b2:	7f 93       	push	r23
-    19b4:	8f 93       	push	r24
-    19b6:	9f 93       	push	r25
-    19b8:	af 93       	push	r26
-    19ba:	bf 93       	push	r27
-    19bc:	ef 93       	push	r30
-    19be:	ff 93       	push	r31
-    19c0:	0e 94 5a 0c 	call	0x18b4	; 0x18b4 <output_compare>
-    19c4:	ff 91       	pop	r31
-    19c6:	ef 91       	pop	r30
-    19c8:	bf 91       	pop	r27
-    19ca:	af 91       	pop	r26
-    19cc:	9f 91       	pop	r25
-    19ce:	8f 91       	pop	r24
-    19d0:	7f 91       	pop	r23
-    19d2:	6f 91       	pop	r22
-    19d4:	5f 91       	pop	r21
-    19d6:	4f 91       	pop	r20
-    19d8:	3f 91       	pop	r19
-    19da:	2f 91       	pop	r18
-    19dc:	0f 90       	pop	r0
-    19de:	0f be       	out	0x3f, r0	; 63
-    19e0:	0f 90       	pop	r0
-    19e2:	1f 90       	pop	r1
-    19e4:	18 95       	reti
-
-000019e6 <apply_orbs>:
-    19e6:	0f 93       	push	r16
-    19e8:	1f 93       	push	r17
-    19ea:	cf 93       	push	r28
-    19ec:	df 93       	push	r29
-    19ee:	80 91 5a 03 	lds	r24, 0x035A
-    19f2:	88 23       	and	r24, r24
-    19f4:	09 f4       	brne	.+2      	; 0x19f8 <apply_orbs+0x12>
-    19f6:	94 c1       	rjmp	.+808    	; 0x1d20 <apply_orbs+0x33a>
-    19f8:	e0 91 5d 03 	lds	r30, 0x035D
-    19fc:	f0 91 5e 03 	lds	r31, 0x035E
-    1a00:	8f ef       	ldi	r24, 0xFF	; 255
-    1a02:	80 83       	st	Z, r24
-    1a04:	90 91 a3 05 	lds	r25, 0x05A3
-    1a08:	e0 91 5d 03 	lds	r30, 0x035D
-    1a0c:	f0 91 5e 03 	lds	r31, 0x035E
-    1a10:	91 50       	subi	r25, 0x01	; 1
-    1a12:	91 83       	std	Z+1, r25	; 0x01
-    1a14:	9f 5f       	subi	r25, 0xFF	; 255
-    1a16:	e0 91 5d 03 	lds	r30, 0x035D
-    1a1a:	f0 91 5e 03 	lds	r31, 0x035E
-    1a1e:	81 e0       	ldi	r24, 0x01	; 1
-    1a20:	82 83       	std	Z+2, r24	; 0x02
-    1a22:	99 23       	and	r25, r25
-    1a24:	39 f0       	breq	.+14     	; 0x1a34 <apply_orbs+0x4e>
-    1a26:	e0 91 5d 03 	lds	r30, 0x035D
-    1a2a:	f0 91 5e 03 	lds	r31, 0x035E
-    1a2e:	80 81       	ld	r24, Z
-    1a30:	8e 7f       	andi	r24, 0xFE	; 254
-    1a32:	80 83       	st	Z, r24
-    1a34:	90 91 a4 05 	lds	r25, 0x05A4
-    1a38:	e0 91 5d 03 	lds	r30, 0x035D
-    1a3c:	f0 91 5e 03 	lds	r31, 0x035E
-    1a40:	91 50       	subi	r25, 0x01	; 1
-    1a42:	93 83       	std	Z+3, r25	; 0x03
-    1a44:	9f 5f       	subi	r25, 0xFF	; 255
-    1a46:	e0 91 5d 03 	lds	r30, 0x035D
-    1a4a:	f0 91 5e 03 	lds	r31, 0x035E
-    1a4e:	82 e0       	ldi	r24, 0x02	; 2
-    1a50:	84 83       	std	Z+4, r24	; 0x04
-    1a52:	99 23       	and	r25, r25
-    1a54:	39 f0       	breq	.+14     	; 0x1a64 <apply_orbs+0x7e>
-    1a56:	e0 91 5d 03 	lds	r30, 0x035D
-    1a5a:	f0 91 5e 03 	lds	r31, 0x035E
-    1a5e:	80 81       	ld	r24, Z
-    1a60:	8d 7f       	andi	r24, 0xFD	; 253
-    1a62:	80 83       	st	Z, r24
-    1a64:	90 91 a5 05 	lds	r25, 0x05A5
-    1a68:	e0 91 5d 03 	lds	r30, 0x035D
-    1a6c:	f0 91 5e 03 	lds	r31, 0x035E
-    1a70:	91 50       	subi	r25, 0x01	; 1
-    1a72:	95 83       	std	Z+5, r25	; 0x05
-    1a74:	9f 5f       	subi	r25, 0xFF	; 255
-    1a76:	e0 91 5d 03 	lds	r30, 0x035D
-    1a7a:	f0 91 5e 03 	lds	r31, 0x035E
-    1a7e:	84 e0       	ldi	r24, 0x04	; 4
-    1a80:	86 83       	std	Z+6, r24	; 0x06
-    1a82:	99 23       	and	r25, r25
-    1a84:	39 f0       	breq	.+14     	; 0x1a94 <apply_orbs+0xae>
-    1a86:	e0 91 5d 03 	lds	r30, 0x035D
-    1a8a:	f0 91 5e 03 	lds	r31, 0x035E
-    1a8e:	80 81       	ld	r24, Z
-    1a90:	8b 7f       	andi	r24, 0xFB	; 251
-    1a92:	80 83       	st	Z, r24
-    1a94:	90 91 a6 05 	lds	r25, 0x05A6
-    1a98:	e0 91 5d 03 	lds	r30, 0x035D
-    1a9c:	f0 91 5e 03 	lds	r31, 0x035E
-    1aa0:	91 50       	subi	r25, 0x01	; 1
-    1aa2:	97 83       	std	Z+7, r25	; 0x07
-    1aa4:	9f 5f       	subi	r25, 0xFF	; 255
-    1aa6:	e0 91 5d 03 	lds	r30, 0x035D
-    1aaa:	f0 91 5e 03 	lds	r31, 0x035E
-    1aae:	80 e1       	ldi	r24, 0x10	; 16
-    1ab0:	80 87       	std	Z+8, r24	; 0x08
-    1ab2:	99 23       	and	r25, r25
-    1ab4:	39 f0       	breq	.+14     	; 0x1ac4 <apply_orbs+0xde>
-    1ab6:	e0 91 5d 03 	lds	r30, 0x035D
-    1aba:	f0 91 5e 03 	lds	r31, 0x035E
-    1abe:	80 81       	ld	r24, Z
-    1ac0:	8f 7e       	andi	r24, 0xEF	; 239
-    1ac2:	80 83       	st	Z, r24
-    1ac4:	90 91 a7 05 	lds	r25, 0x05A7
-    1ac8:	e0 91 5d 03 	lds	r30, 0x035D
-    1acc:	f0 91 5e 03 	lds	r31, 0x035E
-    1ad0:	91 50       	subi	r25, 0x01	; 1
-    1ad2:	91 87       	std	Z+9, r25	; 0x09
-    1ad4:	9f 5f       	subi	r25, 0xFF	; 255
-    1ad6:	e0 91 5d 03 	lds	r30, 0x035D
-    1ada:	f0 91 5e 03 	lds	r31, 0x035E
-    1ade:	80 e2       	ldi	r24, 0x20	; 32
-    1ae0:	82 87       	std	Z+10, r24	; 0x0a
-    1ae2:	99 23       	and	r25, r25
-    1ae4:	39 f0       	breq	.+14     	; 0x1af4 <apply_orbs+0x10e>
-    1ae6:	e0 91 5d 03 	lds	r30, 0x035D
-    1aea:	f0 91 5e 03 	lds	r31, 0x035E
-    1aee:	80 81       	ld	r24, Z
-    1af0:	8f 7d       	andi	r24, 0xDF	; 223
-    1af2:	80 83       	st	Z, r24
-    1af4:	90 91 a8 05 	lds	r25, 0x05A8
-    1af8:	e0 91 5d 03 	lds	r30, 0x035D
-    1afc:	f0 91 5e 03 	lds	r31, 0x035E
-    1b00:	91 50       	subi	r25, 0x01	; 1
-    1b02:	93 87       	std	Z+11, r25	; 0x0b
-    1b04:	9f 5f       	subi	r25, 0xFF	; 255
-    1b06:	e0 91 5d 03 	lds	r30, 0x035D
-    1b0a:	f0 91 5e 03 	lds	r31, 0x035E
-    1b0e:	80 e4       	ldi	r24, 0x40	; 64
-    1b10:	84 87       	std	Z+12, r24	; 0x0c
-    1b12:	99 23       	and	r25, r25
-    1b14:	39 f0       	breq	.+14     	; 0x1b24 <apply_orbs+0x13e>
-    1b16:	e0 91 5d 03 	lds	r30, 0x035D
-    1b1a:	f0 91 5e 03 	lds	r31, 0x035E
-    1b1e:	80 81       	ld	r24, Z
-    1b20:	8f 7b       	andi	r24, 0xBF	; 191
-    1b22:	80 83       	st	Z, r24
-    1b24:	e0 91 5d 03 	lds	r30, 0x035D
-    1b28:	f0 91 5e 03 	lds	r31, 0x035E
-    1b2c:	91 81       	ldd	r25, Z+1	; 0x01
-    1b2e:	83 81       	ldd	r24, Z+3	; 0x03
-    1b30:	89 17       	cp	r24, r25
-    1b32:	10 f0       	brcs	.+4      	; 0x1b38 <apply_orbs+0x152>
-    1b34:	61 e0       	ldi	r22, 0x01	; 1
-    1b36:	07 c0       	rjmp	.+14     	; 0x1b46 <apply_orbs+0x160>
-    1b38:	81 83       	std	Z+1, r24	; 0x01
-    1b3a:	93 83       	std	Z+3, r25	; 0x03
-    1b3c:	92 81       	ldd	r25, Z+2	; 0x02
-    1b3e:	84 81       	ldd	r24, Z+4	; 0x04
-    1b40:	82 83       	std	Z+2, r24	; 0x02
-    1b42:	94 83       	std	Z+4, r25	; 0x04
-    1b44:	60 e0       	ldi	r22, 0x00	; 0
-    1b46:	df 01       	movw	r26, r30
-    1b48:	15 96       	adiw	r26, 0x05	; 5
-    1b4a:	93 81       	ldd	r25, Z+3	; 0x03
-    1b4c:	85 81       	ldd	r24, Z+5	; 0x05
-    1b4e:	89 17       	cp	r24, r25
-    1b50:	40 f4       	brcc	.+16     	; 0x1b62 <apply_orbs+0x17c>
-    1b52:	83 83       	std	Z+3, r24	; 0x03
-    1b54:	95 83       	std	Z+5, r25	; 0x05
-    1b56:	94 81       	ldd	r25, Z+4	; 0x04
-    1b58:	ed 01       	movw	r28, r26
-    1b5a:	89 81       	ldd	r24, Y+1	; 0x01
-    1b5c:	84 83       	std	Z+4, r24	; 0x04
-    1b5e:	99 83       	std	Y+1, r25	; 0x01
-    1b60:	60 e0       	ldi	r22, 0x00	; 0
-    1b62:	8f 01       	movw	r16, r30
-    1b64:	09 5f       	subi	r16, 0xF9	; 249
-    1b66:	1f 4f       	sbci	r17, 0xFF	; 255
-    1b68:	95 81       	ldd	r25, Z+5	; 0x05
-    1b6a:	87 81       	ldd	r24, Z+7	; 0x07
-    1b6c:	89 17       	cp	r24, r25
-    1b6e:	58 f4       	brcc	.+22     	; 0x1b86 <apply_orbs+0x1a0>
-    1b70:	85 83       	std	Z+5, r24	; 0x05
-    1b72:	97 83       	std	Z+7, r25	; 0x07
-    1b74:	ed 01       	movw	r28, r26
-    1b76:	99 81       	ldd	r25, Y+1	; 0x01
-    1b78:	e8 01       	movw	r28, r16
-    1b7a:	89 81       	ldd	r24, Y+1	; 0x01
-    1b7c:	ed 01       	movw	r28, r26
-    1b7e:	89 83       	std	Y+1, r24	; 0x01
-    1b80:	e8 01       	movw	r28, r16
-    1b82:	99 83       	std	Y+1, r25	; 0x01
-    1b84:	60 e0       	ldi	r22, 0x00	; 0
-    1b86:	9f 01       	movw	r18, r30
-    1b88:	27 5f       	subi	r18, 0xF7	; 247
-    1b8a:	3f 4f       	sbci	r19, 0xFF	; 255
-    1b8c:	97 81       	ldd	r25, Z+7	; 0x07
-    1b8e:	81 85       	ldd	r24, Z+9	; 0x09
-    1b90:	89 17       	cp	r24, r25
-    1b92:	58 f4       	brcc	.+22     	; 0x1baa <apply_orbs+0x1c4>
-    1b94:	87 83       	std	Z+7, r24	; 0x07
-    1b96:	91 87       	std	Z+9, r25	; 0x09
-    1b98:	e8 01       	movw	r28, r16
-    1b9a:	99 81       	ldd	r25, Y+1	; 0x01
-    1b9c:	e9 01       	movw	r28, r18
-    1b9e:	89 81       	ldd	r24, Y+1	; 0x01
-    1ba0:	e8 01       	movw	r28, r16
-    1ba2:	89 83       	std	Y+1, r24	; 0x01
-    1ba4:	e9 01       	movw	r28, r18
-    1ba6:	99 83       	std	Y+1, r25	; 0x01
-    1ba8:	60 e0       	ldi	r22, 0x00	; 0
-    1baa:	af 01       	movw	r20, r30
-    1bac:	45 5f       	subi	r20, 0xF5	; 245
-    1bae:	5f 4f       	sbci	r21, 0xFF	; 255
-    1bb0:	91 85       	ldd	r25, Z+9	; 0x09
-    1bb2:	83 85       	ldd	r24, Z+11	; 0x0b
-    1bb4:	89 17       	cp	r24, r25
-    1bb6:	58 f4       	brcc	.+22     	; 0x1bce <apply_orbs+0x1e8>
-    1bb8:	81 87       	std	Z+9, r24	; 0x09
-    1bba:	93 87       	std	Z+11, r25	; 0x0b
-    1bbc:	e9 01       	movw	r28, r18
-    1bbe:	99 81       	ldd	r25, Y+1	; 0x01
-    1bc0:	ea 01       	movw	r28, r20
-    1bc2:	89 81       	ldd	r24, Y+1	; 0x01
-    1bc4:	e9 01       	movw	r28, r18
-    1bc6:	89 83       	std	Y+1, r24	; 0x01
-    1bc8:	ea 01       	movw	r28, r20
-    1bca:	99 83       	std	Y+1, r25	; 0x01
-    1bcc:	03 c0       	rjmp	.+6      	; 0x1bd4 <apply_orbs+0x1ee>
-    1bce:	66 23       	and	r22, r22
-    1bd0:	09 f0       	breq	.+2      	; 0x1bd4 <apply_orbs+0x1ee>
-    1bd2:	8f c0       	rjmp	.+286    	; 0x1cf2 <apply_orbs+0x30c>
-    1bd4:	91 81       	ldd	r25, Z+1	; 0x01
-    1bd6:	83 81       	ldd	r24, Z+3	; 0x03
-    1bd8:	89 17       	cp	r24, r25
-    1bda:	10 f0       	brcs	.+4      	; 0x1be0 <apply_orbs+0x1fa>
-    1bdc:	41 e0       	ldi	r20, 0x01	; 1
-    1bde:	07 c0       	rjmp	.+14     	; 0x1bee <apply_orbs+0x208>
-    1be0:	81 83       	std	Z+1, r24	; 0x01
-    1be2:	93 83       	std	Z+3, r25	; 0x03
-    1be4:	92 81       	ldd	r25, Z+2	; 0x02
-    1be6:	84 81       	ldd	r24, Z+4	; 0x04
-    1be8:	82 83       	std	Z+2, r24	; 0x02
-    1bea:	94 83       	std	Z+4, r25	; 0x04
-    1bec:	40 e0       	ldi	r20, 0x00	; 0
-    1bee:	93 81       	ldd	r25, Z+3	; 0x03
-    1bf0:	8c 91       	ld	r24, X
-    1bf2:	89 17       	cp	r24, r25
-    1bf4:	40 f4       	brcc	.+16     	; 0x1c06 <apply_orbs+0x220>
-    1bf6:	83 83       	std	Z+3, r24	; 0x03
-    1bf8:	9c 93       	st	X, r25
-    1bfa:	94 81       	ldd	r25, Z+4	; 0x04
-    1bfc:	ed 01       	movw	r28, r26
-    1bfe:	89 81       	ldd	r24, Y+1	; 0x01
-    1c00:	84 83       	std	Z+4, r24	; 0x04
-    1c02:	99 83       	std	Y+1, r25	; 0x01
-    1c04:	40 e0       	ldi	r20, 0x00	; 0
-    1c06:	9c 91       	ld	r25, X
-    1c08:	e8 01       	movw	r28, r16
-    1c0a:	88 81       	ld	r24, Y
-    1c0c:	89 17       	cp	r24, r25
-    1c0e:	58 f4       	brcc	.+22     	; 0x1c26 <apply_orbs+0x240>
-    1c10:	8c 93       	st	X, r24
-    1c12:	98 83       	st	Y, r25
-    1c14:	ed 01       	movw	r28, r26
-    1c16:	99 81       	ldd	r25, Y+1	; 0x01
-    1c18:	e8 01       	movw	r28, r16
-    1c1a:	89 81       	ldd	r24, Y+1	; 0x01
-    1c1c:	ed 01       	movw	r28, r26
-    1c1e:	89 83       	std	Y+1, r24	; 0x01
-    1c20:	e8 01       	movw	r28, r16
-    1c22:	99 83       	std	Y+1, r25	; 0x01
-    1c24:	40 e0       	ldi	r20, 0x00	; 0
-    1c26:	e8 01       	movw	r28, r16
-    1c28:	98 81       	ld	r25, Y
-    1c2a:	e9 01       	movw	r28, r18
-    1c2c:	88 81       	ld	r24, Y
-    1c2e:	89 17       	cp	r24, r25
-    1c30:	68 f4       	brcc	.+26     	; 0x1c4c <apply_orbs+0x266>
-    1c32:	e8 01       	movw	r28, r16
-    1c34:	88 83       	st	Y, r24
-    1c36:	e9 01       	movw	r28, r18
-    1c38:	98 83       	st	Y, r25
-    1c3a:	e8 01       	movw	r28, r16
-    1c3c:	99 81       	ldd	r25, Y+1	; 0x01
-    1c3e:	e9 01       	movw	r28, r18
-    1c40:	89 81       	ldd	r24, Y+1	; 0x01
-    1c42:	e8 01       	movw	r28, r16
-    1c44:	89 83       	std	Y+1, r24	; 0x01
-    1c46:	e9 01       	movw	r28, r18
-    1c48:	99 83       	std	Y+1, r25	; 0x01
-    1c4a:	03 c0       	rjmp	.+6      	; 0x1c52 <apply_orbs+0x26c>
-    1c4c:	44 23       	and	r20, r20
-    1c4e:	09 f0       	breq	.+2      	; 0x1c52 <apply_orbs+0x26c>
-    1c50:	50 c0       	rjmp	.+160    	; 0x1cf2 <apply_orbs+0x30c>
-    1c52:	91 81       	ldd	r25, Z+1	; 0x01
-    1c54:	83 81       	ldd	r24, Z+3	; 0x03
-    1c56:	89 17       	cp	r24, r25
-    1c58:	10 f0       	brcs	.+4      	; 0x1c5e <apply_orbs+0x278>
-    1c5a:	21 e0       	ldi	r18, 0x01	; 1
-    1c5c:	07 c0       	rjmp	.+14     	; 0x1c6c <apply_orbs+0x286>
-    1c5e:	81 83       	std	Z+1, r24	; 0x01
-    1c60:	93 83       	std	Z+3, r25	; 0x03
-    1c62:	92 81       	ldd	r25, Z+2	; 0x02
-    1c64:	84 81       	ldd	r24, Z+4	; 0x04
-    1c66:	82 83       	std	Z+2, r24	; 0x02
-    1c68:	94 83       	std	Z+4, r25	; 0x04
-    1c6a:	20 e0       	ldi	r18, 0x00	; 0
-    1c6c:	93 81       	ldd	r25, Z+3	; 0x03
-    1c6e:	8c 91       	ld	r24, X
-    1c70:	89 17       	cp	r24, r25
-    1c72:	40 f4       	brcc	.+16     	; 0x1c84 <apply_orbs+0x29e>
-    1c74:	83 83       	std	Z+3, r24	; 0x03
-    1c76:	9c 93       	st	X, r25
-    1c78:	94 81       	ldd	r25, Z+4	; 0x04
-    1c7a:	ed 01       	movw	r28, r26
-    1c7c:	89 81       	ldd	r24, Y+1	; 0x01
-    1c7e:	84 83       	std	Z+4, r24	; 0x04
-    1c80:	99 83       	std	Y+1, r25	; 0x01
-    1c82:	20 e0       	ldi	r18, 0x00	; 0
-    1c84:	9c 91       	ld	r25, X
-    1c86:	e8 01       	movw	r28, r16
-    1c88:	88 81       	ld	r24, Y
-    1c8a:	89 17       	cp	r24, r25
-    1c8c:	58 f4       	brcc	.+22     	; 0x1ca4 <apply_orbs+0x2be>
-    1c8e:	8c 93       	st	X, r24
-    1c90:	98 83       	st	Y, r25
-    1c92:	ed 01       	movw	r28, r26
-    1c94:	99 81       	ldd	r25, Y+1	; 0x01
-    1c96:	e8 01       	movw	r28, r16
-    1c98:	89 81       	ldd	r24, Y+1	; 0x01
-    1c9a:	ed 01       	movw	r28, r26
-    1c9c:	89 83       	std	Y+1, r24	; 0x01
-    1c9e:	e8 01       	movw	r28, r16
-    1ca0:	99 83       	std	Y+1, r25	; 0x01
-    1ca2:	02 c0       	rjmp	.+4      	; 0x1ca8 <apply_orbs+0x2c2>
-    1ca4:	22 23       	and	r18, r18
-    1ca6:	29 f5       	brne	.+74     	; 0x1cf2 <apply_orbs+0x30c>
-    1ca8:	91 81       	ldd	r25, Z+1	; 0x01
-    1caa:	83 81       	ldd	r24, Z+3	; 0x03
-    1cac:	89 17       	cp	r24, r25
-    1cae:	10 f0       	brcs	.+4      	; 0x1cb4 <apply_orbs+0x2ce>
-    1cb0:	21 e0       	ldi	r18, 0x01	; 1
-    1cb2:	07 c0       	rjmp	.+14     	; 0x1cc2 <apply_orbs+0x2dc>
-    1cb4:	81 83       	std	Z+1, r24	; 0x01
-    1cb6:	93 83       	std	Z+3, r25	; 0x03
-    1cb8:	92 81       	ldd	r25, Z+2	; 0x02
-    1cba:	84 81       	ldd	r24, Z+4	; 0x04
-    1cbc:	82 83       	std	Z+2, r24	; 0x02
-    1cbe:	94 83       	std	Z+4, r25	; 0x04
-    1cc0:	20 e0       	ldi	r18, 0x00	; 0
-    1cc2:	93 81       	ldd	r25, Z+3	; 0x03
-    1cc4:	8c 91       	ld	r24, X
-    1cc6:	89 17       	cp	r24, r25
-    1cc8:	40 f4       	brcc	.+16     	; 0x1cda <apply_orbs+0x2f4>
-    1cca:	83 83       	std	Z+3, r24	; 0x03
-    1ccc:	9c 93       	st	X, r25
-    1cce:	94 81       	ldd	r25, Z+4	; 0x04
-    1cd0:	ed 01       	movw	r28, r26
-    1cd2:	89 81       	ldd	r24, Y+1	; 0x01
-    1cd4:	84 83       	std	Z+4, r24	; 0x04
-    1cd6:	99 83       	std	Y+1, r25	; 0x01
-    1cd8:	02 c0       	rjmp	.+4      	; 0x1cde <apply_orbs+0x2f8>
-    1cda:	22 23       	and	r18, r18
-    1cdc:	51 f4       	brne	.+20     	; 0x1cf2 <apply_orbs+0x30c>
-    1cde:	91 81       	ldd	r25, Z+1	; 0x01
-    1ce0:	83 81       	ldd	r24, Z+3	; 0x03
-    1ce2:	89 17       	cp	r24, r25
-    1ce4:	30 f4       	brcc	.+12     	; 0x1cf2 <apply_orbs+0x30c>
-    1ce6:	81 83       	std	Z+1, r24	; 0x01
-    1ce8:	93 83       	std	Z+3, r25	; 0x03
-    1cea:	92 81       	ldd	r25, Z+2	; 0x02
-    1cec:	84 81       	ldd	r24, Z+4	; 0x04
-    1cee:	82 83       	std	Z+2, r24	; 0x02
-    1cf0:	94 83       	std	Z+4, r25	; 0x04
-    1cf2:	4f b7       	in	r20, 0x3f	; 63
-    1cf4:	f8 94       	cli
-    1cf6:	20 91 5d 03 	lds	r18, 0x035D
-    1cfa:	30 91 5e 03 	lds	r19, 0x035E
-    1cfe:	80 91 5f 03 	lds	r24, 0x035F
-    1d02:	90 91 60 03 	lds	r25, 0x0360
-    1d06:	90 93 5e 03 	sts	0x035E, r25
-    1d0a:	80 93 5d 03 	sts	0x035D, r24
-    1d0e:	30 93 60 03 	sts	0x0360, r19
-    1d12:	20 93 5f 03 	sts	0x035F, r18
-    1d16:	4f bf       	out	0x3f, r20	; 63
-    1d18:	81 e0       	ldi	r24, 0x01	; 1
-    1d1a:	80 93 6e 04 	sts	0x046E, r24
-    1d1e:	21 c0       	rjmp	.+66     	; 0x1d62 <apply_orbs+0x37c>
-    1d20:	80 91 a3 05 	lds	r24, 0x05A3
-    1d24:	81 11       	cpse	r24, r1
-    1d26:	81 e0       	ldi	r24, 0x01	; 1
-    1d28:	28 2f       	mov	r18, r24
-    1d2a:	80 91 a4 05 	lds	r24, 0x05A4
-    1d2e:	81 11       	cpse	r24, r1
-    1d30:	22 60       	ori	r18, 0x02	; 2
-    1d32:	80 91 a5 05 	lds	r24, 0x05A5
-    1d36:	81 11       	cpse	r24, r1
-    1d38:	24 60       	ori	r18, 0x04	; 4
-    1d3a:	80 91 a6 05 	lds	r24, 0x05A6
-    1d3e:	81 11       	cpse	r24, r1
-    1d40:	20 61       	ori	r18, 0x10	; 16
-    1d42:	80 91 a7 05 	lds	r24, 0x05A7
-    1d46:	81 11       	cpse	r24, r1
-    1d48:	20 62       	ori	r18, 0x20	; 32
-    1d4a:	80 91 a8 05 	lds	r24, 0x05A8
-    1d4e:	81 11       	cpse	r24, r1
-    1d50:	20 64       	ori	r18, 0x40	; 64
-    1d52:	9f b7       	in	r25, 0x3f	; 63
-    1d54:	f8 94       	cli
-    1d56:	85 b3       	in	r24, 0x15	; 21
-    1d58:	20 95       	com	r18
-    1d5a:	87 67       	ori	r24, 0x77	; 119
-    1d5c:	82 23       	and	r24, r18
-    1d5e:	85 bb       	out	0x15, r24	; 21
-    1d60:	9f bf       	out	0x3f, r25	; 63
-    1d62:	df 91       	pop	r29
-    1d64:	cf 91       	pop	r28
-    1d66:	1f 91       	pop	r17
-    1d68:	0f 91       	pop	r16
-    1d6a:	08 95       	ret
-
-00001d6c <orb_n_set>:
-    1d6c:	98 2f       	mov	r25, r24
-    1d6e:	3f b7       	in	r19, 0x3f	; 63
-    1d70:	f8 94       	cli
-    1d72:	80 91 70 04 	lds	r24, 0x0470
-    1d76:	88 23       	and	r24, r24
-    1d78:	19 f0       	breq	.+6      	; 0x1d80 <orb_n_set+0x14>
-    1d7a:	e0 e0       	ldi	r30, 0x00	; 0
-    1d7c:	f0 e0       	ldi	r31, 0x00	; 0
-    1d7e:	05 c0       	rjmp	.+10     	; 0x1d8a <orb_n_set+0x1e>
-    1d80:	81 e0       	ldi	r24, 0x01	; 1
-    1d82:	80 93 70 04 	sts	0x0470, r24
-    1d86:	e1 e0       	ldi	r30, 0x01	; 1
-    1d88:	f0 e0       	ldi	r31, 0x00	; 0
-    1d8a:	3f bf       	out	0x3f, r19	; 63
-    1d8c:	31 97       	sbiw	r30, 0x01	; 1
-    1d8e:	81 f4       	brne	.+32     	; 0x1db0 <orb_n_set+0x44>
-    1d90:	89 2f       	mov	r24, r25
-    1d92:	99 27       	eor	r25, r25
-    1d94:	fc 01       	movw	r30, r24
-    1d96:	ee 0f       	add	r30, r30
-    1d98:	ff 1f       	adc	r31, r31
-    1d9a:	e8 0f       	add	r30, r24
-    1d9c:	f9 1f       	adc	r31, r25
-    1d9e:	ed 55       	subi	r30, 0x5D	; 93
-    1da0:	fa 4f       	sbci	r31, 0xFA	; 250
-    1da2:	60 83       	st	Z, r22
-    1da4:	41 83       	std	Z+1, r20	; 0x01
-    1da6:	22 83       	std	Z+2, r18	; 0x02
-    1da8:	0e 94 f3 0c 	call	0x19e6	; 0x19e6 <apply_orbs>
-    1dac:	10 92 70 04 	sts	0x0470, r1
-    1db0:	08 95       	ret
-
-00001db2 <orb1_set>:
-    1db2:	38 2f       	mov	r19, r24
-    1db4:	2f b7       	in	r18, 0x3f	; 63
-    1db6:	f8 94       	cli
-    1db8:	80 91 70 04 	lds	r24, 0x0470
-    1dbc:	88 23       	and	r24, r24
-    1dbe:	19 f0       	breq	.+6      	; 0x1dc6 <orb1_set+0x14>
-    1dc0:	80 e0       	ldi	r24, 0x00	; 0
-    1dc2:	90 e0       	ldi	r25, 0x00	; 0
-    1dc4:	05 c0       	rjmp	.+10     	; 0x1dd0 <orb1_set+0x1e>
-    1dc6:	81 e0       	ldi	r24, 0x01	; 1
-    1dc8:	80 93 70 04 	sts	0x0470, r24
-    1dcc:	81 e0       	ldi	r24, 0x01	; 1
-    1dce:	90 e0       	ldi	r25, 0x00	; 0
-    1dd0:	2f bf       	out	0x3f, r18	; 63
-    1dd2:	01 97       	sbiw	r24, 0x01	; 1
-    1dd4:	51 f4       	brne	.+20     	; 0x1dea <orb1_set+0x38>
-    1dd6:	30 93 a3 05 	sts	0x05A3, r19
-    1dda:	60 93 a4 05 	sts	0x05A4, r22
-    1dde:	40 93 a5 05 	sts	0x05A5, r20
-    1de2:	0e 94 f3 0c 	call	0x19e6	; 0x19e6 <apply_orbs>
-    1de6:	10 92 70 04 	sts	0x0470, r1
-    1dea:	08 95       	ret
-
-00001dec <orb2_set>:
-    1dec:	38 2f       	mov	r19, r24
-    1dee:	2f b7       	in	r18, 0x3f	; 63
-    1df0:	f8 94       	cli
-    1df2:	80 91 70 04 	lds	r24, 0x0470
-    1df6:	88 23       	and	r24, r24
-    1df8:	19 f0       	breq	.+6      	; 0x1e00 <orb2_set+0x14>
-    1dfa:	80 e0       	ldi	r24, 0x00	; 0
-    1dfc:	90 e0       	ldi	r25, 0x00	; 0
-    1dfe:	05 c0       	rjmp	.+10     	; 0x1e0a <orb2_set+0x1e>
-    1e00:	81 e0       	ldi	r24, 0x01	; 1
-    1e02:	80 93 70 04 	sts	0x0470, r24
-    1e06:	81 e0       	ldi	r24, 0x01	; 1
-    1e08:	90 e0       	ldi	r25, 0x00	; 0
-    1e0a:	2f bf       	out	0x3f, r18	; 63
-    1e0c:	01 97       	sbiw	r24, 0x01	; 1
-    1e0e:	51 f4       	brne	.+20     	; 0x1e24 <orb2_set+0x38>
-    1e10:	30 93 a6 05 	sts	0x05A6, r19
-    1e14:	60 93 a7 05 	sts	0x05A7, r22
-    1e18:	40 93 a8 05 	sts	0x05A8, r20
-    1e1c:	0e 94 f3 0c 	call	0x19e6	; 0x19e6 <apply_orbs>
-    1e20:	10 92 70 04 	sts	0x0470, r1
-    1e24:	08 95       	ret
-
-00001e26 <orb_set>:
-    1e26:	38 2f       	mov	r19, r24
-    1e28:	2f b7       	in	r18, 0x3f	; 63
-    1e2a:	f8 94       	cli
-    1e2c:	80 91 70 04 	lds	r24, 0x0470
-    1e30:	88 23       	and	r24, r24
-    1e32:	19 f0       	breq	.+6      	; 0x1e3a <orb_set+0x14>
-    1e34:	80 e0       	ldi	r24, 0x00	; 0
-    1e36:	90 e0       	ldi	r25, 0x00	; 0
-    1e38:	05 c0       	rjmp	.+10     	; 0x1e44 <orb_set+0x1e>
-    1e3a:	81 e0       	ldi	r24, 0x01	; 1
-    1e3c:	80 93 70 04 	sts	0x0470, r24
-    1e40:	81 e0       	ldi	r24, 0x01	; 1
-    1e42:	90 e0       	ldi	r25, 0x00	; 0
-    1e44:	2f bf       	out	0x3f, r18	; 63
-    1e46:	01 97       	sbiw	r24, 0x01	; 1
-    1e48:	81 f4       	brne	.+32     	; 0x1e6a <orb_set+0x44>
-    1e4a:	30 93 a3 05 	sts	0x05A3, r19
-    1e4e:	60 93 a4 05 	sts	0x05A4, r22
-    1e52:	40 93 a5 05 	sts	0x05A5, r20
-    1e56:	30 93 a6 05 	sts	0x05A6, r19
-    1e5a:	60 93 a7 05 	sts	0x05A7, r22
-    1e5e:	40 93 a8 05 	sts	0x05A8, r20
-    1e62:	0e 94 f3 0c 	call	0x19e6	; 0x19e6 <apply_orbs>
-    1e66:	10 92 70 04 	sts	0x0470, r1
-    1e6a:	08 95       	ret
-
-00001e6c <orbs_set>:
-    1e6c:	ef 92       	push	r14
-    1e6e:	0f 93       	push	r16
-    1e70:	58 2f       	mov	r21, r24
-    1e72:	3f b7       	in	r19, 0x3f	; 63
-    1e74:	f8 94       	cli
-    1e76:	80 91 70 04 	lds	r24, 0x0470
-    1e7a:	88 23       	and	r24, r24
-    1e7c:	19 f0       	breq	.+6      	; 0x1e84 <orbs_set+0x18>
-    1e7e:	80 e0       	ldi	r24, 0x00	; 0
-    1e80:	90 e0       	ldi	r25, 0x00	; 0
-    1e82:	05 c0       	rjmp	.+10     	; 0x1e8e <orbs_set+0x22>
-    1e84:	81 e0       	ldi	r24, 0x01	; 1
-    1e86:	80 93 70 04 	sts	0x0470, r24
-    1e8a:	81 e0       	ldi	r24, 0x01	; 1
-    1e8c:	90 e0       	ldi	r25, 0x00	; 0
-    1e8e:	3f bf       	out	0x3f, r19	; 63
-    1e90:	01 97       	sbiw	r24, 0x01	; 1
-    1e92:	81 f4       	brne	.+32     	; 0x1eb4 <orbs_set+0x48>
-    1e94:	50 93 a3 05 	sts	0x05A3, r21
-    1e98:	60 93 a4 05 	sts	0x05A4, r22
-    1e9c:	40 93 a5 05 	sts	0x05A5, r20
-    1ea0:	20 93 a6 05 	sts	0x05A6, r18
-    1ea4:	00 93 a7 05 	sts	0x05A7, r16
-    1ea8:	e0 92 a8 05 	sts	0x05A8, r14
-    1eac:	0e 94 f3 0c 	call	0x19e6	; 0x19e6 <apply_orbs>
-    1eb0:	10 92 70 04 	sts	0x0470, r1
-    1eb4:	0f 91       	pop	r16
-    1eb6:	ef 90       	pop	r14
-    1eb8:	08 95       	ret
-
-00001eba <orb_n_set_color>:
-    1eba:	77 27       	eor	r23, r23
-    1ebc:	ab 01       	movw	r20, r22
-    1ebe:	43 70       	andi	r20, 0x03	; 3
-    1ec0:	50 70       	andi	r21, 0x00	; 0
-    1ec2:	25 e5       	ldi	r18, 0x55	; 85
-    1ec4:	30 e0       	ldi	r19, 0x00	; 0
-    1ec6:	d9 01       	movw	r26, r18
-    1ec8:	4a 9f       	mul	r20, r26
-    1eca:	90 01       	movw	r18, r0
-    1ecc:	4b 9f       	mul	r20, r27
-    1ece:	30 0d       	add	r19, r0
-    1ed0:	5a 9f       	mul	r21, r26
-    1ed2:	30 0d       	add	r19, r0
-    1ed4:	11 24       	eor	r1, r1
-    1ed6:	ab 01       	movw	r20, r22
-    1ed8:	4c 71       	andi	r20, 0x1C	; 28
-    1eda:	50 70       	andi	r21, 0x00	; 0
-    1edc:	55 95       	asr	r21
-    1ede:	47 95       	ror	r20
-    1ee0:	55 95       	asr	r21
-    1ee2:	47 95       	ror	r20
-    1ee4:	e4 e2       	ldi	r30, 0x24	; 36
-    1ee6:	f0 e0       	ldi	r31, 0x00	; 0
-    1ee8:	da 01       	movw	r26, r20
-    1eea:	ae 9f       	mul	r26, r30
-    1eec:	a0 01       	movw	r20, r0
-    1eee:	af 9f       	mul	r26, r31
-    1ef0:	50 0d       	add	r21, r0
-    1ef2:	be 9f       	mul	r27, r30
-    1ef4:	50 0d       	add	r21, r0
-    1ef6:	11 24       	eor	r1, r1
-    1ef8:	a5 e0       	ldi	r26, 0x05	; 5
-    1efa:	76 95       	lsr	r23
-    1efc:	67 95       	ror	r22
-    1efe:	aa 95       	dec	r26
-    1f00:	e1 f7       	brne	.-8      	; 0x1efa <orb_n_set_color+0x40>
-    1f02:	db 01       	movw	r26, r22
-    1f04:	ae 9f       	mul	r26, r30
-    1f06:	b0 01       	movw	r22, r0
-    1f08:	af 9f       	mul	r26, r31
-    1f0a:	70 0d       	add	r23, r0
-    1f0c:	be 9f       	mul	r27, r30
-    1f0e:	70 0d       	add	r23, r0
-    1f10:	11 24       	eor	r1, r1
-    1f12:	0e 94 b6 0e 	call	0x1d6c	; 0x1d6c <orb_n_set>
-    1f16:	08 95       	ret
-
-00001f18 <orb1_set_color>:
-    1f18:	99 27       	eor	r25, r25
-    1f1a:	ac 01       	movw	r20, r24
-    1f1c:	43 70       	andi	r20, 0x03	; 3
-    1f1e:	50 70       	andi	r21, 0x00	; 0
-    1f20:	25 e5       	ldi	r18, 0x55	; 85
-    1f22:	30 e0       	ldi	r19, 0x00	; 0
-    1f24:	ba 01       	movw	r22, r20
-    1f26:	62 9f       	mul	r22, r18
-    1f28:	a0 01       	movw	r20, r0
-    1f2a:	63 9f       	mul	r22, r19
-    1f2c:	50 0d       	add	r21, r0
-    1f2e:	72 9f       	mul	r23, r18
-    1f30:	50 0d       	add	r21, r0
-    1f32:	11 24       	eor	r1, r1
-    1f34:	9c 01       	movw	r18, r24
-    1f36:	2c 71       	andi	r18, 0x1C	; 28
-    1f38:	30 70       	andi	r19, 0x00	; 0
-    1f3a:	35 95       	asr	r19
-    1f3c:	27 95       	ror	r18
-    1f3e:	35 95       	asr	r19
-    1f40:	27 95       	ror	r18
-    1f42:	e4 e2       	ldi	r30, 0x24	; 36
-    1f44:	f0 e0       	ldi	r31, 0x00	; 0
-    1f46:	2e 9f       	mul	r18, r30
-    1f48:	b0 01       	movw	r22, r0
-    1f4a:	2f 9f       	mul	r18, r31
-    1f4c:	70 0d       	add	r23, r0
-    1f4e:	3e 9f       	mul	r19, r30
-    1f50:	70 0d       	add	r23, r0
-    1f52:	11 24       	eor	r1, r1
-    1f54:	25 e0       	ldi	r18, 0x05	; 5
-    1f56:	96 95       	lsr	r25
-    1f58:	87 95       	ror	r24
-    1f5a:	2a 95       	dec	r18
-    1f5c:	e1 f7       	brne	.-8      	; 0x1f56 <orb1_set_color+0x3e>
-    1f5e:	8e 9f       	mul	r24, r30
-    1f60:	80 2d       	mov	r24, r0
-    1f62:	11 24       	eor	r1, r1
-    1f64:	0e 94 d9 0e 	call	0x1db2	; 0x1db2 <orb1_set>
-    1f68:	08 95       	ret
-
-00001f6a <orb2_set_color>:
-    1f6a:	99 27       	eor	r25, r25
-    1f6c:	ac 01       	movw	r20, r24
-    1f6e:	43 70       	andi	r20, 0x03	; 3
-    1f70:	50 70       	andi	r21, 0x00	; 0
-    1f72:	25 e5       	ldi	r18, 0x55	; 85
-    1f74:	30 e0       	ldi	r19, 0x00	; 0
-    1f76:	ba 01       	movw	r22, r20
-    1f78:	62 9f       	mul	r22, r18
-    1f7a:	a0 01       	movw	r20, r0
-    1f7c:	63 9f       	mul	r22, r19
-    1f7e:	50 0d       	add	r21, r0
-    1f80:	72 9f       	mul	r23, r18
-    1f82:	50 0d       	add	r21, r0
-    1f84:	11 24       	eor	r1, r1
-    1f86:	9c 01       	movw	r18, r24
-    1f88:	2c 71       	andi	r18, 0x1C	; 28
-    1f8a:	30 70       	andi	r19, 0x00	; 0
-    1f8c:	35 95       	asr	r19
-    1f8e:	27 95       	ror	r18
-    1f90:	35 95       	asr	r19
-    1f92:	27 95       	ror	r18
-    1f94:	e4 e2       	ldi	r30, 0x24	; 36
-    1f96:	f0 e0       	ldi	r31, 0x00	; 0
-    1f98:	2e 9f       	mul	r18, r30
-    1f9a:	b0 01       	movw	r22, r0
-    1f9c:	2f 9f       	mul	r18, r31
-    1f9e:	70 0d       	add	r23, r0
-    1fa0:	3e 9f       	mul	r19, r30
-    1fa2:	70 0d       	add	r23, r0
-    1fa4:	11 24       	eor	r1, r1
-    1fa6:	75 e0       	ldi	r23, 0x05	; 5
-    1fa8:	96 95       	lsr	r25
-    1faa:	87 95       	ror	r24
-    1fac:	7a 95       	dec	r23
-    1fae:	e1 f7       	brne	.-8      	; 0x1fa8 <orb2_set_color+0x3e>
-    1fb0:	8e 9f       	mul	r24, r30
-    1fb2:	80 2d       	mov	r24, r0
-    1fb4:	11 24       	eor	r1, r1
-    1fb6:	0e 94 f6 0e 	call	0x1dec	; 0x1dec <orb2_set>
-    1fba:	08 95       	ret
-
-00001fbc <orb_set_color>:
-    1fbc:	99 27       	eor	r25, r25
-    1fbe:	ac 01       	movw	r20, r24
-    1fc0:	43 70       	andi	r20, 0x03	; 3
-    1fc2:	50 70       	andi	r21, 0x00	; 0
-    1fc4:	25 e5       	ldi	r18, 0x55	; 85
-    1fc6:	30 e0       	ldi	r19, 0x00	; 0
-    1fc8:	ba 01       	movw	r22, r20
-    1fca:	62 9f       	mul	r22, r18
-    1fcc:	a0 01       	movw	r20, r0
-    1fce:	63 9f       	mul	r22, r19
-    1fd0:	50 0d       	add	r21, r0
-    1fd2:	72 9f       	mul	r23, r18
-    1fd4:	50 0d       	add	r21, r0
-    1fd6:	11 24       	eor	r1, r1
-    1fd8:	9c 01       	movw	r18, r24
-    1fda:	2c 71       	andi	r18, 0x1C	; 28
-    1fdc:	30 70       	andi	r19, 0x00	; 0
-    1fde:	35 95       	asr	r19
-    1fe0:	27 95       	ror	r18
-    1fe2:	35 95       	asr	r19
-    1fe4:	27 95       	ror	r18
-    1fe6:	e4 e2       	ldi	r30, 0x24	; 36
-    1fe8:	f0 e0       	ldi	r31, 0x00	; 0
-    1fea:	2e 9f       	mul	r18, r30
-    1fec:	b0 01       	movw	r22, r0
-    1fee:	2f 9f       	mul	r18, r31
-    1ff0:	70 0d       	add	r23, r0
-    1ff2:	3e 9f       	mul	r19, r30
-    1ff4:	70 0d       	add	r23, r0
-    1ff6:	11 24       	eor	r1, r1
-    1ff8:	f5 e0       	ldi	r31, 0x05	; 5
-    1ffa:	96 95       	lsr	r25
-    1ffc:	87 95       	ror	r24
-    1ffe:	fa 95       	dec	r31
-    2000:	e1 f7       	brne	.-8      	; 0x1ffa <orb_set_color+0x3e>
-    2002:	8e 9f       	mul	r24, r30
-    2004:	80 2d       	mov	r24, r0
-    2006:	11 24       	eor	r1, r1
-    2008:	0e 94 13 0f 	call	0x1e26	; 0x1e26 <orb_set>
-    200c:	08 95       	ret
-
-0000200e <orbs_set_color>:
-    200e:	ef 92       	push	r14
-    2010:	ff 92       	push	r15
-    2012:	0f 93       	push	r16
-    2014:	1f 93       	push	r17
-    2016:	77 27       	eor	r23, r23
-    2018:	e8 2f       	mov	r30, r24
-    201a:	ff 27       	eor	r31, r31
-    201c:	cb 01       	movw	r24, r22
-    201e:	83 70       	andi	r24, 0x03	; 3
-    2020:	90 70       	andi	r25, 0x00	; 0
-    2022:	a5 e5       	ldi	r26, 0x55	; 85
-    2024:	b0 e0       	ldi	r27, 0x00	; 0
-    2026:	8a 9f       	mul	r24, r26
-    2028:	70 01       	movw	r14, r0
-    202a:	8b 9f       	mul	r24, r27
-    202c:	f0 0c       	add	r15, r0
-    202e:	9a 9f       	mul	r25, r26
-    2030:	f0 0c       	add	r15, r0
-    2032:	11 24       	eor	r1, r1
-    2034:	9b 01       	movw	r18, r22
-    2036:	2c 71       	andi	r18, 0x1C	; 28
-    2038:	30 70       	andi	r19, 0x00	; 0
-    203a:	35 95       	asr	r19
-    203c:	27 95       	ror	r18
-    203e:	35 95       	asr	r19
-    2040:	27 95       	ror	r18
-    2042:	84 e2       	ldi	r24, 0x24	; 36
-    2044:	90 e0       	ldi	r25, 0x00	; 0
-    2046:	28 9f       	mul	r18, r24
-    2048:	80 01       	movw	r16, r0
-    204a:	29 9f       	mul	r18, r25
-    204c:	10 0d       	add	r17, r0
-    204e:	38 9f       	mul	r19, r24
-    2050:	10 0d       	add	r17, r0
-    2052:	11 24       	eor	r1, r1
-    2054:	25 e0       	ldi	r18, 0x05	; 5
-    2056:	76 95       	lsr	r23
-    2058:	67 95       	ror	r22
-    205a:	2a 95       	dec	r18
-    205c:	e1 f7       	brne	.-8      	; 0x2056 <orbs_set_color+0x48>
-    205e:	68 9f       	mul	r22, r24
-    2060:	90 01       	movw	r18, r0
-    2062:	69 9f       	mul	r22, r25
-    2064:	30 0d       	add	r19, r0
-    2066:	78 9f       	mul	r23, r24
-    2068:	30 0d       	add	r19, r0
-    206a:	11 24       	eor	r1, r1
-    206c:	af 01       	movw	r20, r30
-    206e:	43 70       	andi	r20, 0x03	; 3
-    2070:	50 70       	andi	r21, 0x00	; 0
-    2072:	ba 01       	movw	r22, r20
-    2074:	6a 9f       	mul	r22, r26
-    2076:	a0 01       	movw	r20, r0
-    2078:	6b 9f       	mul	r22, r27
-    207a:	50 0d       	add	r21, r0
-    207c:	7a 9f       	mul	r23, r26
-    207e:	50 0d       	add	r21, r0
-    2080:	11 24       	eor	r1, r1
-    2082:	bf 01       	movw	r22, r30
-    2084:	6c 71       	andi	r22, 0x1C	; 28
-    2086:	70 70       	andi	r23, 0x00	; 0
-    2088:	75 95       	asr	r23
-    208a:	67 95       	ror	r22
-    208c:	75 95       	asr	r23
-    208e:	67 95       	ror	r22
-    2090:	db 01       	movw	r26, r22
-    2092:	a8 9f       	mul	r26, r24
-    2094:	b0 01       	movw	r22, r0
-    2096:	a9 9f       	mul	r26, r25
-    2098:	70 0d       	add	r23, r0
-    209a:	b8 9f       	mul	r27, r24
-    209c:	70 0d       	add	r23, r0
-    209e:	11 24       	eor	r1, r1
-    20a0:	b5 e0       	ldi	r27, 0x05	; 5
-    20a2:	f6 95       	lsr	r31
-    20a4:	e7 95       	ror	r30
-    20a6:	ba 95       	dec	r27
-    20a8:	e1 f7       	brne	.-8      	; 0x20a2 <orbs_set_color+0x94>
-    20aa:	e8 9f       	mul	r30, r24
-    20ac:	80 2d       	mov	r24, r0
-    20ae:	11 24       	eor	r1, r1
-    20b0:	0e 94 36 0f 	call	0x1e6c	; 0x1e6c <orbs_set>
-    20b4:	1f 91       	pop	r17
-    20b6:	0f 91       	pop	r16
-    20b8:	ff 90       	pop	r15
-    20ba:	ef 90       	pop	r14
-    20bc:	08 95       	ret
-
-000020be <orb_enable_timer>:
-    20be:	86 e0       	ldi	r24, 0x06	; 6
-    20c0:	83 bf       	out	0x33, r24	; 51
-    20c2:	87 b7       	in	r24, 0x37	; 55
-    20c4:	83 60       	ori	r24, 0x03	; 3
-    20c6:	87 bf       	out	0x37, r24	; 55
-    20c8:	08 95       	ret
-
-000020ca <orb_disable_timer>:
-    20ca:	87 b7       	in	r24, 0x37	; 55
-    20cc:	8c 7f       	andi	r24, 0xFC	; 252
-    20ce:	87 bf       	out	0x37, r24	; 55
-    20d0:	08 95       	ret
-
-000020d2 <orb_set_mode>:
-    20d2:	81 30       	cpi	r24, 0x01	; 1
-    20d4:	41 f4       	brne	.+16     	; 0x20e6 <orb_set_mode+0x14>
-    20d6:	87 b7       	in	r24, 0x37	; 55
-    20d8:	8c 7f       	andi	r24, 0xFC	; 252
-    20da:	87 bf       	out	0x37, r24	; 55
-    20dc:	10 92 5a 03 	sts	0x035A, r1
-    20e0:	0e 94 f3 0c 	call	0x19e6	; 0x19e6 <apply_orbs>
-    20e4:	08 95       	ret
-    20e6:	81 e0       	ldi	r24, 0x01	; 1
-    20e8:	80 93 5a 03 	sts	0x035A, r24
-    20ec:	0e 94 f3 0c 	call	0x19e6	; 0x19e6 <apply_orbs>
-    20f0:	86 e0       	ldi	r24, 0x06	; 6
-    20f2:	83 bf       	out	0x33, r24	; 51
-    20f4:	87 b7       	in	r24, 0x37	; 55
-    20f6:	83 60       	ori	r24, 0x03	; 3
-    20f8:	87 bf       	out	0x37, r24	; 55
-    20fa:	08 95       	ret
-
-000020fc <orb_init_common>:
-    20fc:	85 b3       	in	r24, 0x15	; 21
-    20fe:	87 67       	ori	r24, 0x77	; 119
-    2100:	85 bb       	out	0x15, r24	; 21
-    2102:	84 b3       	in	r24, 0x14	; 20
-    2104:	87 67       	ori	r24, 0x77	; 119
-    2106:	84 bb       	out	0x14, r24	; 20
-    2108:	40 e0       	ldi	r20, 0x00	; 0
-    210a:	60 e0       	ldi	r22, 0x00	; 0
-    210c:	80 e0       	ldi	r24, 0x00	; 0
-    210e:	0e 94 13 0f 	call	0x1e26	; 0x1e26 <orb_set>
-    2112:	08 95       	ret
-
-00002114 <orb_init_binary>:
-    2114:	0e 94 7e 10 	call	0x20fc	; 0x20fc <orb_init_common>
-    2118:	81 e0       	ldi	r24, 0x01	; 1
-    211a:	0e 94 69 10 	call	0x20d2	; 0x20d2 <orb_set_mode>
-    211e:	08 95       	ret
-
-00002120 <orb_init_pwm>:
-    2120:	0e 94 7e 10 	call	0x20fc	; 0x20fc <orb_init_common>
-    2124:	80 e0       	ldi	r24, 0x00	; 0
-    2126:	0e 94 69 10 	call	0x20d2	; 0x20d2 <orb_set_mode>
-    212a:	08 95       	ret
-
-0000212c <orb_init>:
-    212c:	0e 94 90 10 	call	0x2120	; 0x2120 <orb_init_pwm>
-    2130:	08 95       	ret
-
-00002132 <motors_init>:
-    2132:	8b b3       	in	r24, 0x1b	; 27
-    2134:	8f 70       	andi	r24, 0x0F	; 15
-    2136:	8b bb       	out	0x1b, r24	; 27
-    2138:	8a b3       	in	r24, 0x1a	; 26
-    213a:	80 6f       	ori	r24, 0xF0	; 240
-    213c:	8a bb       	out	0x1a, r24	; 26
-    213e:	87 b3       	in	r24, 0x17	; 23
-    2140:	80 66       	ori	r24, 0x60	; 96
-    2142:	87 bb       	out	0x17, r24	; 23
-    2144:	81 ea       	ldi	r24, 0xA1	; 161
-    2146:	8f bd       	out	0x2f, r24	; 47
-    2148:	89 e0       	ldi	r24, 0x09	; 9
-    214a:	8e bd       	out	0x2e, r24	; 46
-    214c:	1b bc       	out	0x2b, r1	; 43
-    214e:	1a bc       	out	0x2a, r1	; 42
-    2150:	19 bc       	out	0x29, r1	; 41
-    2152:	18 bc       	out	0x28, r1	; 40
-    2154:	08 95       	ret
-
-00002156 <motor_l_set>:
-    2156:	89 2b       	or	r24, r25
-    2158:	51 f4       	brne	.+20     	; 0x216e <motor_l_set+0x18>
-    215a:	8b b3       	in	r24, 0x1b	; 27
-    215c:	80 73       	andi	r24, 0x30	; 48
-    215e:	80 31       	cpi	r24, 0x10	; 16
-    2160:	11 f0       	breq	.+4      	; 0x2166 <motor_l_set+0x10>
-    2162:	1b bc       	out	0x2b, r1	; 43
-    2164:	1a bc       	out	0x2a, r1	; 42
-    2166:	8b b3       	in	r24, 0x1b	; 27
-    2168:	8f 7c       	andi	r24, 0xCF	; 207
-    216a:	80 61       	ori	r24, 0x10	; 16
-    216c:	09 c0       	rjmp	.+18     	; 0x2180 <motor_l_set+0x2a>
-    216e:	8b b3       	in	r24, 0x1b	; 27
-    2170:	80 73       	andi	r24, 0x30	; 48
-    2172:	80 32       	cpi	r24, 0x20	; 32
-    2174:	11 f0       	breq	.+4      	; 0x217a <motor_l_set+0x24>
-    2176:	1b bc       	out	0x2b, r1	; 43
-    2178:	1a bc       	out	0x2a, r1	; 42
-    217a:	8b b3       	in	r24, 0x1b	; 27
-    217c:	8f 7c       	andi	r24, 0xCF	; 207
-    217e:	80 62       	ori	r24, 0x20	; 32
-    2180:	8b bb       	out	0x1b, r24	; 27
-    2182:	6a bd       	out	0x2a, r22	; 42
-    2184:	08 95       	ret
-
-00002186 <motor_r_set>:
-    2186:	89 2b       	or	r24, r25
-    2188:	51 f4       	brne	.+20     	; 0x219e <motor_r_set+0x18>
-    218a:	8b b3       	in	r24, 0x1b	; 27
-    218c:	80 7c       	andi	r24, 0xC0	; 192
-    218e:	80 38       	cpi	r24, 0x80	; 128
-    2190:	11 f0       	breq	.+4      	; 0x2196 <motor_r_set+0x10>
-    2192:	19 bc       	out	0x29, r1	; 41
-    2194:	18 bc       	out	0x28, r1	; 40
-    2196:	8b b3       	in	r24, 0x1b	; 27
-    2198:	8f 73       	andi	r24, 0x3F	; 63
-    219a:	80 68       	ori	r24, 0x80	; 128
-    219c:	09 c0       	rjmp	.+18     	; 0x21b0 <motor_r_set+0x2a>
-    219e:	8b b3       	in	r24, 0x1b	; 27
-    21a0:	80 7c       	andi	r24, 0xC0	; 192
-    21a2:	80 34       	cpi	r24, 0x40	; 64
-    21a4:	11 f0       	breq	.+4      	; 0x21aa <motor_r_set+0x24>
-    21a6:	19 bc       	out	0x29, r1	; 41
-    21a8:	18 bc       	out	0x28, r1	; 40
-    21aa:	8b b3       	in	r24, 0x1b	; 27
-    21ac:	8f 73       	andi	r24, 0x3F	; 63
-    21ae:	80 64       	ori	r24, 0x40	; 64
-    21b0:	8b bb       	out	0x1b, r24	; 27
-    21b2:	68 bd       	out	0x28, r22	; 40
-    21b4:	08 95       	ret
-
-000021b6 <motor1_set>:
-    21b6:	0e 94 ab 10 	call	0x2156	; 0x2156 <motor_l_set>
-    21ba:	08 95       	ret
-
-000021bc <motor2_set>:
-    21bc:	0e 94 c3 10 	call	0x2186	; 0x2186 <motor_r_set>
-    21c0:	08 95       	ret
-
-000021c2 <motors_off>:
-    21c2:	1a bc       	out	0x2a, r1	; 42
-    21c4:	18 bc       	out	0x28, r1	; 40
-    21c6:	08 95       	ret
-
-000021c8 <linearize_distance>:
-    21c8:	fc 01       	movw	r30, r24
-    21ca:	84 31       	cpi	r24, 0x14	; 20
-    21cc:	91 05       	cpc	r25, r1
-    21ce:	54 f0       	brlt	.+20     	; 0x21e4 <linearize_distance+0x1c>
-    21d0:	86 38       	cpi	r24, 0x86	; 134
-    21d2:	91 05       	cpc	r25, r1
-    21d4:	3c f4       	brge	.+14     	; 0x21e4 <linearize_distance+0x1c>
-    21d6:	ee 0f       	add	r30, r30
-    21d8:	ff 1f       	adc	r31, r31
-    21da:	e7 5c       	subi	r30, 0xC7	; 199
-    21dc:	fc 4f       	sbci	r31, 0xFC	; 252
-    21de:	80 81       	ld	r24, Z
-    21e0:	91 81       	ldd	r25, Z+1	; 0x01
-    21e2:	08 95       	ret
-    21e4:	8f ef       	ldi	r24, 0xFF	; 255
-    21e6:	9f ef       	ldi	r25, 0xFF	; 255
-    21e8:	08 95       	ret
-
-000021ea <range_read_distance>:
-    21ea:	0e 94 1b 13 	call	0x2636	; 0x2636 <analog8>
-    21ee:	0e 94 e4 10 	call	0x21c8	; 0x21c8 <linearize_distance>
-    21f2:	08 95       	ret
-
-000021f4 <range_init>:
-    21f4:	60 e0       	ldi	r22, 0x00	; 0
-    21f6:	70 e0       	ldi	r23, 0x00	; 0
-    21f8:	84 e1       	ldi	r24, 0x14	; 20
-    21fa:	90 e0       	ldi	r25, 0x00	; 0
-    21fc:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    2200:	08 95       	ret
-
-00002202 <usb_init>:
-    2202:	10 92 90 00 	sts	0x0090, r1
-    2206:	88 e0       	ldi	r24, 0x08	; 8
-    2208:	89 b9       	out	0x09, r24	; 9
-    220a:	59 9a       	sbi	0x0b, 1	; 11
-    220c:	8a b1       	in	r24, 0x0a	; 10
-    220e:	88 61       	ori	r24, 0x18	; 24
-    2210:	8a b9       	out	0x0a, r24	; 10
-    2212:	e5 e9       	ldi	r30, 0x95	; 149
-    2214:	f0 e0       	ldi	r31, 0x00	; 0
-    2216:	80 81       	ld	r24, Z
-    2218:	86 60       	ori	r24, 0x06	; 6
-    221a:	80 83       	st	Z, r24
-    221c:	08 95       	ret
-
-0000221e <xbee_init>:
-    221e:	10 92 98 00 	sts	0x0098, r1
-    2222:	87 e6       	ldi	r24, 0x67	; 103
-    2224:	80 93 99 00 	sts	0x0099, r24
-    2228:	eb e9       	ldi	r30, 0x9B	; 155
-    222a:	f0 e0       	ldi	r31, 0x00	; 0
-    222c:	80 81       	ld	r24, Z
-    222e:	82 60       	ori	r24, 0x02	; 2
-    2230:	80 83       	st	Z, r24
-    2232:	ea e9       	ldi	r30, 0x9A	; 154
-    2234:	f0 e0       	ldi	r31, 0x00	; 0
-    2236:	80 81       	ld	r24, Z
-    2238:	88 61       	ori	r24, 0x18	; 24
-    223a:	80 83       	st	Z, r24
-    223c:	ed e9       	ldi	r30, 0x9D	; 157
-    223e:	f0 e0       	ldi	r31, 0x00	; 0
-    2240:	80 81       	ld	r24, Z
-    2242:	86 60       	ori	r24, 0x06	; 6
-    2244:	80 83       	st	Z, r24
-    2246:	08 95       	ret
-
-00002248 <usb_putc>:
-    2248:	5d 9b       	sbis	0x0b, 5	; 11
-    224a:	fe cf       	rjmp	.-4      	; 0x2248 <usb_putc>
-    224c:	8c b9       	out	0x0c, r24	; 12
-    224e:	80 e0       	ldi	r24, 0x00	; 0
-    2250:	90 e0       	ldi	r25, 0x00	; 0
-    2252:	08 95       	ret
-
-00002254 <xbee_putc>:
-    2254:	98 2f       	mov	r25, r24
-    2256:	80 91 9b 00 	lds	r24, 0x009B
-    225a:	85 ff       	sbrs	r24, 5
-    225c:	fc cf       	rjmp	.-8      	; 0x2256 <xbee_putc+0x2>
-    225e:	90 93 9c 00 	sts	0x009C, r25
-    2262:	80 e0       	ldi	r24, 0x00	; 0
-    2264:	90 e0       	ldi	r25, 0x00	; 0
-    2266:	08 95       	ret
-
-00002268 <usb_getc>:
-    2268:	5f 9b       	sbis	0x0b, 7	; 11
-    226a:	fe cf       	rjmp	.-4      	; 0x2268 <usb_getc>
-    226c:	8c b1       	in	r24, 0x0c	; 12
-    226e:	99 27       	eor	r25, r25
-    2270:	08 95       	ret
-
-00002272 <xbee_getc>:
-    2272:	80 91 9b 00 	lds	r24, 0x009B
-    2276:	87 ff       	sbrs	r24, 7
-    2278:	fc cf       	rjmp	.-8      	; 0x2272 <xbee_getc>
-    227a:	80 91 9c 00 	lds	r24, 0x009C
-    227e:	99 27       	eor	r25, r25
-    2280:	08 95       	ret
-
-00002282 <usb_getc_nb>:
-    2282:	fc 01       	movw	r30, r24
-    2284:	5f 99       	sbic	0x0b, 7	; 11
-    2286:	03 c0       	rjmp	.+6      	; 0x228e <usb_getc_nb+0xc>
-    2288:	8f ef       	ldi	r24, 0xFF	; 255
-    228a:	9f ef       	ldi	r25, 0xFF	; 255
-    228c:	08 95       	ret
-    228e:	8c b1       	in	r24, 0x0c	; 12
-    2290:	80 83       	st	Z, r24
-    2292:	80 e0       	ldi	r24, 0x00	; 0
-    2294:	90 e0       	ldi	r25, 0x00	; 0
-    2296:	08 95       	ret
-
-00002298 <xbee_getc_nb>:
-    2298:	fc 01       	movw	r30, r24
-    229a:	80 91 9b 00 	lds	r24, 0x009B
-    229e:	87 fd       	sbrc	r24, 7
-    22a0:	03 c0       	rjmp	.+6      	; 0x22a8 <xbee_getc_nb+0x10>
-    22a2:	8f ef       	ldi	r24, 0xFF	; 255
-    22a4:	9f ef       	ldi	r25, 0xFF	; 255
-    22a6:	08 95       	ret
-    22a8:	80 91 9c 00 	lds	r24, 0x009C
-    22ac:	80 83       	st	Z, r24
-    22ae:	80 e0       	ldi	r24, 0x00	; 0
-    22b0:	90 e0       	ldi	r25, 0x00	; 0
-    22b2:	08 95       	ret
-
-000022b4 <hex_digit>:
-    22b4:	80 31       	cpi	r24, 0x10	; 16
-    22b6:	18 f0       	brcs	.+6      	; 0x22be <hex_digit+0xa>
-    22b8:	8f e3       	ldi	r24, 0x3F	; 63
-    22ba:	90 e0       	ldi	r25, 0x00	; 0
-    22bc:	08 95       	ret
-    22be:	e8 2f       	mov	r30, r24
-    22c0:	ff 27       	eor	r31, r31
-    22c2:	eb 5b       	subi	r30, 0xBB	; 187
-    22c4:	fb 4f       	sbci	r31, 0xFB	; 251
-    22c6:	80 81       	ld	r24, Z
-    22c8:	99 27       	eor	r25, r25
-    22ca:	08 95       	ret
-
-000022cc <usb_puts>:
-    22cc:	fc 01       	movw	r30, r24
-    22ce:	04 c0       	rjmp	.+8      	; 0x22d8 <usb_puts+0xc>
-    22d0:	5d 9b       	sbis	0x0b, 5	; 11
-    22d2:	fe cf       	rjmp	.-4      	; 0x22d0 <usb_puts+0x4>
-    22d4:	8c b9       	out	0x0c, r24	; 12
-    22d6:	31 96       	adiw	r30, 0x01	; 1
-    22d8:	80 81       	ld	r24, Z
-    22da:	88 23       	and	r24, r24
-    22dc:	c9 f7       	brne	.-14     	; 0x22d0 <usb_puts+0x4>
-    22de:	80 e0       	ldi	r24, 0x00	; 0
-    22e0:	90 e0       	ldi	r25, 0x00	; 0
-    22e2:	08 95       	ret
-
-000022e4 <usb_puti>:
-    22e4:	0f 93       	push	r16
-    22e6:	1f 93       	push	r17
-    22e8:	cf 93       	push	r28
-    22ea:	df 93       	push	r29
-    22ec:	cd b7       	in	r28, 0x3d	; 61
-    22ee:	de b7       	in	r29, 0x3e	; 62
-    22f0:	26 97       	sbiw	r28, 0x06	; 6
-    22f2:	0f b6       	in	r0, 0x3f	; 63
-    22f4:	f8 94       	cli
-    22f6:	de bf       	out	0x3e, r29	; 62
-    22f8:	0f be       	out	0x3f, r0	; 63
-    22fa:	cd bf       	out	0x3d, r28	; 61
-    22fc:	9c 01       	movw	r18, r24
-    22fe:	de 01       	movw	r26, r28
-    2300:	11 96       	adiw	r26, 0x01	; 1
-    2302:	e6 e5       	ldi	r30, 0x56	; 86
-    2304:	f4 e0       	ldi	r31, 0x04	; 4
-    2306:	86 e0       	ldi	r24, 0x06	; 6
-    2308:	01 90       	ld	r0, Z+
-    230a:	0d 92       	st	X+, r0
-    230c:	81 50       	subi	r24, 0x01	; 1
-    230e:	e1 f7       	brne	.-8      	; 0x2308 <usb_puti+0x24>
-    2310:	37 ff       	sbrs	r19, 7
-    2312:	07 c0       	rjmp	.+14     	; 0x2322 <usb_puti+0x3e>
-    2314:	5d 9b       	sbis	0x0b, 5	; 11
-    2316:	fe cf       	rjmp	.-4      	; 0x2314 <usb_puti+0x30>
-    2318:	8d e2       	ldi	r24, 0x2D	; 45
-    231a:	8c b9       	out	0x0c, r24	; 12
-    231c:	30 95       	com	r19
-    231e:	21 95       	neg	r18
-    2320:	3f 4f       	sbci	r19, 0xFF	; 255
-    2322:	46 e0       	ldi	r20, 0x06	; 6
-    2324:	8e 01       	movw	r16, r28
-    2326:	0f 5f       	subi	r16, 0xFF	; 255
-    2328:	1f 4f       	sbci	r17, 0xFF	; 255
-    232a:	41 50       	subi	r20, 0x01	; 1
-    232c:	f8 01       	movw	r30, r16
-    232e:	e4 0f       	add	r30, r20
-    2330:	f1 1d       	adc	r31, r1
-    2332:	c9 01       	movw	r24, r18
-    2334:	6a e0       	ldi	r22, 0x0A	; 10
-    2336:	70 e0       	ldi	r23, 0x00	; 0
-    2338:	0e 94 83 17 	call	0x2f06	; 0x2f06 <__divmodhi4>
-    233c:	80 5d       	subi	r24, 0xD0	; 208
-    233e:	80 83       	st	Z, r24
-    2340:	c9 01       	movw	r24, r18
-    2342:	6a e0       	ldi	r22, 0x0A	; 10
-    2344:	70 e0       	ldi	r23, 0x00	; 0
-    2346:	0e 94 83 17 	call	0x2f06	; 0x2f06 <__divmodhi4>
-    234a:	9b 01       	movw	r18, r22
-    234c:	67 2b       	or	r22, r23
-    234e:	51 f0       	breq	.+20     	; 0x2364 <usb_puti+0x80>
-    2350:	ec cf       	rjmp	.-40     	; 0x232a <usb_puti+0x46>
-    2352:	fc 01       	movw	r30, r24
-    2354:	e4 0f       	add	r30, r20
-    2356:	f1 1d       	adc	r31, r1
-    2358:	e0 81       	ld	r30, Z
-    235a:	5d 9b       	sbis	0x0b, 5	; 11
-    235c:	fe cf       	rjmp	.-4      	; 0x235a <usb_puti+0x76>
-    235e:	ec b9       	out	0x0c, r30	; 12
-    2360:	4f 5f       	subi	r20, 0xFF	; 255
-    2362:	02 c0       	rjmp	.+4      	; 0x2368 <usb_puti+0x84>
-    2364:	ce 01       	movw	r24, r28
-    2366:	01 96       	adiw	r24, 0x01	; 1
-    2368:	46 30       	cpi	r20, 0x06	; 6
-    236a:	98 f3       	brcs	.-26     	; 0x2352 <usb_puti+0x6e>
-    236c:	80 e0       	ldi	r24, 0x00	; 0
-    236e:	90 e0       	ldi	r25, 0x00	; 0
-    2370:	26 96       	adiw	r28, 0x06	; 6
-    2372:	0f b6       	in	r0, 0x3f	; 63
-    2374:	f8 94       	cli
-    2376:	de bf       	out	0x3e, r29	; 62
-    2378:	0f be       	out	0x3f, r0	; 63
-    237a:	cd bf       	out	0x3d, r28	; 61
-    237c:	df 91       	pop	r29
-    237e:	cf 91       	pop	r28
-    2380:	1f 91       	pop	r17
-    2382:	0f 91       	pop	r16
-    2384:	08 95       	ret
-
-00002386 <usb_puts_P>:
-    2386:	ef 92       	push	r14
-    2388:	ff 92       	push	r15
-    238a:	0f 93       	push	r16
-    238c:	1f 93       	push	r17
-    238e:	cf 93       	push	r28
-    2390:	df 93       	push	r29
-    2392:	cd b7       	in	r28, 0x3d	; 61
-    2394:	de b7       	in	r29, 0x3e	; 62
-    2396:	21 97       	sbiw	r28, 0x01	; 1
-    2398:	0f b6       	in	r0, 0x3f	; 63
-    239a:	f8 94       	cli
-    239c:	de bf       	out	0x3e, r29	; 62
-    239e:	0f be       	out	0x3f, r0	; 63
-    23a0:	cd bf       	out	0x3d, r28	; 61
-    23a2:	8c 01       	movw	r16, r24
-    23a4:	7e 01       	movw	r14, r28
-    23a6:	08 94       	sec
-    23a8:	e1 1c       	adc	r14, r1
-    23aa:	f1 1c       	adc	r15, r1
-    23ac:	05 c0       	rjmp	.+10     	; 0x23b8 <usb_puts_P+0x32>
-    23ae:	5d 9b       	sbis	0x0b, 5	; 11
-    23b0:	fe cf       	rjmp	.-4      	; 0x23ae <usb_puts_P+0x28>
-    23b2:	8c b9       	out	0x0c, r24	; 12
-    23b4:	0f 5f       	subi	r16, 0xFF	; 255
-    23b6:	1f 4f       	sbci	r17, 0xFF	; 255
-    23b8:	41 e0       	ldi	r20, 0x01	; 1
-    23ba:	50 e0       	ldi	r21, 0x00	; 0
-    23bc:	b8 01       	movw	r22, r16
-    23be:	c7 01       	movw	r24, r14
-    23c0:	0e 94 da 16 	call	0x2db4	; 0x2db4 <memcpy_P>
-    23c4:	89 81       	ldd	r24, Y+1	; 0x01
-    23c6:	88 23       	and	r24, r24
-    23c8:	91 f7       	brne	.-28     	; 0x23ae <usb_puts_P+0x28>
-    23ca:	21 96       	adiw	r28, 0x01	; 1
-    23cc:	0f b6       	in	r0, 0x3f	; 63
-    23ce:	f8 94       	cli
-    23d0:	de bf       	out	0x3e, r29	; 62
-    23d2:	0f be       	out	0x3f, r0	; 63
-    23d4:	cd bf       	out	0x3d, r28	; 61
-    23d6:	df 91       	pop	r29
-    23d8:	cf 91       	pop	r28
-    23da:	1f 91       	pop	r17
-    23dc:	0f 91       	pop	r16
-    23de:	ff 90       	pop	r15
-    23e0:	ef 90       	pop	r14
-    23e2:	08 95       	ret
-
-000023e4 <usb_puth8>:
-    23e4:	28 2f       	mov	r18, r24
-    23e6:	e8 2f       	mov	r30, r24
-    23e8:	e2 95       	swap	r30
-    23ea:	ef 70       	andi	r30, 0x0F	; 15
-    23ec:	ff 27       	eor	r31, r31
-    23ee:	eb 5b       	subi	r30, 0xBB	; 187
-    23f0:	fb 4f       	sbci	r31, 0xFB	; 251
-    23f2:	80 81       	ld	r24, Z
-    23f4:	99 27       	eor	r25, r25
-    23f6:	5d 9b       	sbis	0x0b, 5	; 11
-    23f8:	fe cf       	rjmp	.-4      	; 0x23f6 <usb_puth8+0x12>
-    23fa:	8c b9       	out	0x0c, r24	; 12
-    23fc:	e2 2f       	mov	r30, r18
-    23fe:	ff 27       	eor	r31, r31
-    2400:	ef 70       	andi	r30, 0x0F	; 15
-    2402:	f0 70       	andi	r31, 0x00	; 0
-    2404:	eb 5b       	subi	r30, 0xBB	; 187
-    2406:	fb 4f       	sbci	r31, 0xFB	; 251
-    2408:	80 81       	ld	r24, Z
-    240a:	99 27       	eor	r25, r25
-    240c:	5d 9b       	sbis	0x0b, 5	; 11
-    240e:	fe cf       	rjmp	.-4      	; 0x240c <usb_puth8+0x28>
-    2410:	8c b9       	out	0x0c, r24	; 12
-    2412:	08 95       	ret
-
-00002414 <usb_puth16>:
-    2414:	ac 01       	movw	r20, r24
-    2416:	fc 01       	movw	r30, r24
-    2418:	ef 2f       	mov	r30, r31
-    241a:	ff 27       	eor	r31, r31
-    241c:	e2 95       	swap	r30
-    241e:	ef 70       	andi	r30, 0x0F	; 15
-    2420:	eb 5b       	subi	r30, 0xBB	; 187
-    2422:	fb 4f       	sbci	r31, 0xFB	; 251
-    2424:	80 81       	ld	r24, Z
-    2426:	28 2f       	mov	r18, r24
-    2428:	33 27       	eor	r19, r19
-    242a:	5d 9b       	sbis	0x0b, 5	; 11
-    242c:	fe cf       	rjmp	.-4      	; 0x242a <usb_puth16+0x16>
-    242e:	2c b9       	out	0x0c, r18	; 12
-    2430:	e5 2f       	mov	r30, r21
-    2432:	ff 27       	eor	r31, r31
-    2434:	ef 70       	andi	r30, 0x0F	; 15
-    2436:	f0 70       	andi	r31, 0x00	; 0
-    2438:	eb 5b       	subi	r30, 0xBB	; 187
-    243a:	fb 4f       	sbci	r31, 0xFB	; 251
-    243c:	80 81       	ld	r24, Z
-    243e:	28 2f       	mov	r18, r24
-    2440:	33 27       	eor	r19, r19
-    2442:	5d 9b       	sbis	0x0b, 5	; 11
-    2444:	fe cf       	rjmp	.-4      	; 0x2442 <usb_puth16+0x2e>
-    2446:	2c b9       	out	0x0c, r18	; 12
-    2448:	fa 01       	movw	r30, r20
-    244a:	84 e0       	ldi	r24, 0x04	; 4
-    244c:	f6 95       	lsr	r31
-    244e:	e7 95       	ror	r30
-    2450:	8a 95       	dec	r24
-    2452:	e1 f7       	brne	.-8      	; 0x244c <usb_puth16+0x38>
-    2454:	ff 27       	eor	r31, r31
-    2456:	ef 70       	andi	r30, 0x0F	; 15
-    2458:	f0 70       	andi	r31, 0x00	; 0
-    245a:	eb 5b       	subi	r30, 0xBB	; 187
-    245c:	fb 4f       	sbci	r31, 0xFB	; 251
-    245e:	80 81       	ld	r24, Z
-    2460:	28 2f       	mov	r18, r24
-    2462:	33 27       	eor	r19, r19
-    2464:	5d 9b       	sbis	0x0b, 5	; 11
-    2466:	fe cf       	rjmp	.-4      	; 0x2464 <usb_puth16+0x50>
-    2468:	2c b9       	out	0x0c, r18	; 12
-    246a:	e4 2f       	mov	r30, r20
-    246c:	ff 27       	eor	r31, r31
-    246e:	ef 70       	andi	r30, 0x0F	; 15
-    2470:	f0 70       	andi	r31, 0x00	; 0
-    2472:	eb 5b       	subi	r30, 0xBB	; 187
-    2474:	fb 4f       	sbci	r31, 0xFB	; 251
-    2476:	80 81       	ld	r24, Z
-    2478:	99 27       	eor	r25, r25
-    247a:	5d 9b       	sbis	0x0b, 5	; 11
-    247c:	fe cf       	rjmp	.-4      	; 0x247a <usb_puth16+0x66>
-    247e:	8c b9       	out	0x0c, r24	; 12
-    2480:	08 95       	ret
-
-00002482 <spi_init>:
-    2482:	23 ed       	ldi	r18, 0xD3	; 211
-    2484:	2d b9       	out	0x0d, r18	; 13
-    2486:	21 e0       	ldi	r18, 0x01	; 1
-    2488:	2e b9       	out	0x0e, r18	; 14
-    248a:	27 b3       	in	r18, 0x17	; 23
-    248c:	27 60       	ori	r18, 0x07	; 7
-    248e:	27 bb       	out	0x17, r18	; 23
-    2490:	bb 98       	cbi	0x17, 3	; 23
-    2492:	c0 9a       	sbi	0x18, 0	; 24
-    2494:	90 93 73 04 	sts	0x0473, r25
-    2498:	80 93 72 04 	sts	0x0472, r24
-    249c:	70 93 75 04 	sts	0x0475, r23
-    24a0:	60 93 74 04 	sts	0x0474, r22
-    24a4:	10 92 71 04 	sts	0x0471, r1
-    24a8:	08 95       	ret
-
-000024aa <spi_transfer>:
-    24aa:	80 93 71 04 	sts	0x0471, r24
-    24ae:	c0 98       	cbi	0x18, 0	; 24
-    24b0:	8f ef       	ldi	r24, 0xFF	; 255
-    24b2:	8f b9       	out	0x0f, r24	; 15
-    24b4:	08 95       	ret
-
-000024b6 <__vector_17>:
-    24b6:	1f 92       	push	r1
-    24b8:	0f 92       	push	r0
-    24ba:	0f b6       	in	r0, 0x3f	; 63
-    24bc:	0f 92       	push	r0
-    24be:	11 24       	eor	r1, r1
-    24c0:	2f 93       	push	r18
-    24c2:	3f 93       	push	r19
-    24c4:	4f 93       	push	r20
-    24c6:	5f 93       	push	r21
-    24c8:	6f 93       	push	r22
-    24ca:	7f 93       	push	r23
-    24cc:	8f 93       	push	r24
-    24ce:	9f 93       	push	r25
-    24d0:	af 93       	push	r26
-    24d2:	bf 93       	push	r27
-    24d4:	ef 93       	push	r30
-    24d6:	ff 93       	push	r31
-    24d8:	80 91 71 04 	lds	r24, 0x0471
-    24dc:	88 23       	and	r24, r24
-    24de:	d1 f0       	breq	.+52     	; 0x2514 <__vector_17+0x5e>
-    24e0:	e0 91 72 04 	lds	r30, 0x0472
-    24e4:	f0 91 73 04 	lds	r31, 0x0473
-    24e8:	8f b1       	in	r24, 0x0f	; 15
-    24ea:	09 95       	icall
-    24ec:	80 91 71 04 	lds	r24, 0x0471
-    24f0:	81 50       	subi	r24, 0x01	; 1
-    24f2:	80 93 71 04 	sts	0x0471, r24
-    24f6:	80 91 71 04 	lds	r24, 0x0471
-    24fa:	88 23       	and	r24, r24
-    24fc:	49 f4       	brne	.+18     	; 0x2510 <__vector_17+0x5a>
-    24fe:	c0 9a       	sbi	0x18, 0	; 24
-    2500:	e0 91 74 04 	lds	r30, 0x0474
-    2504:	f0 91 75 04 	lds	r31, 0x0475
-    2508:	30 97       	sbiw	r30, 0x00	; 0
-    250a:	21 f0       	breq	.+8      	; 0x2514 <__vector_17+0x5e>
-    250c:	09 95       	icall
-    250e:	02 c0       	rjmp	.+4      	; 0x2514 <__vector_17+0x5e>
-    2510:	8f ef       	ldi	r24, 0xFF	; 255
-    2512:	8f b9       	out	0x0f, r24	; 15
-    2514:	ff 91       	pop	r31
-    2516:	ef 91       	pop	r30
-    2518:	bf 91       	pop	r27
-    251a:	af 91       	pop	r26
-    251c:	9f 91       	pop	r25
-    251e:	8f 91       	pop	r24
-    2520:	7f 91       	pop	r23
-    2522:	6f 91       	pop	r22
-    2524:	5f 91       	pop	r21
-    2526:	4f 91       	pop	r20
-    2528:	3f 91       	pop	r19
-    252a:	2f 91       	pop	r18
-    252c:	0f 90       	pop	r0
-    252e:	0f be       	out	0x3f, r0	; 63
-    2530:	0f 90       	pop	r0
-    2532:	1f 90       	pop	r1
-    2534:	18 95       	reti
-
-00002536 <delay_ms>:
-    2536:	9c 01       	movw	r18, r24
-    2538:	06 c0       	rjmp	.+12     	; 0x2546 <delay_ms+0x10>
-    253a:	80 e4       	ldi	r24, 0x40	; 64
-    253c:	96 e0       	ldi	r25, 0x06	; 6
-    253e:	01 97       	sbiw	r24, 0x01	; 1
-    2540:	f1 f7       	brne	.-4      	; 0x253e <delay_ms+0x8>
-    2542:	21 50       	subi	r18, 0x01	; 1
-    2544:	30 40       	sbci	r19, 0x00	; 0
-    2546:	12 16       	cp	r1, r18
-    2548:	13 06       	cpc	r1, r19
-    254a:	bc f3       	brlt	.-18     	; 0x253a <delay_ms+0x4>
-    254c:	08 95       	ret
-
-0000254e <rtc_init>:
-    254e:	10 92 89 00 	sts	0x0089, r1
-    2552:	10 92 88 00 	sts	0x0088, r1
-    2556:	ea e8       	ldi	r30, 0x8A	; 138
-    2558:	f0 e0       	ldi	r31, 0x00	; 0
-    255a:	20 81       	ld	r18, Z
-    255c:	28 60       	ori	r18, 0x08	; 8
-    255e:	20 83       	st	Z, r18
-    2560:	20 81       	ld	r18, Z
-    2562:	22 60       	ori	r18, 0x02	; 2
-    2564:	20 83       	st	Z, r18
-    2566:	24 e2       	ldi	r18, 0x24	; 36
-    2568:	34 ef       	ldi	r19, 0xF4	; 244
-    256a:	30 93 87 00 	sts	0x0087, r19
-    256e:	20 93 86 00 	sts	0x0086, r18
-    2572:	ed e7       	ldi	r30, 0x7D	; 125
-    2574:	f0 e0       	ldi	r31, 0x00	; 0
-    2576:	20 81       	ld	r18, Z
-    2578:	20 61       	ori	r18, 0x10	; 16
-    257a:	20 83       	st	Z, r18
-    257c:	70 93 7b 04 	sts	0x047B, r23
-    2580:	60 93 7a 04 	sts	0x047A, r22
-    2584:	90 93 5d 04 	sts	0x045D, r25
-    2588:	80 93 5c 04 	sts	0x045C, r24
-    258c:	08 95       	ret
-
-0000258e <rtc_get>:
-    258e:	80 91 78 04 	lds	r24, 0x0478
-    2592:	90 91 79 04 	lds	r25, 0x0479
-    2596:	08 95       	ret
-
-00002598 <rtc_reset>:
-    2598:	10 92 79 04 	sts	0x0479, r1
-    259c:	10 92 78 04 	sts	0x0478, r1
-    25a0:	08 95       	ret
-
-000025a2 <__vector_26>:
-    25a2:	1f 92       	push	r1
-    25a4:	0f 92       	push	r0
-    25a6:	0f b6       	in	r0, 0x3f	; 63
-    25a8:	0f 92       	push	r0
-    25aa:	11 24       	eor	r1, r1
-    25ac:	2f 93       	push	r18
-    25ae:	3f 93       	push	r19
-    25b0:	4f 93       	push	r20
-    25b2:	5f 93       	push	r21
-    25b4:	6f 93       	push	r22
-    25b6:	7f 93       	push	r23
-    25b8:	8f 93       	push	r24
-    25ba:	9f 93       	push	r25
-    25bc:	af 93       	push	r26
-    25be:	bf 93       	push	r27
-    25c0:	ef 93       	push	r30
-    25c2:	ff 93       	push	r31
-    25c4:	20 91 76 04 	lds	r18, 0x0476
-    25c8:	30 91 77 04 	lds	r19, 0x0477
-    25cc:	80 91 5c 04 	lds	r24, 0x045C
-    25d0:	90 91 5d 04 	lds	r25, 0x045D
-    25d4:	28 17       	cp	r18, r24
-    25d6:	39 07       	cpc	r19, r25
-    25d8:	a1 f4       	brne	.+40     	; 0x2602 <__vector_26+0x60>
-    25da:	80 91 78 04 	lds	r24, 0x0478
-    25de:	90 91 79 04 	lds	r25, 0x0479
-    25e2:	01 96       	adiw	r24, 0x01	; 1
-    25e4:	90 93 79 04 	sts	0x0479, r25
-    25e8:	80 93 78 04 	sts	0x0478, r24
-    25ec:	e0 91 7a 04 	lds	r30, 0x047A
-    25f0:	f0 91 7b 04 	lds	r31, 0x047B
-    25f4:	30 97       	sbiw	r30, 0x00	; 0
-    25f6:	09 f0       	breq	.+2      	; 0x25fa <__vector_26+0x58>
-    25f8:	09 95       	icall
-    25fa:	10 92 77 04 	sts	0x0477, r1
-    25fe:	10 92 76 04 	sts	0x0476, r1
-    2602:	80 91 76 04 	lds	r24, 0x0476
-    2606:	90 91 77 04 	lds	r25, 0x0477
-    260a:	01 96       	adiw	r24, 0x01	; 1
-    260c:	90 93 77 04 	sts	0x0477, r25
-    2610:	80 93 76 04 	sts	0x0476, r24
-    2614:	ff 91       	pop	r31
-    2616:	ef 91       	pop	r30
-    2618:	bf 91       	pop	r27
-    261a:	af 91       	pop	r26
-    261c:	9f 91       	pop	r25
-    261e:	8f 91       	pop	r24
-    2620:	7f 91       	pop	r23
-    2622:	6f 91       	pop	r22
-    2624:	5f 91       	pop	r21
-    2626:	4f 91       	pop	r20
-    2628:	3f 91       	pop	r19
-    262a:	2f 91       	pop	r18
-    262c:	0f 90       	pop	r0
-    262e:	0f be       	out	0x3f, r0	; 63
-    2630:	0f 90       	pop	r0
-    2632:	1f 90       	pop	r1
-    2634:	18 95       	reti
-
-00002636 <analog8>:
-    2636:	00 97       	sbiw	r24, 0x00	; 0
-    2638:	19 f4       	brne	.+6      	; 0x2640 <analog8+0xa>
-    263a:	80 e0       	ldi	r24, 0x00	; 0
-    263c:	90 e0       	ldi	r25, 0x00	; 0
-    263e:	08 95       	ret
-    2640:	01 97       	sbiw	r24, 0x01	; 1
-    2642:	fc 01       	movw	r30, r24
-    2644:	ee 0f       	add	r30, r30
-    2646:	ff 1f       	adc	r31, r31
-    2648:	e8 0f       	add	r30, r24
-    264a:	f9 1f       	adc	r31, r25
-    264c:	e3 55       	subi	r30, 0x53	; 83
-    264e:	fa 4f       	sbci	r31, 0xFA	; 250
-    2650:	80 81       	ld	r24, Z
-    2652:	99 27       	eor	r25, r25
-    2654:	08 95       	ret
-
-00002656 <analog10>:
-    2656:	00 97       	sbiw	r24, 0x00	; 0
-    2658:	19 f4       	brne	.+6      	; 0x2660 <analog10+0xa>
-    265a:	80 e0       	ldi	r24, 0x00	; 0
-    265c:	90 e0       	ldi	r25, 0x00	; 0
-    265e:	08 95       	ret
-    2660:	01 97       	sbiw	r24, 0x01	; 1
-    2662:	fc 01       	movw	r30, r24
-    2664:	ee 0f       	add	r30, r30
-    2666:	ff 1f       	adc	r31, r31
-    2668:	e8 0f       	add	r30, r24
-    266a:	f9 1f       	adc	r31, r25
-    266c:	e3 55       	subi	r30, 0x53	; 83
-    266e:	fa 4f       	sbci	r31, 0xFA	; 250
-    2670:	81 81       	ldd	r24, Z+1	; 0x01
-    2672:	92 81       	ldd	r25, Z+2	; 0x02
-    2674:	08 95       	ret
-
-00002676 <analog_start_loop>:
-    2676:	80 91 7c 04 	lds	r24, 0x047C
-    267a:	90 91 7d 04 	lds	r25, 0x047D
-    267e:	01 97       	sbiw	r24, 0x01	; 1
-    2680:	41 f0       	breq	.+16     	; 0x2692 <analog_start_loop+0x1c>
-    2682:	33 9a       	sbi	0x06, 3	; 6
-    2684:	36 9a       	sbi	0x06, 6	; 6
-    2686:	81 e0       	ldi	r24, 0x01	; 1
-    2688:	90 e0       	ldi	r25, 0x00	; 0
-    268a:	90 93 7d 04 	sts	0x047D, r25
-    268e:	80 93 7c 04 	sts	0x047C, r24
-    2692:	08 95       	ret
-
-00002694 <analog_stop_loop>:
-    2694:	81 e0       	ldi	r24, 0x01	; 1
-    2696:	90 e0       	ldi	r25, 0x00	; 0
-    2698:	90 93 7f 04 	sts	0x047F, r25
-    269c:	80 93 7e 04 	sts	0x047E, r24
-    26a0:	08 95       	ret
-
-000026a2 <analog_loop_status>:
-    26a2:	80 91 7c 04 	lds	r24, 0x047C
-    26a6:	90 91 7d 04 	lds	r25, 0x047D
-    26aa:	08 95       	ret
-
-000026ac <set_adc_mux>:
-    26ac:	e5 e6       	ldi	r30, 0x65	; 101
-    26ae:	f0 e0       	ldi	r31, 0x00	; 0
-    26b0:	20 81       	ld	r18, Z
-    26b2:	38 2f       	mov	r19, r24
-    26b4:	34 70       	andi	r19, 0x04	; 4
-    26b6:	23 7e       	andi	r18, 0xE3	; 227
-    26b8:	32 2b       	or	r19, r18
-    26ba:	83 70       	andi	r24, 0x03	; 3
-    26bc:	90 70       	andi	r25, 0x00	; 0
-    26be:	43 e0       	ldi	r20, 0x03	; 3
-    26c0:	88 0f       	add	r24, r24
-    26c2:	99 1f       	adc	r25, r25
-    26c4:	4a 95       	dec	r20
-    26c6:	e1 f7       	brne	.-8      	; 0x26c0 <set_adc_mux+0x14>
-    26c8:	38 2b       	or	r19, r24
-    26ca:	30 83       	st	Z, r19
-    26cc:	08 95       	ret
-
-000026ce <analog_get10>:
-    26ce:	9c 01       	movw	r18, r24
-    26d0:	36 99       	sbic	0x06, 6	; 6
-    26d2:	fe cf       	rjmp	.-4      	; 0x26d0 <analog_get10+0x2>
-    26d4:	27 30       	cpi	r18, 0x07	; 7
-    26d6:	31 05       	cpc	r19, r1
-    26d8:	24 f4       	brge	.+8      	; 0x26e2 <analog_get10+0x14>
-    26da:	82 2f       	mov	r24, r18
-    26dc:	80 5a       	subi	r24, 0xA0	; 160
-    26de:	87 b9       	out	0x07, r24	; 7
-    26e0:	06 c0       	rjmp	.+12     	; 0x26ee <analog_get10+0x20>
-    26e2:	87 e6       	ldi	r24, 0x67	; 103
-    26e4:	87 b9       	out	0x07, r24	; 7
-    26e6:	c9 01       	movw	r24, r18
-    26e8:	08 97       	sbiw	r24, 0x08	; 8
-    26ea:	0e 94 56 13 	call	0x26ac	; 0x26ac <set_adc_mux>
-    26ee:	36 9a       	sbi	0x06, 6	; 6
-    26f0:	36 99       	sbic	0x06, 6	; 6
-    26f2:	fe cf       	rjmp	.-4      	; 0x26f0 <analog_get10+0x22>
-    26f4:	84 b1       	in	r24, 0x04	; 4
-    26f6:	25 b1       	in	r18, 0x05	; 5
-    26f8:	99 27       	eor	r25, r25
-    26fa:	66 e0       	ldi	r22, 0x06	; 6
-    26fc:	95 95       	asr	r25
-    26fe:	87 95       	ror	r24
-    2700:	6a 95       	dec	r22
-    2702:	e1 f7       	brne	.-8      	; 0x26fc <analog_get10+0x2e>
-    2704:	33 27       	eor	r19, r19
-    2706:	22 0f       	add	r18, r18
-    2708:	33 1f       	adc	r19, r19
-    270a:	22 0f       	add	r18, r18
-    270c:	33 1f       	adc	r19, r19
-    270e:	82 2b       	or	r24, r18
-    2710:	93 2b       	or	r25, r19
-    2712:	08 95       	ret
-
-00002714 <analog_get8>:
-    2714:	9c 01       	movw	r18, r24
-    2716:	36 99       	sbic	0x06, 6	; 6
-    2718:	fe cf       	rjmp	.-4      	; 0x2716 <analog_get8+0x2>
-    271a:	27 30       	cpi	r18, 0x07	; 7
-    271c:	31 05       	cpc	r19, r1
-    271e:	24 f4       	brge	.+8      	; 0x2728 <analog_get8+0x14>
-    2720:	82 2f       	mov	r24, r18
-    2722:	80 5a       	subi	r24, 0xA0	; 160
-    2724:	87 b9       	out	0x07, r24	; 7
-    2726:	06 c0       	rjmp	.+12     	; 0x2734 <analog_get8+0x20>
-    2728:	87 e6       	ldi	r24, 0x67	; 103
-    272a:	87 b9       	out	0x07, r24	; 7
-    272c:	c9 01       	movw	r24, r18
-    272e:	08 97       	sbiw	r24, 0x08	; 8
-    2730:	0e 94 56 13 	call	0x26ac	; 0x26ac <set_adc_mux>
-    2734:	36 9a       	sbi	0x06, 6	; 6
-    2736:	36 99       	sbic	0x06, 6	; 6
-    2738:	fe cf       	rjmp	.-4      	; 0x2736 <analog_get8+0x22>
-    273a:	85 b1       	in	r24, 0x05	; 5
-    273c:	99 27       	eor	r25, r25
-    273e:	08 95       	ret
-
-00002740 <analog_init>:
-    2740:	cf 93       	push	r28
-    2742:	df 93       	push	r29
-    2744:	ec 01       	movw	r28, r24
-    2746:	80 e0       	ldi	r24, 0x00	; 0
-    2748:	90 e0       	ldi	r25, 0x00	; 0
-    274a:	fc 01       	movw	r30, r24
-    274c:	ee 0f       	add	r30, r30
-    274e:	ff 1f       	adc	r31, r31
-    2750:	e8 0f       	add	r30, r24
-    2752:	f9 1f       	adc	r31, r25
-    2754:	e3 55       	subi	r30, 0x53	; 83
-    2756:	fa 4f       	sbci	r31, 0xFA	; 250
-    2758:	12 82       	std	Z+2, r1	; 0x02
-    275a:	11 82       	std	Z+1, r1	; 0x01
-    275c:	10 82       	st	Z, r1
-    275e:	01 96       	adiw	r24, 0x01	; 1
-    2760:	8b 30       	cpi	r24, 0x0B	; 11
-    2762:	91 05       	cpc	r25, r1
-    2764:	91 f7       	brne	.-28     	; 0x274a <analog_init+0xa>
-    2766:	17 b8       	out	0x07, r1	; 7
-    2768:	87 b1       	in	r24, 0x07	; 7
-    276a:	81 66       	ori	r24, 0x61	; 97
-    276c:	87 b9       	out	0x07, r24	; 7
-    276e:	16 b8       	out	0x06, r1	; 6
-    2770:	86 b1       	in	r24, 0x06	; 6
-    2772:	87 68       	ori	r24, 0x87	; 135
-    2774:	86 b9       	out	0x06, r24	; 6
-    2776:	80 91 64 00 	lds	r24, 0x0064
-    277a:	8c 61       	ori	r24, 0x1C	; 28
-    277c:	80 93 64 00 	sts	0x0064, r24
-    2780:	80 e0       	ldi	r24, 0x00	; 0
-    2782:	90 e0       	ldi	r25, 0x00	; 0
-    2784:	0e 94 56 13 	call	0x26ac	; 0x26ac <set_adc_mux>
-    2788:	81 e0       	ldi	r24, 0x01	; 1
-    278a:	90 e0       	ldi	r25, 0x00	; 0
-    278c:	90 93 81 04 	sts	0x0481, r25
-    2790:	80 93 80 04 	sts	0x0480, r24
-    2794:	cd 2b       	or	r28, r29
-    2796:	11 f0       	breq	.+4      	; 0x279c <analog_init+0x5c>
-    2798:	0e 94 3b 13 	call	0x2676	; 0x2676 <analog_start_loop>
-    279c:	df 91       	pop	r29
-    279e:	cf 91       	pop	r28
-    27a0:	08 95       	ret
-
-000027a2 <__vector_21>:
-    27a2:	1f 92       	push	r1
-    27a4:	0f 92       	push	r0
-    27a6:	0f b6       	in	r0, 0x3f	; 63
-    27a8:	0f 92       	push	r0
-    27aa:	11 24       	eor	r1, r1
-    27ac:	2f 93       	push	r18
-    27ae:	3f 93       	push	r19
-    27b0:	4f 93       	push	r20
-    27b2:	5f 93       	push	r21
-    27b4:	6f 93       	push	r22
-    27b6:	7f 93       	push	r23
-    27b8:	8f 93       	push	r24
-    27ba:	9f 93       	push	r25
-    27bc:	af 93       	push	r26
-    27be:	bf 93       	push	r27
-    27c0:	ef 93       	push	r30
-    27c2:	ff 93       	push	r31
-    27c4:	a0 91 7c 04 	lds	r26, 0x047C
-    27c8:	b0 91 7d 04 	lds	r27, 0x047D
-    27cc:	a1 30       	cpi	r26, 0x01	; 1
-    27ce:	b1 05       	cpc	r27, r1
-    27d0:	09 f0       	breq	.+2      	; 0x27d4 <__vector_21+0x32>
-    27d2:	7c c0       	rjmp	.+248    	; 0x28cc <__vector_21+0x12a>
-    27d4:	87 b1       	in	r24, 0x07	; 7
-    27d6:	88 23       	and	r24, r24
-    27d8:	61 f1       	breq	.+88     	; 0x2832 <__vector_21+0x90>
-    27da:	24 b1       	in	r18, 0x04	; 4
-    27dc:	65 b1       	in	r22, 0x05	; 5
-    27de:	40 91 80 04 	lds	r20, 0x0480
-    27e2:	50 91 81 04 	lds	r21, 0x0481
-    27e6:	41 50       	subi	r20, 0x01	; 1
-    27e8:	50 40       	sbci	r21, 0x00	; 0
-    27ea:	33 27       	eor	r19, r19
-    27ec:	f6 e0       	ldi	r31, 0x06	; 6
-    27ee:	35 95       	asr	r19
-    27f0:	27 95       	ror	r18
-    27f2:	fa 95       	dec	r31
-    27f4:	e1 f7       	brne	.-8      	; 0x27ee <__vector_21+0x4c>
-    27f6:	86 2f       	mov	r24, r22
-    27f8:	99 27       	eor	r25, r25
-    27fa:	88 0f       	add	r24, r24
-    27fc:	99 1f       	adc	r25, r25
-    27fe:	88 0f       	add	r24, r24
-    2800:	99 1f       	adc	r25, r25
-    2802:	28 2b       	or	r18, r24
-    2804:	39 2b       	or	r19, r25
-    2806:	fa 01       	movw	r30, r20
-    2808:	ee 0f       	add	r30, r30
-    280a:	ff 1f       	adc	r31, r31
-    280c:	e4 0f       	add	r30, r20
-    280e:	f5 1f       	adc	r31, r21
-    2810:	e3 55       	subi	r30, 0x53	; 83
-    2812:	fa 4f       	sbci	r31, 0xFA	; 250
-    2814:	32 83       	std	Z+2, r19	; 0x02
-    2816:	21 83       	std	Z+1, r18	; 0x01
-    2818:	80 91 80 04 	lds	r24, 0x0480
-    281c:	90 91 81 04 	lds	r25, 0x0481
-    2820:	01 97       	sbiw	r24, 0x01	; 1
-    2822:	fc 01       	movw	r30, r24
-    2824:	ee 0f       	add	r30, r30
-    2826:	ff 1f       	adc	r31, r31
-    2828:	e8 0f       	add	r30, r24
-    282a:	f9 1f       	adc	r31, r25
-    282c:	e3 55       	subi	r30, 0x53	; 83
-    282e:	fa 4f       	sbci	r31, 0xFA	; 250
-    2830:	60 83       	st	Z, r22
-    2832:	80 91 80 04 	lds	r24, 0x0480
-    2836:	90 91 81 04 	lds	r25, 0x0481
-    283a:	06 97       	sbiw	r24, 0x06	; 6
-    283c:	69 f4       	brne	.+26     	; 0x2858 <__vector_21+0xb6>
-    283e:	87 e6       	ldi	r24, 0x67	; 103
-    2840:	87 b9       	out	0x07, r24	; 7
-    2842:	80 e0       	ldi	r24, 0x00	; 0
-    2844:	90 e0       	ldi	r25, 0x00	; 0
-    2846:	0e 94 56 13 	call	0x26ac	; 0x26ac <set_adc_mux>
-    284a:	88 e0       	ldi	r24, 0x08	; 8
-    284c:	90 e0       	ldi	r25, 0x00	; 0
-    284e:	90 93 81 04 	sts	0x0481, r25
-    2852:	80 93 80 04 	sts	0x0480, r24
-    2856:	2a c0       	rjmp	.+84     	; 0x28ac <__vector_21+0x10a>
-    2858:	80 91 80 04 	lds	r24, 0x0480
-    285c:	90 91 81 04 	lds	r25, 0x0481
-    2860:	0b 97       	sbiw	r24, 0x0b	; 11
-    2862:	29 f4       	brne	.+10     	; 0x286e <__vector_21+0xcc>
-    2864:	b0 93 81 04 	sts	0x0481, r27
-    2868:	a0 93 80 04 	sts	0x0480, r26
-    286c:	0f c0       	rjmp	.+30     	; 0x288c <__vector_21+0xea>
-    286e:	80 91 80 04 	lds	r24, 0x0480
-    2872:	90 91 81 04 	lds	r25, 0x0481
-    2876:	01 96       	adiw	r24, 0x01	; 1
-    2878:	90 93 81 04 	sts	0x0481, r25
-    287c:	80 93 80 04 	sts	0x0480, r24
-    2880:	80 91 80 04 	lds	r24, 0x0480
-    2884:	90 91 81 04 	lds	r25, 0x0481
-    2888:	07 97       	sbiw	r24, 0x07	; 7
-    288a:	3c f4       	brge	.+14     	; 0x289a <__vector_21+0xf8>
-    288c:	80 91 80 04 	lds	r24, 0x0480
-    2890:	90 91 81 04 	lds	r25, 0x0481
-    2894:	80 66       	ori	r24, 0x60	; 96
-    2896:	87 b9       	out	0x07, r24	; 7
-    2898:	09 c0       	rjmp	.+18     	; 0x28ac <__vector_21+0x10a>
-    289a:	87 e6       	ldi	r24, 0x67	; 103
-    289c:	87 b9       	out	0x07, r24	; 7
-    289e:	80 91 80 04 	lds	r24, 0x0480
-    28a2:	90 91 81 04 	lds	r25, 0x0481
-    28a6:	08 97       	sbiw	r24, 0x08	; 8
-    28a8:	0e 94 56 13 	call	0x26ac	; 0x26ac <set_adc_mux>
-    28ac:	80 91 7e 04 	lds	r24, 0x047E
-    28b0:	90 91 7f 04 	lds	r25, 0x047F
-    28b4:	89 2b       	or	r24, r25
-    28b6:	49 f0       	breq	.+18     	; 0x28ca <__vector_21+0x128>
-    28b8:	10 92 7f 04 	sts	0x047F, r1
-    28bc:	10 92 7e 04 	sts	0x047E, r1
-    28c0:	10 92 7d 04 	sts	0x047D, r1
-    28c4:	10 92 7c 04 	sts	0x047C, r1
-    28c8:	01 c0       	rjmp	.+2      	; 0x28cc <__vector_21+0x12a>
-    28ca:	36 9a       	sbi	0x06, 6	; 6
-    28cc:	ff 91       	pop	r31
-    28ce:	ef 91       	pop	r30
-    28d0:	bf 91       	pop	r27
-    28d2:	af 91       	pop	r26
-    28d4:	9f 91       	pop	r25
-    28d6:	8f 91       	pop	r24
-    28d8:	7f 91       	pop	r23
-    28da:	6f 91       	pop	r22
-    28dc:	5f 91       	pop	r21
-    28de:	4f 91       	pop	r20
-    28e0:	3f 91       	pop	r19
-    28e2:	2f 91       	pop	r18
-    28e4:	0f 90       	pop	r0
-    28e6:	0f be       	out	0x3f, r0	; 63
-    28e8:	0f 90       	pop	r0
-    28ea:	1f 90       	pop	r1
-    28ec:	18 95       	reti
-
-000028ee <wheel>:
-    28ee:	80 91 c8 05 	lds	r24, 0x05C8
-    28f2:	99 27       	eor	r25, r25
-    28f4:	08 95       	ret
-
-000028f6 <bom_get>:
-    28f6:	fc 01       	movw	r30, r24
-    28f8:	ee 0f       	add	r30, r30
-    28fa:	ff 1f       	adc	r31, r31
-    28fc:	ed 57       	subi	r30, 0x7D	; 125
-    28fe:	fb 4f       	sbci	r31, 0xFB	; 251
-    2900:	80 81       	ld	r24, Z
-    2902:	91 81       	ldd	r25, Z+1	; 0x01
-    2904:	08 95       	ret
-
-00002906 <bom_get_max>:
-    2906:	e3 e8       	ldi	r30, 0x83	; 131
-    2908:	f4 e0       	ldi	r31, 0x04	; 4
-    290a:	40 e0       	ldi	r20, 0x00	; 0
-    290c:	50 e0       	ldi	r21, 0x00	; 0
-    290e:	6f ef       	ldi	r22, 0xFF	; 255
-    2910:	70 e0       	ldi	r23, 0x00	; 0
-    2912:	8f ef       	ldi	r24, 0xFF	; 255
-    2914:	9f ef       	ldi	r25, 0xFF	; 255
-    2916:	20 81       	ld	r18, Z
-    2918:	31 81       	ldd	r19, Z+1	; 0x01
-    291a:	26 17       	cp	r18, r22
-    291c:	37 07       	cpc	r19, r23
-    291e:	10 f4       	brcc	.+4      	; 0x2924 <bom_get_max+0x1e>
-    2920:	b9 01       	movw	r22, r18
-    2922:	ca 01       	movw	r24, r20
-    2924:	4f 5f       	subi	r20, 0xFF	; 255
-    2926:	5f 4f       	sbci	r21, 0xFF	; 255
-    2928:	32 96       	adiw	r30, 0x02	; 2
-    292a:	40 31       	cpi	r20, 0x10	; 16
-    292c:	51 05       	cpc	r21, r1
-    292e:	99 f7       	brne	.-26     	; 0x2916 <bom_get_max+0x10>
-    2930:	66 39       	cpi	r22, 0x96	; 150
-    2932:	71 05       	cpc	r23, r1
-    2934:	14 f0       	brlt	.+4      	; 0x293a <bom_get_max+0x34>
-    2936:	8f ef       	ldi	r24, 0xFF	; 255
-    2938:	9f ef       	ldi	r25, 0xFF	; 255
-    293a:	08 95       	ret
-
-0000293c <bom_off>:
-    293c:	80 91 82 04 	lds	r24, 0x0482
-    2940:	88 23       	and	r24, r24
-    2942:	19 f0       	breq	.+6      	; 0x294a <bom_off+0xe>
-    2944:	81 30       	cpi	r24, 0x01	; 1
-    2946:	71 f4       	brne	.+28     	; 0x2964 <bom_off+0x28>
-    2948:	07 c0       	rjmp	.+14     	; 0x2958 <bom_off+0x1c>
-    294a:	60 e0       	ldi	r22, 0x00	; 0
-    294c:	70 e0       	ldi	r23, 0x00	; 0
-    294e:	8a e2       	ldi	r24, 0x2A	; 42
-    2950:	90 e0       	ldi	r25, 0x00	; 0
-    2952:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    2956:	08 95       	ret
-    2958:	60 e0       	ldi	r22, 0x00	; 0
-    295a:	70 e0       	ldi	r23, 0x00	; 0
-    295c:	8b e2       	ldi	r24, 0x2B	; 43
-    295e:	90 e0       	ldi	r25, 0x00	; 0
-    2960:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    2964:	08 95       	ret
-
-00002966 <bom_on>:
-    2966:	80 91 82 04 	lds	r24, 0x0482
-    296a:	88 23       	and	r24, r24
-    296c:	19 f0       	breq	.+6      	; 0x2974 <bom_on+0xe>
-    296e:	81 30       	cpi	r24, 0x01	; 1
-    2970:	71 f4       	brne	.+28     	; 0x298e <bom_on+0x28>
-    2972:	07 c0       	rjmp	.+14     	; 0x2982 <bom_on+0x1c>
-    2974:	61 e0       	ldi	r22, 0x01	; 1
-    2976:	70 e0       	ldi	r23, 0x00	; 0
-    2978:	8a e2       	ldi	r24, 0x2A	; 42
-    297a:	90 e0       	ldi	r25, 0x00	; 0
-    297c:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    2980:	08 95       	ret
-    2982:	61 e0       	ldi	r22, 0x01	; 1
-    2984:	70 e0       	ldi	r23, 0x00	; 0
-    2986:	8b e2       	ldi	r24, 0x2B	; 43
-    2988:	90 e0       	ldi	r25, 0x00	; 0
-    298a:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    298e:	08 95       	ret
-
-00002990 <bom_set_leds>:
-    2990:	ef 92       	push	r14
-    2992:	ff 92       	push	r15
-    2994:	0f 93       	push	r16
-    2996:	1f 93       	push	r17
-    2998:	cf 93       	push	r28
-    299a:	df 93       	push	r29
-    299c:	7c 01       	movw	r14, r24
-    299e:	80 91 82 04 	lds	r24, 0x0482
-    29a2:	81 30       	cpi	r24, 0x01	; 1
-    29a4:	e1 f4       	brne	.+56     	; 0x29de <bom_set_leds+0x4e>
-    29a6:	00 e1       	ldi	r16, 0x10	; 16
-    29a8:	10 e0       	ldi	r17, 0x00	; 0
-    29aa:	c0 e0       	ldi	r28, 0x00	; 0
-    29ac:	d0 e8       	ldi	r29, 0x80	; 128
-    29ae:	be 01       	movw	r22, r28
-    29b0:	6e 21       	and	r22, r14
-    29b2:	7f 21       	and	r23, r15
-    29b4:	88 e0       	ldi	r24, 0x08	; 8
-    29b6:	90 e0       	ldi	r25, 0x00	; 0
-    29b8:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    29bc:	61 e0       	ldi	r22, 0x01	; 1
-    29be:	70 e0       	ldi	r23, 0x00	; 0
-    29c0:	89 e0       	ldi	r24, 0x09	; 9
-    29c2:	90 e0       	ldi	r25, 0x00	; 0
-    29c4:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    29c8:	60 e0       	ldi	r22, 0x00	; 0
-    29ca:	70 e0       	ldi	r23, 0x00	; 0
-    29cc:	89 e0       	ldi	r24, 0x09	; 9
-    29ce:	90 e0       	ldi	r25, 0x00	; 0
-    29d0:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    29d4:	d6 95       	lsr	r29
-    29d6:	c7 95       	ror	r28
-    29d8:	01 50       	subi	r16, 0x01	; 1
-    29da:	10 40       	sbci	r17, 0x00	; 0
-    29dc:	41 f7       	brne	.-48     	; 0x29ae <bom_set_leds+0x1e>
-    29de:	df 91       	pop	r29
-    29e0:	cf 91       	pop	r28
-    29e2:	1f 91       	pop	r17
-    29e4:	0f 91       	pop	r16
-    29e6:	ff 90       	pop	r15
-    29e8:	ef 90       	pop	r14
-    29ea:	08 95       	ret
-
-000029ec <bom_init>:
-    29ec:	80 93 82 04 	sts	0x0482, r24
-    29f0:	80 91 82 04 	lds	r24, 0x0482
-    29f4:	88 23       	and	r24, r24
-    29f6:	21 f0       	breq	.+8      	; 0x2a00 <bom_init+0x14>
-    29f8:	81 30       	cpi	r24, 0x01	; 1
-    29fa:	09 f0       	breq	.+2      	; 0x29fe <bom_init+0x12>
-    29fc:	44 c0       	rjmp	.+136    	; 0x2a86 <bom_init+0x9a>
-    29fe:	1d c0       	rjmp	.+58     	; 0x2a3a <bom_init+0x4e>
-    2a00:	8c e2       	ldi	r24, 0x2C	; 44
-    2a02:	90 e0       	ldi	r25, 0x00	; 0
-    2a04:	90 93 a4 04 	sts	0x04A4, r25
-    2a08:	80 93 a3 04 	sts	0x04A3, r24
-    2a0c:	8b e2       	ldi	r24, 0x2B	; 43
-    2a0e:	90 e0       	ldi	r25, 0x00	; 0
-    2a10:	90 93 a6 04 	sts	0x04A6, r25
-    2a14:	80 93 a5 04 	sts	0x04A5, r24
-    2a18:	8f e2       	ldi	r24, 0x2F	; 47
-    2a1a:	90 e0       	ldi	r25, 0x00	; 0
-    2a1c:	90 93 a8 04 	sts	0x04A8, r25
-    2a20:	80 93 a7 04 	sts	0x04A7, r24
-    2a24:	8e e2       	ldi	r24, 0x2E	; 46
-    2a26:	90 e0       	ldi	r25, 0x00	; 0
-    2a28:	90 93 aa 04 	sts	0x04AA, r25
-    2a2c:	80 93 a9 04 	sts	0x04A9, r24
-    2a30:	10 92 ac 04 	sts	0x04AC, r1
-    2a34:	10 92 ab 04 	sts	0x04AB, r1
-    2a38:	08 95       	ret
-    2a3a:	60 e0       	ldi	r22, 0x00	; 0
-    2a3c:	70 e0       	ldi	r23, 0x00	; 0
-    2a3e:	8a e2       	ldi	r24, 0x2A	; 42
-    2a40:	90 e0       	ldi	r25, 0x00	; 0
-    2a42:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    2a46:	8d e2       	ldi	r24, 0x2D	; 45
-    2a48:	90 e0       	ldi	r25, 0x00	; 0
-    2a4a:	90 93 a4 04 	sts	0x04A4, r25
-    2a4e:	80 93 a3 04 	sts	0x04A3, r24
-    2a52:	8c e2       	ldi	r24, 0x2C	; 44
-    2a54:	90 e0       	ldi	r25, 0x00	; 0
-    2a56:	90 93 a6 04 	sts	0x04A6, r25
-    2a5a:	80 93 a5 04 	sts	0x04A5, r24
-    2a5e:	8f e2       	ldi	r24, 0x2F	; 47
-    2a60:	90 e0       	ldi	r25, 0x00	; 0
-    2a62:	90 93 a8 04 	sts	0x04A8, r25
-    2a66:	80 93 a7 04 	sts	0x04A7, r24
-    2a6a:	8e e2       	ldi	r24, 0x2E	; 46
-    2a6c:	90 e0       	ldi	r25, 0x00	; 0
-    2a6e:	90 93 aa 04 	sts	0x04AA, r25
-    2a72:	80 93 a9 04 	sts	0x04A9, r24
-    2a76:	8f ef       	ldi	r24, 0xFF	; 255
-    2a78:	9f ef       	ldi	r25, 0xFF	; 255
-    2a7a:	0e 94 c8 14 	call	0x2990	; 0x2990 <bom_set_leds>
-    2a7e:	10 92 ac 04 	sts	0x04AC, r1
-    2a82:	10 92 ab 04 	sts	0x04AB, r1
-    2a86:	08 95       	ret
-
-00002a88 <bom_refresh>:
-    2a88:	af 92       	push	r10
-    2a8a:	bf 92       	push	r11
-    2a8c:	cf 92       	push	r12
-    2a8e:	df 92       	push	r13
-    2a90:	ef 92       	push	r14
-    2a92:	ff 92       	push	r15
-    2a94:	0f 93       	push	r16
-    2a96:	1f 93       	push	r17
-    2a98:	cf 93       	push	r28
-    2a9a:	df 93       	push	r29
-    2a9c:	8c 01       	movw	r16, r24
-    2a9e:	0e 94 51 13 	call	0x26a2	; 0x26a2 <analog_loop_status>
-    2aa2:	01 97       	sbiw	r24, 0x01	; 1
-    2aa4:	19 f0       	breq	.+6      	; 0x2aac <bom_refresh+0x24>
-    2aa6:	aa 24       	eor	r10, r10
-    2aa8:	bb 24       	eor	r11, r11
-    2aaa:	05 c0       	rjmp	.+10     	; 0x2ab6 <bom_refresh+0x2e>
-    2aac:	0e 94 4a 13 	call	0x2694	; 0x2694 <analog_stop_loop>
-    2ab0:	41 e0       	ldi	r20, 0x01	; 1
-    2ab2:	a4 2e       	mov	r10, r20
-    2ab4:	b1 2c       	mov	r11, r1
-    2ab6:	33 e8       	ldi	r19, 0x83	; 131
-    2ab8:	c3 2e       	mov	r12, r19
-    2aba:	34 e0       	ldi	r19, 0x04	; 4
-    2abc:	d3 2e       	mov	r13, r19
-    2abe:	ee 24       	eor	r14, r14
-    2ac0:	ff 24       	eor	r15, r15
-    2ac2:	00 ff       	sbrs	r16, 0
-    2ac4:	48 c0       	rjmp	.+144    	; 0x2b56 <bom_refresh+0xce>
-    2ac6:	ee 2d       	mov	r30, r14
-    2ac8:	80 91 82 04 	lds	r24, 0x0482
-    2acc:	88 23       	and	r24, r24
-    2ace:	21 f4       	brne	.+8      	; 0x2ad8 <bom_refresh+0x50>
-    2ad0:	f7 01       	movw	r30, r14
-    2ad2:	e2 5a       	subi	r30, 0xA2	; 162
-    2ad4:	fb 4f       	sbci	r31, 0xFB	; 251
-    2ad6:	e0 81       	ld	r30, Z
-    2ad8:	ce 2f       	mov	r28, r30
-    2ada:	dd 27       	eor	r29, r29
-    2adc:	80 91 a9 04 	lds	r24, 0x04A9
-    2ae0:	90 91 aa 04 	lds	r25, 0x04AA
-    2ae4:	c3 ff       	sbrs	r28, 3
-    2ae6:	03 c0       	rjmp	.+6      	; 0x2aee <bom_refresh+0x66>
-    2ae8:	61 e0       	ldi	r22, 0x01	; 1
-    2aea:	70 e0       	ldi	r23, 0x00	; 0
-    2aec:	02 c0       	rjmp	.+4      	; 0x2af2 <bom_refresh+0x6a>
-    2aee:	60 e0       	ldi	r22, 0x00	; 0
-    2af0:	70 e0       	ldi	r23, 0x00	; 0
-    2af2:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    2af6:	80 91 a7 04 	lds	r24, 0x04A7
-    2afa:	90 91 a8 04 	lds	r25, 0x04A8
-    2afe:	c2 ff       	sbrs	r28, 2
-    2b00:	03 c0       	rjmp	.+6      	; 0x2b08 <bom_refresh+0x80>
-    2b02:	61 e0       	ldi	r22, 0x01	; 1
-    2b04:	70 e0       	ldi	r23, 0x00	; 0
-    2b06:	02 c0       	rjmp	.+4      	; 0x2b0c <bom_refresh+0x84>
-    2b08:	60 e0       	ldi	r22, 0x00	; 0
-    2b0a:	70 e0       	ldi	r23, 0x00	; 0
-    2b0c:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    2b10:	80 91 a5 04 	lds	r24, 0x04A5
-    2b14:	90 91 a6 04 	lds	r25, 0x04A6
-    2b18:	c1 ff       	sbrs	r28, 1
-    2b1a:	03 c0       	rjmp	.+6      	; 0x2b22 <bom_refresh+0x9a>
-    2b1c:	61 e0       	ldi	r22, 0x01	; 1
-    2b1e:	70 e0       	ldi	r23, 0x00	; 0
-    2b20:	02 c0       	rjmp	.+4      	; 0x2b26 <bom_refresh+0x9e>
-    2b22:	60 e0       	ldi	r22, 0x00	; 0
-    2b24:	70 e0       	ldi	r23, 0x00	; 0
-    2b26:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    2b2a:	80 91 a3 04 	lds	r24, 0x04A3
-    2b2e:	90 91 a4 04 	lds	r25, 0x04A4
-    2b32:	c0 ff       	sbrs	r28, 0
-    2b34:	03 c0       	rjmp	.+6      	; 0x2b3c <bom_refresh+0xb4>
-    2b36:	61 e0       	ldi	r22, 0x01	; 1
-    2b38:	70 e0       	ldi	r23, 0x00	; 0
-    2b3a:	02 c0       	rjmp	.+4      	; 0x2b40 <bom_refresh+0xb8>
-    2b3c:	60 e0       	ldi	r22, 0x00	; 0
-    2b3e:	70 e0       	ldi	r23, 0x00	; 0
-    2b40:	0e 94 06 06 	call	0xc0c	; 0xc0c <digital_output>
-    2b44:	80 91 ab 04 	lds	r24, 0x04AB
-    2b48:	90 91 ac 04 	lds	r25, 0x04AC
-    2b4c:	0e 94 8a 13 	call	0x2714	; 0x2714 <analog_get8>
-    2b50:	f6 01       	movw	r30, r12
-    2b52:	91 83       	std	Z+1, r25	; 0x01
-    2b54:	80 83       	st	Z, r24
-    2b56:	08 94       	sec
-    2b58:	e1 1c       	adc	r14, r1
-    2b5a:	f1 1c       	adc	r15, r1
-    2b5c:	82 e0       	ldi	r24, 0x02	; 2
-    2b5e:	90 e0       	ldi	r25, 0x00	; 0
-    2b60:	c8 0e       	add	r12, r24
-    2b62:	d9 1e       	adc	r13, r25
-    2b64:	90 e1       	ldi	r25, 0x10	; 16
-    2b66:	e9 16       	cp	r14, r25
-    2b68:	f1 04       	cpc	r15, r1
-    2b6a:	19 f0       	breq	.+6      	; 0x2b72 <bom_refresh+0xea>
-    2b6c:	15 95       	asr	r17
-    2b6e:	07 95       	ror	r16
-    2b70:	a8 cf       	rjmp	.-176    	; 0x2ac2 <bom_refresh+0x3a>
-    2b72:	ab 28       	or	r10, r11
-    2b74:	11 f0       	breq	.+4      	; 0x2b7a <bom_refresh+0xf2>
-    2b76:	0e 94 3b 13 	call	0x2676	; 0x2676 <analog_start_loop>
-    2b7a:	df 91       	pop	r29
-    2b7c:	cf 91       	pop	r28
-    2b7e:	1f 91       	pop	r17
-    2b80:	0f 91       	pop	r16
-    2b82:	ff 90       	pop	r15
-    2b84:	ef 90       	pop	r14
-    2b86:	df 90       	pop	r13
-    2b88:	cf 90       	pop	r12
-    2b8a:	bf 90       	pop	r11
-    2b8c:	af 90       	pop	r10
-    2b8e:	08 95       	ret
-
-00002b90 <get_max_bom>:
-    2b90:	8f ef       	ldi	r24, 0xFF	; 255
-    2b92:	9f ef       	ldi	r25, 0xFF	; 255
-    2b94:	0e 94 44 15 	call	0x2a88	; 0x2a88 <bom_refresh>
-    2b98:	0e 94 83 14 	call	0x2906	; 0x2906 <bom_get_max>
-    2b9c:	08 95       	ret
-
-00002b9e <buzzer_init>:
-    2b9e:	08 95       	ret
-
-00002ba0 <buzzer_set_val>:
-    2ba0:	2c e1       	ldi	r18, 0x1C	; 28
-    2ba2:	25 bd       	out	0x25, r18	; 37
-    2ba4:	bf 9a       	sbi	0x17, 7	; 23
-    2ba6:	83 bd       	out	0x23, r24	; 35
-    2ba8:	08 95       	ret
-
-00002baa <buzzer_set_freq>:
-    2baa:	9c 01       	movw	r18, r24
-    2bac:	44 27       	eor	r20, r20
-    2bae:	55 27       	eor	r21, r21
-    2bb0:	64 e2       	ldi	r22, 0x24	; 36
-    2bb2:	74 ef       	ldi	r23, 0xF4	; 244
-    2bb4:	80 e0       	ldi	r24, 0x00	; 0
-    2bb6:	90 e0       	ldi	r25, 0x00	; 0
-    2bb8:	0e 94 96 17 	call	0x2f2c	; 0x2f2c <__divmodsi4>
-    2bbc:	c9 01       	movw	r24, r18
-    2bbe:	01 97       	sbiw	r24, 0x01	; 1
-    2bc0:	97 ff       	sbrs	r25, 7
-    2bc2:	02 c0       	rjmp	.+4      	; 0x2bc8 <buzzer_set_freq+0x1e>
-    2bc4:	80 e0       	ldi	r24, 0x00	; 0
-    2bc6:	90 e0       	ldi	r25, 0x00	; 0
-    2bc8:	8f 3f       	cpi	r24, 0xFF	; 255
-    2bca:	91 05       	cpc	r25, r1
-    2bcc:	19 f0       	breq	.+6      	; 0x2bd4 <buzzer_set_freq+0x2a>
-    2bce:	14 f0       	brlt	.+4      	; 0x2bd4 <buzzer_set_freq+0x2a>
-    2bd0:	8f ef       	ldi	r24, 0xFF	; 255
-    2bd2:	90 e0       	ldi	r25, 0x00	; 0
-    2bd4:	0e 94 d0 15 	call	0x2ba0	; 0x2ba0 <buzzer_set_val>
-    2bd8:	08 95       	ret
-
-00002bda <buzzer_off>:
-    2bda:	85 b5       	in	r24, 0x25	; 37
-    2bdc:	88 7f       	andi	r24, 0xF8	; 248
-    2bde:	85 bd       	out	0x25, r24	; 37
-    2be0:	c6 98       	cbi	0x18, 6	; 24
-    2be2:	08 95       	ret
-
-00002be4 <buzzer_chirp>:
-    2be4:	0f 93       	push	r16
-    2be6:	1f 93       	push	r17
-    2be8:	8c 01       	movw	r16, r24
-    2bea:	cb 01       	movw	r24, r22
-    2bec:	0e 94 d5 15 	call	0x2baa	; 0x2baa <buzzer_set_freq>
-    2bf0:	c8 01       	movw	r24, r16
-    2bf2:	0e 94 9b 12 	call	0x2536	; 0x2536 <delay_ms>
-    2bf6:	85 b5       	in	r24, 0x25	; 37
-    2bf8:	88 7f       	andi	r24, 0xF8	; 248
-    2bfa:	85 bd       	out	0x25, r24	; 37
-    2bfc:	c6 98       	cbi	0x18, 6	; 24
-    2bfe:	1f 91       	pop	r17
-    2c00:	0f 91       	pop	r16
-    2c02:	08 95       	ret
-
-00002c04 <__ftoa_engine>:
-    2c04:	28 30       	cpi	r18, 0x08	; 8
-    2c06:	08 f0       	brcs	.+2      	; 0x2c0a <__ftoa_engine+0x6>
-    2c08:	27 e0       	ldi	r18, 0x07	; 7
-    2c0a:	33 27       	eor	r19, r19
-    2c0c:	da 01       	movw	r26, r20
-    2c0e:	99 0f       	add	r25, r25
-    2c10:	31 1d       	adc	r19, r1
-    2c12:	87 fd       	sbrc	r24, 7
-    2c14:	91 60       	ori	r25, 0x01	; 1
-    2c16:	00 96       	adiw	r24, 0x00	; 0
-    2c18:	61 05       	cpc	r22, r1
-    2c1a:	71 05       	cpc	r23, r1
-    2c1c:	39 f4       	brne	.+14     	; 0x2c2c <__ftoa_engine+0x28>
-    2c1e:	32 60       	ori	r19, 0x02	; 2
-    2c20:	2e 5f       	subi	r18, 0xFE	; 254
-    2c22:	3d 93       	st	X+, r19
-    2c24:	30 e3       	ldi	r19, 0x30	; 48
-    2c26:	2a 95       	dec	r18
-    2c28:	e1 f7       	brne	.-8      	; 0x2c22 <__ftoa_engine+0x1e>
-    2c2a:	08 95       	ret
-    2c2c:	9f 3f       	cpi	r25, 0xFF	; 255
-    2c2e:	30 f0       	brcs	.+12     	; 0x2c3c <__ftoa_engine+0x38>
-    2c30:	80 38       	cpi	r24, 0x80	; 128
-    2c32:	71 05       	cpc	r23, r1
-    2c34:	61 05       	cpc	r22, r1
-    2c36:	09 f0       	breq	.+2      	; 0x2c3a <__ftoa_engine+0x36>
-    2c38:	3c 5f       	subi	r19, 0xFC	; 252
-    2c3a:	3c 5f       	subi	r19, 0xFC	; 252
-    2c3c:	3d 93       	st	X+, r19
-    2c3e:	91 30       	cpi	r25, 0x01	; 1
-    2c40:	08 f0       	brcs	.+2      	; 0x2c44 <__ftoa_engine+0x40>
-    2c42:	80 68       	ori	r24, 0x80	; 128
-    2c44:	91 1d       	adc	r25, r1
-    2c46:	df 93       	push	r29
-    2c48:	cf 93       	push	r28
-    2c4a:	1f 93       	push	r17
-    2c4c:	0f 93       	push	r16
-    2c4e:	ff 92       	push	r15
-    2c50:	ef 92       	push	r14
-    2c52:	19 2f       	mov	r17, r25
-    2c54:	98 7f       	andi	r25, 0xF8	; 248
-    2c56:	96 95       	lsr	r25
-    2c58:	e9 2f       	mov	r30, r25
-    2c5a:	96 95       	lsr	r25
-    2c5c:	96 95       	lsr	r25
-    2c5e:	e9 0f       	add	r30, r25
-    2c60:	ff 27       	eor	r31, r31
-    2c62:	e2 51       	subi	r30, 0x12	; 18
-    2c64:	ff 4f       	sbci	r31, 0xFF	; 255
-    2c66:	99 27       	eor	r25, r25
-    2c68:	33 27       	eor	r19, r19
-    2c6a:	ee 24       	eor	r14, r14
-    2c6c:	ff 24       	eor	r15, r15
-    2c6e:	a7 01       	movw	r20, r14
-    2c70:	e7 01       	movw	r28, r14
-    2c72:	05 90       	lpm	r0, Z+
-    2c74:	08 94       	sec
-    2c76:	07 94       	ror	r0
-    2c78:	28 f4       	brcc	.+10     	; 0x2c84 <__ftoa_engine+0x80>
-    2c7a:	36 0f       	add	r19, r22
-    2c7c:	e7 1e       	adc	r14, r23
-    2c7e:	f8 1e       	adc	r15, r24
-    2c80:	49 1f       	adc	r20, r25
-    2c82:	51 1d       	adc	r21, r1
-    2c84:	66 0f       	add	r22, r22
-    2c86:	77 1f       	adc	r23, r23
-    2c88:	88 1f       	adc	r24, r24
-    2c8a:	99 1f       	adc	r25, r25
-    2c8c:	06 94       	lsr	r0
-    2c8e:	a1 f7       	brne	.-24     	; 0x2c78 <__ftoa_engine+0x74>
-    2c90:	05 90       	lpm	r0, Z+
-    2c92:	07 94       	ror	r0
-    2c94:	28 f4       	brcc	.+10     	; 0x2ca0 <__ftoa_engine+0x9c>
-    2c96:	e7 0e       	add	r14, r23
-    2c98:	f8 1e       	adc	r15, r24
-    2c9a:	49 1f       	adc	r20, r25
-    2c9c:	56 1f       	adc	r21, r22
-    2c9e:	c1 1d       	adc	r28, r1
-    2ca0:	77 0f       	add	r23, r23
-    2ca2:	88 1f       	adc	r24, r24
-    2ca4:	99 1f       	adc	r25, r25
-    2ca6:	66 1f       	adc	r22, r22
-    2ca8:	06 94       	lsr	r0
-    2caa:	a1 f7       	brne	.-24     	; 0x2c94 <__ftoa_engine+0x90>
-    2cac:	05 90       	lpm	r0, Z+
-    2cae:	07 94       	ror	r0
-    2cb0:	28 f4       	brcc	.+10     	; 0x2cbc <__ftoa_engine+0xb8>
-    2cb2:	f8 0e       	add	r15, r24
-    2cb4:	49 1f       	adc	r20, r25
-    2cb6:	56 1f       	adc	r21, r22
-    2cb8:	c7 1f       	adc	r28, r23
-    2cba:	d1 1d       	adc	r29, r1
-    2cbc:	88 0f       	add	r24, r24
-    2cbe:	99 1f       	adc	r25, r25
-    2cc0:	66 1f       	adc	r22, r22
-    2cc2:	77 1f       	adc	r23, r23
-    2cc4:	06 94       	lsr	r0
-    2cc6:	a1 f7       	brne	.-24     	; 0x2cb0 <__ftoa_engine+0xac>
-    2cc8:	05 90       	lpm	r0, Z+
-    2cca:	07 94       	ror	r0
-    2ccc:	20 f4       	brcc	.+8      	; 0x2cd6 <__ftoa_engine+0xd2>
-    2cce:	49 0f       	add	r20, r25
-    2cd0:	56 1f       	adc	r21, r22
-    2cd2:	c7 1f       	adc	r28, r23
-    2cd4:	d8 1f       	adc	r29, r24
-    2cd6:	99 0f       	add	r25, r25
-    2cd8:	66 1f       	adc	r22, r22
-    2cda:	77 1f       	adc	r23, r23
-    2cdc:	88 1f       	adc	r24, r24
-    2cde:	06 94       	lsr	r0
-    2ce0:	a9 f7       	brne	.-22     	; 0x2ccc <__ftoa_engine+0xc8>
-    2ce2:	84 91       	lpm	r24, Z+
-    2ce4:	10 95       	com	r17
-    2ce6:	17 70       	andi	r17, 0x07	; 7
-    2ce8:	41 f0       	breq	.+16     	; 0x2cfa <__ftoa_engine+0xf6>
-    2cea:	d6 95       	lsr	r29
-    2cec:	c7 95       	ror	r28
-    2cee:	57 95       	ror	r21
-    2cf0:	47 95       	ror	r20
-    2cf2:	f7 94       	ror	r15
-    2cf4:	e7 94       	ror	r14
-    2cf6:	1a 95       	dec	r17
-    2cf8:	c1 f7       	brne	.-16     	; 0x2cea <__ftoa_engine+0xe6>
-    2cfa:	e4 e9       	ldi	r30, 0x94	; 148
-    2cfc:	f0 e0       	ldi	r31, 0x00	; 0
-    2cfe:	68 94       	set
-    2d00:	15 90       	lpm	r1, Z+
-    2d02:	15 91       	lpm	r17, Z+
-    2d04:	35 91       	lpm	r19, Z+
-    2d06:	65 91       	lpm	r22, Z+
-    2d08:	95 91       	lpm	r25, Z+
-    2d0a:	05 90       	lpm	r0, Z+
-    2d0c:	7f e2       	ldi	r23, 0x2F	; 47
-    2d0e:	73 95       	inc	r23
-    2d10:	e1 18       	sub	r14, r1
-    2d12:	f1 0a       	sbc	r15, r17
-    2d14:	43 0b       	sbc	r20, r19
-    2d16:	56 0b       	sbc	r21, r22
-    2d18:	c9 0b       	sbc	r28, r25
-    2d1a:	d0 09       	sbc	r29, r0
-    2d1c:	c0 f7       	brcc	.-16     	; 0x2d0e <__ftoa_engine+0x10a>
-    2d1e:	e1 0c       	add	r14, r1
-    2d20:	f1 1e       	adc	r15, r17
-    2d22:	43 1f       	adc	r20, r19
-    2d24:	56 1f       	adc	r21, r22
-    2d26:	c9 1f       	adc	r28, r25
-    2d28:	d0 1d       	adc	r29, r0
-    2d2a:	7e f4       	brtc	.+30     	; 0x2d4a <__ftoa_engine+0x146>
-    2d2c:	70 33       	cpi	r23, 0x30	; 48
-    2d2e:	11 f4       	brne	.+4      	; 0x2d34 <__ftoa_engine+0x130>
-    2d30:	8a 95       	dec	r24
-    2d32:	e6 cf       	rjmp	.-52     	; 0x2d00 <__ftoa_engine+0xfc>
-    2d34:	e8 94       	clt
-    2d36:	01 50       	subi	r16, 0x01	; 1
-    2d38:	30 f0       	brcs	.+12     	; 0x2d46 <__ftoa_engine+0x142>
-    2d3a:	08 0f       	add	r16, r24
-    2d3c:	0a f4       	brpl	.+2      	; 0x2d40 <__ftoa_engine+0x13c>
-    2d3e:	00 27       	eor	r16, r16
-    2d40:	02 17       	cp	r16, r18
-    2d42:	08 f4       	brcc	.+2      	; 0x2d46 <__ftoa_engine+0x142>
-    2d44:	20 2f       	mov	r18, r16
-    2d46:	23 95       	inc	r18
-    2d48:	02 2f       	mov	r16, r18
-    2d4a:	7a 33       	cpi	r23, 0x3A	; 58
-    2d4c:	28 f0       	brcs	.+10     	; 0x2d58 <__ftoa_engine+0x154>
-    2d4e:	79 e3       	ldi	r23, 0x39	; 57
-    2d50:	7d 93       	st	X+, r23
-    2d52:	2a 95       	dec	r18
-    2d54:	e9 f7       	brne	.-6      	; 0x2d50 <__ftoa_engine+0x14c>
-    2d56:	10 c0       	rjmp	.+32     	; 0x2d78 <__ftoa_engine+0x174>
-    2d58:	7d 93       	st	X+, r23
-    2d5a:	2a 95       	dec	r18
-    2d5c:	89 f6       	brne	.-94     	; 0x2d00 <__ftoa_engine+0xfc>
-    2d5e:	06 94       	lsr	r0
-    2d60:	97 95       	ror	r25
-    2d62:	67 95       	ror	r22
-    2d64:	37 95       	ror	r19
-    2d66:	17 95       	ror	r17
-    2d68:	17 94       	ror	r1
-    2d6a:	e1 18       	sub	r14, r1
-    2d6c:	f1 0a       	sbc	r15, r17
-    2d6e:	43 0b       	sbc	r20, r19
-    2d70:	56 0b       	sbc	r21, r22
-    2d72:	c9 0b       	sbc	r28, r25
-    2d74:	d0 09       	sbc	r29, r0
-    2d76:	98 f0       	brcs	.+38     	; 0x2d9e <__ftoa_engine+0x19a>
-    2d78:	23 95       	inc	r18
-    2d7a:	7e 91       	ld	r23, -X
-    2d7c:	73 95       	inc	r23
-    2d7e:	7a 33       	cpi	r23, 0x3A	; 58
-    2d80:	08 f0       	brcs	.+2      	; 0x2d84 <__ftoa_engine+0x180>
-    2d82:	70 e3       	ldi	r23, 0x30	; 48
-    2d84:	7c 93       	st	X, r23
-    2d86:	20 13       	cpse	r18, r16
-    2d88:	b8 f7       	brcc	.-18     	; 0x2d78 <__ftoa_engine+0x174>
-    2d8a:	7e 91       	ld	r23, -X
-    2d8c:	70 61       	ori	r23, 0x10	; 16
-    2d8e:	7d 93       	st	X+, r23
-    2d90:	30 f0       	brcs	.+12     	; 0x2d9e <__ftoa_engine+0x19a>
-    2d92:	83 95       	inc	r24
-    2d94:	71 e3       	ldi	r23, 0x31	; 49
-    2d96:	7d 93       	st	X+, r23
-    2d98:	70 e3       	ldi	r23, 0x30	; 48
-    2d9a:	2a 95       	dec	r18
-    2d9c:	e1 f7       	brne	.-8      	; 0x2d96 <__ftoa_engine+0x192>
-    2d9e:	11 24       	eor	r1, r1
-    2da0:	ef 90       	pop	r14
-    2da2:	ff 90       	pop	r15
-    2da4:	0f 91       	pop	r16
-    2da6:	1f 91       	pop	r17
-    2da8:	cf 91       	pop	r28
-    2daa:	df 91       	pop	r29
-    2dac:	99 27       	eor	r25, r25
-    2dae:	87 fd       	sbrc	r24, 7
-    2db0:	90 95       	com	r25
-    2db2:	08 95       	ret
-
-00002db4 <memcpy_P>:
-    2db4:	fb 01       	movw	r30, r22
-    2db6:	dc 01       	movw	r26, r24
-    2db8:	02 c0       	rjmp	.+4      	; 0x2dbe <memcpy_P+0xa>
-    2dba:	05 90       	lpm	r0, Z+
-    2dbc:	0d 92       	st	X+, r0
-    2dbe:	41 50       	subi	r20, 0x01	; 1
-    2dc0:	50 40       	sbci	r21, 0x00	; 0
-    2dc2:	d8 f7       	brcc	.-10     	; 0x2dba <memcpy_P+0x6>
-    2dc4:	08 95       	ret
-
-00002dc6 <strnlen_P>:
-    2dc6:	fc 01       	movw	r30, r24
-    2dc8:	05 90       	lpm	r0, Z+
-    2dca:	61 50       	subi	r22, 0x01	; 1
-    2dcc:	70 40       	sbci	r23, 0x00	; 0
-    2dce:	01 10       	cpse	r0, r1
-    2dd0:	d8 f7       	brcc	.-10     	; 0x2dc8 <strnlen_P+0x2>
-    2dd2:	80 95       	com	r24
-    2dd4:	90 95       	com	r25
-    2dd6:	8e 0f       	add	r24, r30
-    2dd8:	9f 1f       	adc	r25, r31
-    2dda:	08 95       	ret
-
-00002ddc <strnlen>:
-    2ddc:	fc 01       	movw	r30, r24
-    2dde:	61 50       	subi	r22, 0x01	; 1
-    2de0:	70 40       	sbci	r23, 0x00	; 0
-    2de2:	01 90       	ld	r0, Z+
-    2de4:	01 10       	cpse	r0, r1
-    2de6:	d8 f7       	brcc	.-10     	; 0x2dde <strnlen+0x2>
-    2de8:	80 95       	com	r24
-    2dea:	90 95       	com	r25
-    2dec:	8e 0f       	add	r24, r30
-    2dee:	9f 1f       	adc	r25, r31
-    2df0:	08 95       	ret
-
-00002df2 <fputc>:
-    2df2:	0f 93       	push	r16
-    2df4:	1f 93       	push	r17
-    2df6:	cf 93       	push	r28
-    2df8:	df 93       	push	r29
-    2dfa:	8c 01       	movw	r16, r24
-    2dfc:	eb 01       	movw	r28, r22
-    2dfe:	8b 81       	ldd	r24, Y+3	; 0x03
-    2e00:	81 ff       	sbrs	r24, 1
-    2e02:	1b c0       	rjmp	.+54     	; 0x2e3a <fputc+0x48>
-    2e04:	82 ff       	sbrs	r24, 2
-    2e06:	0d c0       	rjmp	.+26     	; 0x2e22 <fputc+0x30>
-    2e08:	2e 81       	ldd	r18, Y+6	; 0x06
-    2e0a:	3f 81       	ldd	r19, Y+7	; 0x07
-    2e0c:	8c 81       	ldd	r24, Y+4	; 0x04
-    2e0e:	9d 81       	ldd	r25, Y+5	; 0x05
-    2e10:	28 17       	cp	r18, r24
-    2e12:	39 07       	cpc	r19, r25
-    2e14:	64 f4       	brge	.+24     	; 0x2e2e <fputc+0x3c>
-    2e16:	e8 81       	ld	r30, Y
-    2e18:	f9 81       	ldd	r31, Y+1	; 0x01
-    2e1a:	01 93       	st	Z+, r16
-    2e1c:	f9 83       	std	Y+1, r31	; 0x01
-    2e1e:	e8 83       	st	Y, r30
-    2e20:	06 c0       	rjmp	.+12     	; 0x2e2e <fputc+0x3c>
-    2e22:	e8 85       	ldd	r30, Y+8	; 0x08
-    2e24:	f9 85       	ldd	r31, Y+9	; 0x09
-    2e26:	80 2f       	mov	r24, r16
-    2e28:	09 95       	icall
-    2e2a:	89 2b       	or	r24, r25
-    2e2c:	31 f4       	brne	.+12     	; 0x2e3a <fputc+0x48>
-    2e2e:	8e 81       	ldd	r24, Y+6	; 0x06
-    2e30:	9f 81       	ldd	r25, Y+7	; 0x07
-    2e32:	01 96       	adiw	r24, 0x01	; 1
-    2e34:	9f 83       	std	Y+7, r25	; 0x07
-    2e36:	8e 83       	std	Y+6, r24	; 0x06
-    2e38:	02 c0       	rjmp	.+4      	; 0x2e3e <fputc+0x4c>
-    2e3a:	0f ef       	ldi	r16, 0xFF	; 255
-    2e3c:	1f ef       	ldi	r17, 0xFF	; 255
-    2e3e:	c8 01       	movw	r24, r16
-    2e40:	df 91       	pop	r29
-    2e42:	cf 91       	pop	r28
-    2e44:	1f 91       	pop	r17
-    2e46:	0f 91       	pop	r16
-    2e48:	08 95       	ret
-
-00002e4a <__ultoa_invert>:
-    2e4a:	fa 01       	movw	r30, r20
-    2e4c:	aa 27       	eor	r26, r26
-    2e4e:	28 30       	cpi	r18, 0x08	; 8
-    2e50:	51 f1       	breq	.+84     	; 0x2ea6 <__ultoa_invert+0x5c>
-    2e52:	20 31       	cpi	r18, 0x10	; 16
-    2e54:	81 f1       	breq	.+96     	; 0x2eb6 <__ultoa_invert+0x6c>
-    2e56:	e8 94       	clt
-    2e58:	6f 93       	push	r22
-    2e5a:	6e 7f       	andi	r22, 0xFE	; 254
-    2e5c:	6e 5f       	subi	r22, 0xFE	; 254
-    2e5e:	7f 4f       	sbci	r23, 0xFF	; 255
-    2e60:	8f 4f       	sbci	r24, 0xFF	; 255
-    2e62:	9f 4f       	sbci	r25, 0xFF	; 255
-    2e64:	af 4f       	sbci	r26, 0xFF	; 255
-    2e66:	b1 e0       	ldi	r27, 0x01	; 1
-    2e68:	3e d0       	rcall	.+124    	; 0x2ee6 <__ultoa_invert+0x9c>
-    2e6a:	b4 e0       	ldi	r27, 0x04	; 4
-    2e6c:	3c d0       	rcall	.+120    	; 0x2ee6 <__ultoa_invert+0x9c>
-    2e6e:	67 0f       	add	r22, r23
-    2e70:	78 1f       	adc	r23, r24
-    2e72:	89 1f       	adc	r24, r25
-    2e74:	9a 1f       	adc	r25, r26
-    2e76:	a1 1d       	adc	r26, r1
-    2e78:	68 0f       	add	r22, r24
-    2e7a:	79 1f       	adc	r23, r25
-    2e7c:	8a 1f       	adc	r24, r26
-    2e7e:	91 1d       	adc	r25, r1
-    2e80:	a1 1d       	adc	r26, r1
-    2e82:	6a 0f       	add	r22, r26
-    2e84:	71 1d       	adc	r23, r1
-    2e86:	81 1d       	adc	r24, r1
-    2e88:	91 1d       	adc	r25, r1
-    2e8a:	a1 1d       	adc	r26, r1
-    2e8c:	20 d0       	rcall	.+64     	; 0x2ece <__ultoa_invert+0x84>
-    2e8e:	09 f4       	brne	.+2      	; 0x2e92 <__ultoa_invert+0x48>
-    2e90:	68 94       	set
-    2e92:	3f 91       	pop	r19
-    2e94:	2a e0       	ldi	r18, 0x0A	; 10
-    2e96:	26 9f       	mul	r18, r22
-    2e98:	11 24       	eor	r1, r1
-    2e9a:	30 19       	sub	r19, r0
-    2e9c:	30 5d       	subi	r19, 0xD0	; 208
-    2e9e:	31 93       	st	Z+, r19
-    2ea0:	de f6       	brtc	.-74     	; 0x2e58 <__ultoa_invert+0xe>
-    2ea2:	cf 01       	movw	r24, r30
-    2ea4:	08 95       	ret
-    2ea6:	46 2f       	mov	r20, r22
-    2ea8:	47 70       	andi	r20, 0x07	; 7
-    2eaa:	40 5d       	subi	r20, 0xD0	; 208
-    2eac:	41 93       	st	Z+, r20
-    2eae:	b3 e0       	ldi	r27, 0x03	; 3
-    2eb0:	0f d0       	rcall	.+30     	; 0x2ed0 <__ultoa_invert+0x86>
-    2eb2:	c9 f7       	brne	.-14     	; 0x2ea6 <__ultoa_invert+0x5c>
-    2eb4:	f6 cf       	rjmp	.-20     	; 0x2ea2 <__ultoa_invert+0x58>
-    2eb6:	46 2f       	mov	r20, r22
-    2eb8:	4f 70       	andi	r20, 0x0F	; 15
-    2eba:	40 5d       	subi	r20, 0xD0	; 208
-    2ebc:	4a 33       	cpi	r20, 0x3A	; 58
-    2ebe:	18 f0       	brcs	.+6      	; 0x2ec6 <__ultoa_invert+0x7c>
-    2ec0:	49 5d       	subi	r20, 0xD9	; 217
-    2ec2:	31 fd       	sbrc	r19, 1
-    2ec4:	40 52       	subi	r20, 0x20	; 32
-    2ec6:	41 93       	st	Z+, r20
-    2ec8:	02 d0       	rcall	.+4      	; 0x2ece <__ultoa_invert+0x84>
-    2eca:	a9 f7       	brne	.-22     	; 0x2eb6 <__ultoa_invert+0x6c>
-    2ecc:	ea cf       	rjmp	.-44     	; 0x2ea2 <__ultoa_invert+0x58>
-    2ece:	b4 e0       	ldi	r27, 0x04	; 4
-    2ed0:	a6 95       	lsr	r26
-    2ed2:	97 95       	ror	r25
-    2ed4:	87 95       	ror	r24
-    2ed6:	77 95       	ror	r23
-    2ed8:	67 95       	ror	r22
-    2eda:	ba 95       	dec	r27
-    2edc:	c9 f7       	brne	.-14     	; 0x2ed0 <__ultoa_invert+0x86>
-    2ede:	00 97       	sbiw	r24, 0x00	; 0
-    2ee0:	61 05       	cpc	r22, r1
-    2ee2:	71 05       	cpc	r23, r1
-    2ee4:	08 95       	ret
-    2ee6:	9b 01       	movw	r18, r22
-    2ee8:	ac 01       	movw	r20, r24
-    2eea:	0a 2e       	mov	r0, r26
-    2eec:	06 94       	lsr	r0
-    2eee:	57 95       	ror	r21
-    2ef0:	47 95       	ror	r20
-    2ef2:	37 95       	ror	r19
-    2ef4:	27 95       	ror	r18
-    2ef6:	ba 95       	dec	r27
-    2ef8:	c9 f7       	brne	.-14     	; 0x2eec <__ultoa_invert+0xa2>
-    2efa:	62 0f       	add	r22, r18
-    2efc:	73 1f       	adc	r23, r19
-    2efe:	84 1f       	adc	r24, r20
-    2f00:	95 1f       	adc	r25, r21
-    2f02:	a0 1d       	adc	r26, r0
-    2f04:	08 95       	ret
-
-00002f06 <__divmodhi4>:
-    2f06:	97 fb       	bst	r25, 7
-    2f08:	09 2e       	mov	r0, r25
-    2f0a:	07 26       	eor	r0, r23
-    2f0c:	0a d0       	rcall	.+20     	; 0x2f22 <__divmodhi4_neg1>
-    2f0e:	77 fd       	sbrc	r23, 7
-    2f10:	04 d0       	rcall	.+8      	; 0x2f1a <__divmodhi4_neg2>
-    2f12:	5e d0       	rcall	.+188    	; 0x2fd0 <__udivmodhi4>
-    2f14:	06 d0       	rcall	.+12     	; 0x2f22 <__divmodhi4_neg1>
-    2f16:	00 20       	and	r0, r0
-    2f18:	1a f4       	brpl	.+6      	; 0x2f20 <__divmodhi4_exit>
-
-00002f1a <__divmodhi4_neg2>:
-    2f1a:	70 95       	com	r23
-    2f1c:	61 95       	neg	r22
-    2f1e:	7f 4f       	sbci	r23, 0xFF	; 255
-
-00002f20 <__divmodhi4_exit>:
-    2f20:	08 95       	ret
-
-00002f22 <__divmodhi4_neg1>:
-    2f22:	f6 f7       	brtc	.-4      	; 0x2f20 <__divmodhi4_exit>
-    2f24:	90 95       	com	r25
-    2f26:	81 95       	neg	r24
-    2f28:	9f 4f       	sbci	r25, 0xFF	; 255
-    2f2a:	08 95       	ret
-
-00002f2c <__divmodsi4>:
-    2f2c:	97 fb       	bst	r25, 7
-    2f2e:	09 2e       	mov	r0, r25
-    2f30:	05 26       	eor	r0, r21
-    2f32:	0e d0       	rcall	.+28     	; 0x2f50 <__divmodsi4_neg1>
-    2f34:	57 fd       	sbrc	r21, 7
-    2f36:	04 d0       	rcall	.+8      	; 0x2f40 <__divmodsi4_neg2>
-    2f38:	5f d0       	rcall	.+190    	; 0x2ff8 <__udivmodsi4>
-    2f3a:	0a d0       	rcall	.+20     	; 0x2f50 <__divmodsi4_neg1>
-    2f3c:	00 1c       	adc	r0, r0
-    2f3e:	38 f4       	brcc	.+14     	; 0x2f4e <__divmodsi4_exit>
-
-00002f40 <__divmodsi4_neg2>:
-    2f40:	50 95       	com	r21
-    2f42:	40 95       	com	r20
-    2f44:	30 95       	com	r19
-    2f46:	21 95       	neg	r18
-    2f48:	3f 4f       	sbci	r19, 0xFF	; 255
-    2f4a:	4f 4f       	sbci	r20, 0xFF	; 255
-    2f4c:	5f 4f       	sbci	r21, 0xFF	; 255
-
-00002f4e <__divmodsi4_exit>:
-    2f4e:	08 95       	ret
-
-00002f50 <__divmodsi4_neg1>:
-    2f50:	f6 f7       	brtc	.-4      	; 0x2f4e <__divmodsi4_exit>
-    2f52:	90 95       	com	r25
-    2f54:	80 95       	com	r24
-    2f56:	70 95       	com	r23
-    2f58:	61 95       	neg	r22
-    2f5a:	7f 4f       	sbci	r23, 0xFF	; 255
-    2f5c:	8f 4f       	sbci	r24, 0xFF	; 255
-    2f5e:	9f 4f       	sbci	r25, 0xFF	; 255
-    2f60:	08 95       	ret
-
-00002f62 <__prologue_saves__>:
-    2f62:	2f 92       	push	r2
-    2f64:	3f 92       	push	r3
-    2f66:	4f 92       	push	r4
-    2f68:	5f 92       	push	r5
-    2f6a:	6f 92       	push	r6
-    2f6c:	7f 92       	push	r7
-    2f6e:	8f 92       	push	r8
-    2f70:	9f 92       	push	r9
-    2f72:	af 92       	push	r10
-    2f74:	bf 92       	push	r11
-    2f76:	cf 92       	push	r12
-    2f78:	df 92       	push	r13
-    2f7a:	ef 92       	push	r14
-    2f7c:	ff 92       	push	r15
-    2f7e:	0f 93       	push	r16
-    2f80:	1f 93       	push	r17
-    2f82:	cf 93       	push	r28
-    2f84:	df 93       	push	r29
-    2f86:	cd b7       	in	r28, 0x3d	; 61
-    2f88:	de b7       	in	r29, 0x3e	; 62
-    2f8a:	ca 1b       	sub	r28, r26
-    2f8c:	db 0b       	sbc	r29, r27
-    2f8e:	0f b6       	in	r0, 0x3f	; 63
-    2f90:	f8 94       	cli
-    2f92:	de bf       	out	0x3e, r29	; 62
-    2f94:	0f be       	out	0x3f, r0	; 63
-    2f96:	cd bf       	out	0x3d, r28	; 61
-    2f98:	09 94       	ijmp
-
-00002f9a <__epilogue_restores__>:
-    2f9a:	2a 88       	ldd	r2, Y+18	; 0x12
-    2f9c:	39 88       	ldd	r3, Y+17	; 0x11
-    2f9e:	48 88       	ldd	r4, Y+16	; 0x10
-    2fa0:	5f 84       	ldd	r5, Y+15	; 0x0f
-    2fa2:	6e 84       	ldd	r6, Y+14	; 0x0e
-    2fa4:	7d 84       	ldd	r7, Y+13	; 0x0d
-    2fa6:	8c 84       	ldd	r8, Y+12	; 0x0c
-    2fa8:	9b 84       	ldd	r9, Y+11	; 0x0b
-    2faa:	aa 84       	ldd	r10, Y+10	; 0x0a
-    2fac:	b9 84       	ldd	r11, Y+9	; 0x09
-    2fae:	c8 84       	ldd	r12, Y+8	; 0x08
-    2fb0:	df 80       	ldd	r13, Y+7	; 0x07
-    2fb2:	ee 80       	ldd	r14, Y+6	; 0x06
-    2fb4:	fd 80       	ldd	r15, Y+5	; 0x05
-    2fb6:	0c 81       	ldd	r16, Y+4	; 0x04
-    2fb8:	1b 81       	ldd	r17, Y+3	; 0x03
-    2fba:	aa 81       	ldd	r26, Y+2	; 0x02
-    2fbc:	b9 81       	ldd	r27, Y+1	; 0x01
-    2fbe:	ce 0f       	add	r28, r30
-    2fc0:	d1 1d       	adc	r29, r1
-    2fc2:	0f b6       	in	r0, 0x3f	; 63
-    2fc4:	f8 94       	cli
-    2fc6:	de bf       	out	0x3e, r29	; 62
-    2fc8:	0f be       	out	0x3f, r0	; 63
-    2fca:	cd bf       	out	0x3d, r28	; 61
-    2fcc:	ed 01       	movw	r28, r26
-    2fce:	08 95       	ret
-
-00002fd0 <__udivmodhi4>:
-    2fd0:	aa 1b       	sub	r26, r26
-    2fd2:	bb 1b       	sub	r27, r27
-    2fd4:	51 e1       	ldi	r21, 0x11	; 17
-    2fd6:	07 c0       	rjmp	.+14     	; 0x2fe6 <__udivmodhi4_ep>
-
-00002fd8 <__udivmodhi4_loop>:
-    2fd8:	aa 1f       	adc	r26, r26
-    2fda:	bb 1f       	adc	r27, r27
-    2fdc:	a6 17       	cp	r26, r22
-    2fde:	b7 07       	cpc	r27, r23
-    2fe0:	10 f0       	brcs	.+4      	; 0x2fe6 <__udivmodhi4_ep>
-    2fe2:	a6 1b       	sub	r26, r22
-    2fe4:	b7 0b       	sbc	r27, r23
-
-00002fe6 <__udivmodhi4_ep>:
-    2fe6:	88 1f       	adc	r24, r24
-    2fe8:	99 1f       	adc	r25, r25
-    2fea:	5a 95       	dec	r21
-    2fec:	a9 f7       	brne	.-22     	; 0x2fd8 <__udivmodhi4_loop>
-    2fee:	80 95       	com	r24
-    2ff0:	90 95       	com	r25
-    2ff2:	bc 01       	movw	r22, r24
-    2ff4:	cd 01       	movw	r24, r26
-    2ff6:	08 95       	ret
-
-00002ff8 <__udivmodsi4>:
-    2ff8:	a1 e2       	ldi	r26, 0x21	; 33
-    2ffa:	1a 2e       	mov	r1, r26
-    2ffc:	aa 1b       	sub	r26, r26
-    2ffe:	bb 1b       	sub	r27, r27
-    3000:	fd 01       	movw	r30, r26
-    3002:	0d c0       	rjmp	.+26     	; 0x301e <__udivmodsi4_ep>
-
-00003004 <__udivmodsi4_loop>:
-    3004:	aa 1f       	adc	r26, r26
-    3006:	bb 1f       	adc	r27, r27
-    3008:	ee 1f       	adc	r30, r30
-    300a:	ff 1f       	adc	r31, r31
-    300c:	a2 17       	cp	r26, r18
-    300e:	b3 07       	cpc	r27, r19
-    3010:	e4 07       	cpc	r30, r20
-    3012:	f5 07       	cpc	r31, r21
-    3014:	20 f0       	brcs	.+8      	; 0x301e <__udivmodsi4_ep>
-    3016:	a2 1b       	sub	r26, r18
-    3018:	b3 0b       	sbc	r27, r19
-    301a:	e4 0b       	sbc	r30, r20
-    301c:	f5 0b       	sbc	r31, r21
-
-0000301e <__udivmodsi4_ep>:
-    301e:	66 1f       	adc	r22, r22
-    3020:	77 1f       	adc	r23, r23
-    3022:	88 1f       	adc	r24, r24
-    3024:	99 1f       	adc	r25, r25
-    3026:	1a 94       	dec	r1
-    3028:	69 f7       	brne	.-38     	; 0x3004 <__udivmodsi4_loop>
-    302a:	60 95       	com	r22
-    302c:	70 95       	com	r23
-    302e:	80 95       	com	r24
-    3030:	90 95       	com	r25
-    3032:	9b 01       	movw	r18, r22
-    3034:	ac 01       	movw	r20, r24
-    3036:	bd 01       	movw	r22, r26
-    3038:	cf 01       	movw	r24, r30
-    303a:	08 95       	ret
-
-0000303c <_exit>:
-    303c:	f8 94       	cli
-
-0000303e <__stop_program>:
-    303e:	ff cf       	rjmp	.-2      	; 0x303e <__stop_program>
Index: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.c
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.c	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.c	(nonexistent)
@@ -1,58 +0,0 @@
-#include <dragonfly_lib.h>
-#include <encoders.h>
-
-int main(void)
-{
-
-	dragonfly_init(ALL_ON);
-
-	usb_init();
-	encoders_init();
-	int encoder_left,encoder_right;
-	int x_left, x_right;
-	int v_left, v_right;
-	int tc;
-
-	while(1) {
-		/* button1 is pressed */
-		if (button1_read()) {
-			/* reset dx and tc */
-			encoder_rst_dx(LEFT);
-			encoder_rst_dx(RIGHT);
-			encoder_rst_tc();
-		}
-
-		encoder_left = encoder_read(LEFT);
-		encoder_right = encoder_read(RIGHT);
-		usb_puts("Encoder values (left, right): ");
-		usb_puti(encoder_left); 
-		usb_puts(", ");
-		usb_puti(encoder_right); 
-		usb_puts("\r\n");
-
-		x_left = encoder_get_x(LEFT);
-		x_right = encoder_get_x(RIGHT);
-		usb_puts("Total Distance (left, right): ");
-		usb_puti(x_left);
-		usb_puts(", ");
-		usb_puti(x_right);
-		usb_puts("\r\n");
-
-		v_left = encoder_get_v(LEFT);
-		v_right = encoder_get_v(RIGHT);
-		usb_puts("Velocity (left, right): ");
-		usb_puti(v_left);
-		usb_puts(", ");
-		usb_puti(v_right);
-		usb_puts("\r\n");
-
-		tc = encoder_get_tc();
-		usb_puts("Time count: ");
-		usb_puti(tc);
-		usb_puts("\r\n\r");
-
-		delay_ms(500);
-	}
-
-	return 0;
-}
Index: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.lst
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.lst	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.lst	(nonexistent)
@@ -1,158 +0,0 @@
-   1               		.file	"encoder_test.c"
-   2               	__SREG__ = 0x3f
-   3               	__SP_H__ = 0x3e
-   4               	__SP_L__ = 0x3d
-   5               	__CCP__  = 0x34
-   6               	__tmp_reg__ = 0
-   7               	__zero_reg__ = 1
-   8               		.data
-   9               	.LC0:
-  10 0000 456E 636F 		.string	"Encoder values (left, right): "
-  10      6465 7220 
-  10      7661 6C75 
-  10      6573 2028 
-  10      6C65 6674 
-  11               	.LC1:
-  12 001f 2C20 00   		.string	", "
-  13               	.LC2:
-  14 0022 0D0A 00   		.string	"\r\n"
-  15               	.LC3:
-  16 0025 546F 7461 		.string	"Total Distance (left, right): "
-  16      6C20 4469 
-  16      7374 616E 
-  16      6365 2028 
-  16      6C65 6674 
-  17               	.LC4:
-  18 0044 5665 6C6F 		.string	"Velocity (left, right): "
-  18      6369 7479 
-  18      2028 6C65 
-  18      6674 2C20 
-  18      7269 6768 
-  19               	.LC5:
-  20 005d 5469 6D65 		.string	"Time count: "
-  20      2063 6F75 
-  20      6E74 3A20 
-  20      00
-  21               	.LC6:
-  22 006a 0D0A 0D00 		.string	"\r\n\r"
-  23               		.text
-  24               	.global	main
-  26               	main:
-  27 0000 EF92      		push r14
-  28 0002 FF92      		push r15
-  29 0004 0F93      		push r16
-  30 0006 1F93      		push r17
-  31               	/* prologue: function */
-  32               	/* frame size = 0 */
-  33 0008 8FEF      		ldi r24,lo8(1023)
-  34 000a 93E0      		ldi r25,hi8(1023)
-  35 000c 0E94 0000 		call dragonfly_init
-  36 0010 0E94 0000 		call usb_init
-  37 0014 0E94 0000 		call encoders_init
-  38               	.L3:
-  39 0018 0E94 0000 		call button1_read
-  40 001c 892B      		or r24,r25
-  41 001e 01F0      		breq .L2
-  42 0020 80E0      		ldi r24,lo8(0)
-  43 0022 0E94 0000 		call encoder_rst_dx
-  44 0026 81E0      		ldi r24,lo8(1)
-  45 0028 0E94 0000 		call encoder_rst_dx
-  46 002c 0E94 0000 		call encoder_rst_tc
-  47               	.L2:
-  48 0030 80E0      		ldi r24,lo8(0)
-  49 0032 0E94 0000 		call encoder_read
-  50 0036 8C01      		movw r16,r24
-  51 0038 81E0      		ldi r24,lo8(1)
-  52 003a 0E94 0000 		call encoder_read
-  53 003e 7C01      		movw r14,r24
-  54 0040 80E0      		ldi r24,lo8(.LC0)
-  55 0042 90E0      		ldi r25,hi8(.LC0)
-  56 0044 0E94 0000 		call usb_puts
-  57 0048 C801      		movw r24,r16
-  58 004a 0E94 0000 		call usb_puti
-  59 004e 80E0      		ldi r24,lo8(.LC1)
-  60 0050 90E0      		ldi r25,hi8(.LC1)
-  61 0052 0E94 0000 		call usb_puts
-  62 0056 C701      		movw r24,r14
-  63 0058 0E94 0000 		call usb_puti
-  64 005c 80E0      		ldi r24,lo8(.LC2)
-  65 005e 90E0      		ldi r25,hi8(.LC2)
-  66 0060 0E94 0000 		call usb_puts
-  67 0064 80E0      		ldi r24,lo8(0)
-  68 0066 0E94 0000 		call encoder_get_x
-  69 006a 8C01      		movw r16,r24
-  70 006c 81E0      		ldi r24,lo8(1)
-  71 006e 0E94 0000 		call encoder_get_x
-  72 0072 7C01      		movw r14,r24
-  73 0074 80E0      		ldi r24,lo8(.LC3)
-  74 0076 90E0      		ldi r25,hi8(.LC3)
-  75 0078 0E94 0000 		call usb_puts
-  76 007c C801      		movw r24,r16
-  77 007e 0E94 0000 		call usb_puti
-  78 0082 80E0      		ldi r24,lo8(.LC1)
-  79 0084 90E0      		ldi r25,hi8(.LC1)
-  80 0086 0E94 0000 		call usb_puts
-  81 008a C701      		movw r24,r14
-  82 008c 0E94 0000 		call usb_puti
-  83 0090 80E0      		ldi r24,lo8(.LC2)
-  84 0092 90E0      		ldi r25,hi8(.LC2)
-  85 0094 0E94 0000 		call usb_puts
-  86 0098 80E0      		ldi r24,lo8(0)
-  87 009a 0E94 0000 		call encoder_get_v
-  88 009e 8C01      		movw r16,r24
-  89 00a0 81E0      		ldi r24,lo8(1)
-  90 00a2 0E94 0000 		call encoder_get_v
-  91 00a6 7C01      		movw r14,r24
-  92 00a8 80E0      		ldi r24,lo8(.LC4)
-  93 00aa 90E0      		ldi r25,hi8(.LC4)
-  94 00ac 0E94 0000 		call usb_puts
-  95 00b0 C801      		movw r24,r16
-  96 00b2 0E94 0000 		call usb_puti
-  97 00b6 80E0      		ldi r24,lo8(.LC1)
-  98 00b8 90E0      		ldi r25,hi8(.LC1)
-  99 00ba 0E94 0000 		call usb_puts
- 100 00be C701      		movw r24,r14
- 101 00c0 0E94 0000 		call usb_puti
- 102 00c4 80E0      		ldi r24,lo8(.LC2)
- 103 00c6 90E0      		ldi r25,hi8(.LC2)
- 104 00c8 0E94 0000 		call usb_puts
- 105 00cc 0E94 0000 		call encoder_get_tc
- 106 00d0 8C01      		movw r16,r24
- 107 00d2 80E0      		ldi r24,lo8(.LC5)
- 108 00d4 90E0      		ldi r25,hi8(.LC5)
- 109 00d6 0E94 0000 		call usb_puts
- 110 00da C801      		movw r24,r16
- 111 00dc 0E94 0000 		call usb_puti
- 112 00e0 80E0      		ldi r24,lo8(.LC6)
- 113 00e2 90E0      		ldi r25,hi8(.LC6)
- 114 00e4 0E94 0000 		call usb_puts
- 115 00e8 84EF      		ldi r24,lo8(500)
- 116 00ea 91E0      		ldi r25,hi8(500)
- 117 00ec 0E94 0000 		call delay_ms
- 118 00f0 00C0      		rjmp .L3
- 120               	.global __do_copy_data
-DEFINED SYMBOLS
-                            *ABS*:00000000 encoder_test.c
-C:\Users\azirbel\AppData\Local\Temp/cc1AQQD4.s:2      *ABS*:0000003f __SREG__
-C:\Users\azirbel\AppData\Local\Temp/cc1AQQD4.s:3      *ABS*:0000003e __SP_H__
-C:\Users\azirbel\AppData\Local\Temp/cc1AQQD4.s:4      *ABS*:0000003d __SP_L__
-C:\Users\azirbel\AppData\Local\Temp/cc1AQQD4.s:5      *ABS*:00000034 __CCP__
-C:\Users\azirbel\AppData\Local\Temp/cc1AQQD4.s:6      *ABS*:00000000 __tmp_reg__
-C:\Users\azirbel\AppData\Local\Temp/cc1AQQD4.s:7      *ABS*:00000001 __zero_reg__
-C:\Users\azirbel\AppData\Local\Temp/cc1AQQD4.s:26     .text:00000000 main
-
-UNDEFINED SYMBOLS
-dragonfly_init
-usb_init
-encoders_init
-button1_read
-encoder_rst_dx
-encoder_rst_tc
-encoder_read
-usb_puts
-usb_puti
-encoder_get_x
-encoder_get_v
-encoder_get_tc
-delay_ms
-__do_copy_data
Index: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.hex
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.hex	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.hex	(nonexistent)
@@ -1,828 +0,0 @@
-:100000000C94C7000C94E6000C94E6000C94E600F7
-:100010000C94E6000C94E6000C94E6000C94E600C8
-:100020000C94E6000C94E6000C94E6000C94E600B8
-:100030000C94E6000C94E6000C94E6000C94CF0CB3
-:100040000C94860C0C945B120C94E6000C94E60065
-:100050000C94E6000C94D1130C94E6000C94E6008A
-:100060000C94E6000C94E6000C94D1120C94E6007B
-:100070000C94E6000C94E6000C94E6000C94E60068
-:100080000C94E6000C94E6000C94E6006E616E00A1
-:10009000696E660000407A10F35A00A0724E18098B
-:1000A0000010A5D4E80000E87648170000E40B54DF
-:1000B000020000CA9A3B000000E1F50500008096AE
-:1000C0009800000040420F000000A08601000000E0
-:1000D000102700000000E80300000000640000009A
-:1000E00000000A00000000000100000000002C7663
-:1000F000D888DC674F0823DFC1DFAE59E1B1B7967E
-:10010000E5E3E453C63AE651997696E8E6C28426DA
-:10011000EB898C9B62ED407C6FFCEFBC9C9F40F2B6
-:10012000BAA56FA5F490055A2AF75C936B6CF96732
-:100130006DC11BFCE0E40D47FEF520E6B500D0EDF7
-:10014000902E0300943577050080841E080000205F
-:100150004E0A000000C80C333333330F986E1283FD
-:100160001141EF8D2114893BE65516CFFEE6DB18D1
-:10017000D1844B381BF77C1D901DA4BBE424203296
-:1001800084725E228100C9F124ECA1E53D2711248F
-:100190001FBECFEFD0E1DEBFCDBF14E0A0E0B1E0E5
-:1001A000E0E4F0E300E00BBF02C007900D92AE3632
-:1001B000B107D9F715E0AEE6B4E001C01D92AE3C40
-:1001C000B107E1F70E94E8000C941E180C9400009F
-:1001D000EF92FF920F931F938FEF93E00E94970788
-:1001E0000E9401110E94EC090E942207892B41F014
-:1001F00080E00E94800881E00E9480080E949308AD
-:1002000080E00E945E088C0181E00E945E087C0113
-:1002100080E091E00E946611C8010E9472118FE196
-:1002200091E00E946611C7010E94721182E291E082
-:100230000E94661180E00E947E0B8C0181E00E948A
-:100240007E0B7C0185E291E00E946611C8010E944C
-:1002500072118FE191E00E946611C7010E94721134
-:1002600082E291E00E94661180E00E94C5098C0143
-:1002700081E00E94C5097C0184E491E00E9466113E
-:10028000C8010E9472118FE191E00E946611C701BE
-:100290000E94721182E291E00E9466110E948E0813
-:1002A0008C018DE591E00E946611C8010E947211D7
-:1002B0008AE691E00E94661184EF91E00E949B1211
-:1002C00093CFA1E1B0E0E7E6F1E00C94B1173C0177
-:1002D0007F876E876A01FC0117821682838181FD08
-:1002E00003C06FEF7FEF71C39E012F5F3F4F398BCC
-:1002F000288BF3012381EE85FF8523FD859123FF64
-:100300008191FF87EE87882309F45CC3853251F41D
-:10031000EE85FF8523FD859123FF8191FF87EE8781
-:10032000853229F490E0B3010E94F916E2CF982FAC
-:1003300010E0882499241032B0F49B3269F09C328A
-:1003400028F4903251F0933271F40BC09D3239F0A1
-:10035000903349F4116028C01260146025C0186001
-:1003600023C0106121C017FD2AC0892F80538A3015
-:1003700078F416FF06C0FAE09F9E902C1124980E88
-:1003800013C03AE0839E802C1124880E10620CC0AA
-:100390009E3221F416FD16C3106406C09C3611F47B
-:1003A000106802C0983659F4EE85FF8523FD9591BB
-:1003B00023FF9191FF87EE87992309F0BCCF892F06
-:1003C0008554833020F4812F8061905E07C0892F8F
-:1003D0008556833008F0A1C1812F8F7E86FD02C033
-:1003E00076E0972E6FE3F62EF822953619F4F0E4B6
-:1003F000FF2A07C0963619F420E8F22A02C09110AD
-:100400009A94F7FE0BC03BE3391520F427E05CE338
-:10041000B52E0EC0B92CB39427E00AC047E04915A9
-:1004200028F427E0BB2447E0942E02C0292DBB24EA
-:10043000C60104969D878C87F60160817181828157
-:100440009381AE014F5F5F4F0B2D0E9402166C012E
-:100450000981202E332400FF04C003FD02C01DE2E9
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-:00000001FF
Index: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.elf
===================================================================
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Index: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.elf
===================================================================
--- trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.elf	(revision 1508)
+++ trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.elf	(nonexistent)

Property changes on: trunk/code/behaviors/formation_control/Circle/Code/encoder_test/encoder_test.elf
___________________________________________________________________
Deleted: svn:mime-type
## -1 +0,0 ##
-application/octet-stream
\ No newline at end of property
Index: trunk/code/behaviors/formation_control/circle/circle.c
===================================================================
--- trunk/code/behaviors/formation_control/circle/circle.c	(nonexistent)
+++ trunk/code/behaviors/formation_control/circle/circle.c	(revision 1509)
@@ -0,0 +1,182 @@
+#include <dragonfly_lib.h>
+#include <encoders.h>
+
+#define RADIUS 300
+
+extern void blink(int);
+extern void search(void);
+extern void approach(void);
+extern void lastDrive(void);
+
+int main(void)
+{
+
+	/* Initialize dragonfly board */
+	dragonfly_init(ALL_ON);
+	encoders_init();
+
+	orb_set_color(GREEN);
+	delay_ms(300);
+		
+	search();
+	
+	approach();
+	
+	while(1); /* END HERE */
+
+	return 0;
+}
+
+
+
+void blink(int num)
+{
+	for(int i = 0; i<num; i++)
+	{
+		orb_set_color(ORB_OFF);
+		delay_ms(200);
+		orb_set_color(RED);
+		delay_ms(200);
+	}
+	orb_set_color(ORB_OFF);
+}
+void search()	//makes the robot face the beacon
+{
+	orb_set_color(YELLOW);	//show that the robot is searching
+	bom_refresh(BOM_ALL);
+	int top=bom_get_max();
+	
+	if ((top<4) || (top>11))	//determine which way to turn
+	{
+		motor_r_set(BACKWARD,200);
+		motor_l_set(FORWARD,200);
+	}
+	else if((top>4) && (top<12))
+	{
+		motor_r_set(FORWARD,200);
+		motor_l_set(BACKWARD,200);
+	}
+	while (top != 4)
+	{
+		bom_refresh(BOM_ALL);
+		top=bom_get_max();
+	}
+	motors_off();
+}
+void approach()
+{
+	int dist = 0;
+	int temp = 0;
+	int counter = 0;
+	int correct = 0;
+	
+	while(dist != RADIUS)	//puts the robots in the given distance RADIUS
+	{
+		temp=0;
+		counter = 0;
+		
+		while(counter<8)
+		{
+			if(range_read_distance(IR2) == -1){}
+			
+			else
+			{
+				temp += range_read_distance(IR2);
+				counter++;
+			}
+			delay_ms(20);
+		}
+		dist = temp/8;
+		
+		/*if (correct >2){
+			orb_set_color(RED);
+			break;
+			
+			}	// stop within the dead zone: it knows it is in the dead zone if it hits +- 15 from RADIUS 3 times*/
+		
+		if ( dist<(RADIUS+30) && dist>(RADIUS-30)) {	// the dead zone
+			orb_set_color(RED);
+			break;
+		}
+		
+		else if ((dist>RADIUS) || (dist==-1))
+		{			
+			///delay_ms(200);
+			search();
+			
+			motor_r_set(FORWARD,200);
+			motor_l_set(FORWARD,200);
+		}
+		else if ((dist<RADIUS))
+		{
+			//delay_ms(200);
+			search();
+			
+			motor_r_set(BACKWARD,200);
+			motor_l_set(BACKWARD,200);
+		}
+		
+	}
+	
+	orb_set_color(BLUE);
+	
+	motors_off();
+
+	/*usb_puti(range_read_distance(IR2));
+	usb_puts("\n\r");
+	motor_r_set(FORWARD,200);
+	motor_l_set(FORWARD,200);
+	delay_ms(300);
+	usb_puti(range_read_distance(IR2));
+	usb_puts("\n\r");
+	delay_ms(300);
+	usb_puti(range_read_distance(IR2));
+	usb_puts("\n\r");
+	delay_ms(300);
+	usb_puti(range_read_distance(IR2));
+	usb_puts("\n\r");*/
+}
+void lastDrive()
+{
+	int lspeed = 190;
+	int rspeed = 190;
+	int firstldist = encoder_get_x(LEFT);
+	int firstrdist = encoder_get_x(RIGHT);
+	int ldist = firstldist;
+	int rdist = firstrdist;
+	while ( (ldist-firstldist<800) && (rdist-firstrdist<800) )
+	{
+		motor_l_set(FORWARD,lspeed);
+		motor_r_set(FORWARD,rspeed);
+		
+		int lvel = encoder_get_v(LEFT);
+		int rvel = encoder_get_v(RIGHT);
+		
+		usb_puts("\n\rLeft distance: ");
+		usb_puti(ldist-firstldist);
+		usb_puts("\n\rRight distance: ");
+		usb_puti(rdist-firstrdist);
+		usb_puts("\n\rLeft velocity: ");
+		usb_puti(lvel);
+		usb_puts("\n\rRight velocity: ");
+		usb_puti(rvel);
+		usb_puts("\n\r\n\r");
+		
+		if (rvel<lvel)
+		{
+			rspeed += 1;
+			lspeed -= 1;
+		}
+		else if (rvel>lvel)
+		{
+			rspeed -= 1;
+			lspeed += 1;
+		}
+		ldist = encoder_get_x(LEFT);
+		rdist = encoder_get_x(RIGHT);
+		
+		delay_ms(25);
+	}
+	motors_off();
+	orb_set_color(GREEN);
+}
\ No newline at end of file
Index: trunk/code/behaviors/formation_control/circle/Makefile
===================================================================
--- trunk/code/behaviors/formation_control/circle/Makefile	(nonexistent)
+++ trunk/code/behaviors/formation_control/circle/Makefile	(revision 1509)
@@ -0,0 +1,523 @@
+########Update This Section########
+#
+#
+
+# Relative path to the root directory (containing lib directory)
+ifndef COLONYROOT
+COLONYROOT = ../../..
+endif
+
+# Target file name (without extension).
+TARGET = circle
+
+# Uncomment this to use the wireless library
+USE_WIRELESS = 1
+
+# com1 = serial port. Use lpt1 to connect to parallel port.
+#AVRDUDE_PORT = com4
+AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
+#
+#
+###################################
+
+# Hey Emacs, this is a -*- makefile -*-
+#----------------------------------------------------------------------------
+# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al.
+#
+# Released to the Public Domain
+#
+# Additional material for this makefile was written by:
+# Peter Fleury
+# Tim Henigan
+# Colin O'Flynn
+# Reiner Patommel
+# Markus Pfaff
+# Sander Pool
+# Frederik Rouleau
+#
+#----------------------------------------------------------------------------
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make coff = Convert ELF to AVR COFF.
+#
+# make extcoff = Convert ELF to AVR Extended COFF.
+#
+# make program = Download the hex file to the device, using avrdude.
+#                Please customize the avrdude settings below first!
+#
+# make debug = Start either simulavr or avarice as specified for debugging,
+#              with avr-gdb or avr-insight as the front end for debugging.
+#
+# make filename.s = Just compile filename.c into the assembler code only.
+#
+# make filename.i = Create a preprocessed source file for use in submitting
+#                   bug reports to the GCC project.
+#
+# To rebuild project do "make clean" then "make all".
+#----------------------------------------------------------------------------
+
+#if you want your code to work on the Firefly++ and not Firefly+
+#then add the -DFFPP line to CDEFS
+CDEFS =
+#-DFFPP
+
+# MCU name
+MCU = atmega128
+
+# Processor frequency.
+#     This will define a symbol, F_CPU, in all source code files equal to the
+#     processor frequency. You can then use this symbol in your source code to
+#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
+#     automatically to create a 32-bit value in your source code.
+F_CPU = 8000000
+
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(wildcard *.c)
+
+# List Assembler source files here.
+#     Make them always end in a capital .S.  Files ending in a lowercase .s
+#     will not be considered source files but generated files (assembler
+#     output from the compiler), and will be deleted upon "make clean"!
+#     Even though the DOS/Win* filesystem matches both .s and .S the same,
+#     it will preserve the spelling of the filenames, and gcc itself does
+#     care about how the name is spelled on its command-line.
+ASRC =
+
+# Optimization level, can be [0, 1, 2, 3, s].
+#     0 = turn off optimization. s = optimize for size.
+#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+
+# Debugging format.
+#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
+#     AVR Studio 4.10 requires dwarf-2.
+#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
+DEBUG =
+
+# Compiler flag to set the C Standard level.
+#     c89   = "ANSI" C
+#     gnu89 = c89 plus GCC extensions
+#     c99   = ISO C99 standard (not yet fully implemented)
+#     gnu99 = c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+# Place -D or -U options here
+CDEFS += -DF_CPU=$(F_CPU)UL
+CDEFS += -DFFP
+# for wireless library
+ifdef USE_WIRELESS
+	CDEFS += -DROBOT
+endif
+
+# Place -I, -L options here
+CINCS = -I$(COLONYROOT)/lib/include/libdragonfly
+CINCS += -L$(COLONYROOT)/lib/bin
+ifdef USE_WIRELESS
+	CINCS += -I$(COLONYROOT)/lib/include/libwireless
+endif
+
+#---------------- Compiler Options ----------------
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+CFLAGS =
+# CFLAGS = -g$(DEBUG)
+CFLAGS += $(CDEFS) $(CINCS)
+CFLAGS += -O$(OPT)
+CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CFLAGS += -Wall -Wstrict-prototypes
+CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
+CFLAGS += $(CSTANDARD)
+
+#---------------- Assembler Options ----------------
+#  -Wa,...:   tell GCC to pass this to the assembler.
+#  -ahlms:    create listing
+#  -gstabs:   have the assembler create line number information; note that
+#             for use in COFF files, additional information about filenames
+#             and function names needs to be present in the assembler source
+#             files -- see avr-libc docs [FIXME: not yet described there]
+ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
+
+
+#---------------- Library Options ----------------
+# Minimalistic printf version
+PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
+
+# Floating point printf version (requires MATH_LIB = -lm below)
+PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
+
+# If this is left blank, then it will use the Standard printf version.
+PRINTF_LIB =
+#PRINTF_LIB = $(PRINTF_LIB_MIN)
+#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
+
+
+# Minimalistic scanf version
+SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
+
+# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
+SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
+
+# If this is left blank, then it will use the Standard scanf version.
+SCANF_LIB =
+#SCANF_LIB = $(SCANF_LIB_MIN)
+#SCANF_LIB = $(SCANF_LIB_FLOAT)
+
+MATH_LIB = -lm
+
+#---------------- External Memory Options ----------------
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# used for variables (.data/.bss) and heap (malloc()).
+#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# only used for heap (malloc()).
+#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
+
+EXTMEMOPTS =
+
+#---------------- Linker Options ----------------
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
+LDFLAGS += $(EXTMEMOPTS)
+LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
+ifdef USE_WIRELESS
+	LDFLAGS += -lwireless
+endif
+LDFLAGS += -ldragonfly
+
+
+
+#---------------- Programming Options (avrdude) ----------------
+
+# Programming hardware: alf avr910 avrisp bascom bsd
+# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
+#
+# Type: avrdude -c ?
+# to get a full listing.
+#
+AVRDUDE_PROGRAMMER = avrisp
+
+# programmer connected to serial device
+
+AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
+#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
+
+
+# Uncomment the following if you want avrdude's erase cycle counter.
+# Note that this counter needs to be initialized first using -Yn,
+# see avrdude manual.
+#AVRDUDE_ERASE_COUNTER = -y
+
+# Uncomment the following if you do /not/ wish a verification to be
+# performed after programming the device.
+#AVRDUDE_NO_VERIFY = -V
+
+# Increase verbosity level.  Please use this when submitting bug
+# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
+# to submit bug reports.
+#AVRDUDE_VERBOSE = -v -v
+
+AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
+AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
+AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
+AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
+
+#don't check for device signature
+AVRDUDE_FLAGS += -F
+
+
+
+#---------------- Debugging Options ----------------
+
+# For simulavr only - target MCU frequency.
+DEBUG_MFREQ = $(F_CPU)
+
+# Set the DEBUG_UI to either gdb or insight.
+# DEBUG_UI = gdb
+DEBUG_UI = insight
+
+# Set the debugging back-end to either avarice, simulavr.
+DEBUG_BACKEND = avarice
+#DEBUG_BACKEND = simulavr
+
+# GDB Init Filename.
+GDBINIT_FILE = __avr_gdbinit
+
+# When using avarice settings for the JTAG
+JTAG_DEV = /dev/com1
+
+# Debugging port used to communicate between GDB / avarice / simulavr.
+DEBUG_PORT = 4242
+
+# Debugging host used to communicate between GDB / avarice / simulavr, normally
+#     just set to localhost unless doing some sort of crazy debugging when
+#     avarice is running on a different computer.
+DEBUG_HOST = localhost
+
+
+
+#============================================================================
+
+
+# Define programs and commands.
+SHELL = sh
+CC = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+SIZE = avr-size
+NM = avr-nm
+AVRDUDE = avrdude
+REMOVE = rm -f
+REMOVEDIR = rm -rf
+COPY = cp
+WINSHELL = cmd
+
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = -------- begin --------
+MSG_END = --------  end  --------
+MSG_SIZE_BEFORE = Size before:
+MSG_SIZE_AFTER = Size after:
+MSG_COFF = Converting to AVR COFF:
+MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
+MSG_FLASH = Creating load file for Flash:
+MSG_EEPROM = Creating load file for EEPROM:
+MSG_EXTENDED_LISTING = Creating Extended Listing:
+MSG_SYMBOL_TABLE = Creating Symbol Table:
+MSG_LINKING = Linking:
+MSG_COMPILING = Compiling:
+MSG_ASSEMBLING = Assembling:
+MSG_CLEANING = Cleaning project:
+
+
+
+
+# Define all object files.
+OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
+
+# Define all listing files.
+LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
+
+
+# Compiler flags to generate dependency files.
+GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
+
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+
+
+
+
+
+# Default target.
+all: begin gccversion sizebefore build sizeafter end
+
+build: elf hex eep lss sym
+
+elf: $(TARGET).elf
+hex: $(TARGET).hex
+eep: $(TARGET).eep
+lss: $(TARGET).lss
+sym: $(TARGET).sym
+
+
+
+# Eye candy.
+# AVR Studio 3.x does not check make's exit code but relies on
+# the following magic strings to be generated by the compile job.
+begin:
+	@echo
+	@echo $(MSG_BEGIN)
+
+end:
+	@echo $(MSG_END)
+	@echo
+
+
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+ELFSIZE = $(SIZE) -A $(TARGET).elf
+AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
+
+sizebefore:
+	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
+	$(AVRMEM) 2>/dev/null; echo; fi
+
+sizeafter:
+	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
+	$(AVRMEM) 2>/dev/null; echo; fi
+
+
+
+# Display compiler version information.
+gccversion :
+	@$(CC) --version
+
+
+
+# Program the device.
+program: $(TARGET).hex $(TARGET).eep
+	#-taskkill /IM ttermpro.exe
+	#sleep 1
+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+
+
+# Generate avr-gdb config/init file which does the following:
+#     define the reset signal, load the target file, connect to target, and set
+#     a breakpoint at main().
+gdb-config:
+	@$(REMOVE) $(GDBINIT_FILE)
+	@echo define reset >> $(GDBINIT_FILE)
+	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
+	@echo end >> $(GDBINIT_FILE)
+	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
+	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
+ifeq ($(DEBUG_BACKEND),simulavr)
+	@echo load  >> $(GDBINIT_FILE)
+endif
+	@echo break main >> $(GDBINIT_FILE)
+
+debug: gdb-config $(TARGET).elf
+ifeq ($(DEBUG_BACKEND), avarice)
+	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
+	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
+	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
+	@$(WINSHELL) /c pause
+
+else
+	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
+	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
+endif
+	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
+
+
+
+
+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT=$(OBJCOPY) --debugging \
+--change-section-address .data-0x800000 \
+--change-section-address .bss-0x800000 \
+--change-section-address .noinit-0x800000 \
+--change-section-address .eeprom-0x810000
+
+
+coff: $(TARGET).elf
+	@echo
+	@echo $(MSG_COFF) $(TARGET).cof
+	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
+
+
+extcoff: $(TARGET).elf
+	@echo
+	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
+	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
+
+
+
+# Create final output files (.hex, .eep) from ELF output file.
+%.hex: %.elf
+	@echo
+	@echo $(MSG_FLASH) $@
+	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
+
+%.eep: %.elf
+	@echo
+	@echo $(MSG_EEPROM) $@
+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
+
+# Create extended listing file from ELF output file.
+%.lss: %.elf
+	@echo
+	@echo $(MSG_EXTENDED_LISTING) $@
+	$(OBJDUMP) -h -S $< > $@
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+	@echo
+	@echo $(MSG_SYMBOL_TABLE) $@
+	$(NM) -n $< > $@
+
+
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(OBJ)
+%.elf: $(OBJ)
+	@echo
+	@echo $(MSG_LINKING) $@
+	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
+
+
+# Compile: create object files from C source files.
+%.o : %.c
+	@echo
+	@echo $(MSG_COMPILING) $<
+	$(CC) -c $(ALL_CFLAGS) $< -o $@
+
+
+# Compile: create assembler files from C source files.
+%.s : %.c
+	$(CC) -S $(ALL_CFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files.
+%.o : %.S
+	@echo
+	@echo $(MSG_ASSEMBLING) $<
+	$(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+# Create preprocessed source for use in sending a bug report.
+%.i : %.c
+	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
+
+
+# Target: clean project.
+clean: begin clean_list end
+
+clean_list :
+	@echo
+	@echo $(MSG_CLEANING)
+	$(REMOVE) $(TARGET).hex
+	$(REMOVE) $(TARGET).eep
+	$(REMOVE) $(TARGET).cof
+	$(REMOVE) $(TARGET).elf
+	$(REMOVE) $(TARGET).map
+	$(REMOVE) $(TARGET).sym
+	$(REMOVE) $(TARGET).lss
+	$(REMOVE) $(OBJ)
+	$(REMOVE) $(LST)
+	$(REMOVE) $(SRC:.c=.s)
+	$(REMOVE) $(SRC:.c=.d)
+	$(REMOVEDIR) .dep
+
+
+
+# Include the dependency files.
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex eep lss sym coff extcoff \
+clean clean_list program debug gdb-config
+
Index: trunk/code/behaviors/formation_control/circle/main.c
===================================================================
--- trunk/code/behaviors/formation_control/circle/main.c	(nonexistent)
+++ trunk/code/behaviors/formation_control/circle/main.c	(revision 1509)
@@ -0,0 +1,40 @@
+/*
+ * template.c - A starting point for developing behaviors using the Colony
+ * 		robots. To create a new behavior, you should copy this "template"
+ * 		folder to another folder and rename the "template.c" file
+ * 		appropriately.
+ *
+ * This template will have the robot drive in circles and flash the orbs.
+ *
+ * Author: John Sexton, Colony Project, CMU Robotics Club
+ */
+
+#include <dragonfly_lib.h>
+#include <wl_basic.h>
+
+/* Time delay which determines how long the robot circles before it
+ * changes direction. */
+#define TIME_DELAY 5000
+
+int main (void) {
+
+	/* Initialize the dragonfly boards, the xbee, and the encoders */
+	dragonfly_init(ALL_ON);
+	xbee_init();
+	encoders_init();
+	
+	while (1) {
+		/* Drive left, set orbs, and wait */
+		orbs_set_color(RED, GREEN);
+		motor_l_set(FORWARD, 160);
+		motor_r_set(FORWARD, 255);
+		delay_ms(TIME_DELAY);
+
+		/* Drive right, change orb colors, and wait */
+		orbs_set_color(PURPLE, BLUE);
+		motor_l_set(FORWARD, 255);
+		motor_r_set(FORWARD, 160);
+		delay_ms(TIME_DELAY);
+	}
+
+}
