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Robot arm control

Copyright (C) 2010 Michael Smith

This is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the Free Software
Foundation; either version 3 of the License, or (at your option) any later
version. See COPYRIGHT for details.
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atmel atmeg8 28 pin

PIN		I/O		NAME		DESCRIPTION    
1		IN		PC6			Reset          
2				PD0			MOTOR1+
3				PD1			MOTOR1-
4		IN		PD2	INT0	
5		IN		PD3 INT1    
6		OUT		PD4			MOTOR2+
7				VCC			+5V regulated
8				GND			0V             
9				PB6			XTAL		
10				PB7			XTAL           
11		OUT		PD5			MOTOR2-
12		OUT		PD6			MOTOR3+
13		OUT		PD7			MOTOR3-
14		OUT		PB0			MOTOR4+
15		OUT		PB1	        MOTOR4-
16		OUT		PB2	        MOTOR5+
17		OUT		PB3	MOSI    Button0
18				PB4	MISO    Button1
19				PB5	SCK     Button2
20				AVCC		+5V isolated   
21				AREF		+5V            
22				GND			0V             
23		OUT		PC0			MOTOR5-
24		OUT		PC1			MOTOR6+
25		OUT		PC2	        MOTOR6-
26		OUT		PC3	        PUSH+
27				PC4         PUSH-
28				PC5	ADC5	Drive current