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diff --git a/CODE/debug/motordriver/arduino-softpwm-master/examples/SoftPWM_example/SoftPWM_example.ino b/CODE/debug/motordriver/arduino-softpwm-master/examples/SoftPWM_example/SoftPWM_example.ino
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--- a/CODE/debug/motordriver/arduino-softpwm-master/examples/SoftPWM_example/SoftPWM_example.ino
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-/*
-  Arduino-SoftPWM: a software PWM library for Arduino
-  Copyright 2016, Victor Tseng <palatis@gmail.com>
-
-  All rights reserved.
-
-  Redistribution and use in source and binary forms, with or without
-  modification, are permitted provided that the following conditions
-  are met:
-
-  1. Redistributions of source code must retain the above copyright
-     notice, this list of conditions and the following disclaimer.
-
-  2. 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.
-
-  3. Neither the name of the copyright holder nor the names of its
-     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 HOLDER 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.
-*/
-
-#include <SoftPWM.h>
-
-/* pins_arduino.h defines the pin-port/bit mapping as PROGMEM so
-   you have to read them with pgm_read_xxx(). That's generally okay
-   for ordinary use, but really bad when you're writing super fast
-   codes because the compiler doesn't treat them as constants and
-   cannot optimize them away with sbi/cbi instructions.
-
-   Therefore we have to tell the compiler the PORT and BIT here.
-   Hope someday we can find a way to workaround this.
-
-   Check the manual of your MCU for port/bit mapping.
-
-   The following example demonstrates setting channels for all pins
-   on the ATmega328P or ATmega168 used on Arduino Uno, Pro Mini,
-   Nano and other boards. */
-SOFTPWM_DEFINE_CHANNEL(0, DDRD, PORTD, PORTD0);  //Arduino pin 0
-SOFTPWM_DEFINE_CHANNEL(1, DDRD, PORTD, PORTD1);  //Arduino pin 1
-SOFTPWM_DEFINE_CHANNEL(2, DDRD, PORTD, PORTD2);  //Arduino pin 2
-SOFTPWM_DEFINE_CHANNEL(3, DDRD, PORTD, PORTD3);  //Arduino pin 3
-SOFTPWM_DEFINE_CHANNEL(4, DDRD, PORTD, PORTD4);  //Arduino pin 4
-SOFTPWM_DEFINE_CHANNEL(5, DDRD, PORTD, PORTD5);  //Arduino pin 5
-SOFTPWM_DEFINE_CHANNEL(6, DDRD, PORTD, PORTD6);  //Arduino pin 6
-SOFTPWM_DEFINE_CHANNEL(7, DDRD, PORTD, PORTD7);  //Arduino pin 7
-SOFTPWM_DEFINE_CHANNEL(8, DDRB, PORTB, PORTB0);  //Arduino pin 8
-SOFTPWM_DEFINE_CHANNEL(9, DDRB, PORTB, PORTB1);  //Arduino pin 9
-SOFTPWM_DEFINE_CHANNEL(10, DDRB, PORTB, PORTB2);  //Arduino pin 10
-SOFTPWM_DEFINE_CHANNEL(11, DDRB, PORTB, PORTB3);  //Arduino pin 11
-SOFTPWM_DEFINE_CHANNEL(12, DDRB, PORTB, PORTB4);  //Arduino pin 12
-SOFTPWM_DEFINE_CHANNEL(13, DDRB, PORTB, PORTB5);  //Arduino pin 13
-SOFTPWM_DEFINE_CHANNEL(14, DDRC, PORTC, PORTC0);  //Arduino pin A0
-SOFTPWM_DEFINE_CHANNEL(15, DDRC, PORTC, PORTC1);  //Arduino pin A1
-SOFTPWM_DEFINE_CHANNEL(16, DDRC, PORTC, PORTC2);  //Arduino pin A2
-SOFTPWM_DEFINE_CHANNEL(17, DDRC, PORTC, PORTC3);  //Arduino pin A3
-SOFTPWM_DEFINE_CHANNEL(18, DDRC, PORTC, PORTC4);  //Arduino pin A4
-SOFTPWM_DEFINE_CHANNEL(19, DDRC, PORTC, PORTC5);  //Arduino pin A5
-
-
-/* Or you may want inverted outputs: */
-/*
-  SOFTPWM_DEFINE_CHANNEL_INVERT(0, DDRD, PORTD, PORTD0);  //Arduino pin 0
-  SOFTPWM_DEFINE_CHANNEL_INVERT(1, DDRD, PORTD, PORTD1);  //Arduino pin 1
-  SOFTPWM_DEFINE_CHANNEL_INVERT(2, DDRD, PORTD, PORTD2);  //Arduino pin 2
-  SOFTPWM_DEFINE_CHANNEL_INVERT(3, DDRD, PORTD, PORTD3);  //Arduino pin 3
-  SOFTPWM_DEFINE_CHANNEL_INVERT(4, DDRD, PORTD, PORTD4);  //Arduino pin 4
-  SOFTPWM_DEFINE_CHANNEL_INVERT(5, DDRD, PORTD, PORTD5);  //Arduino pin 5
-  SOFTPWM_DEFINE_CHANNEL_INVERT(6, DDRD, PORTD, PORTD6);  //Arduino pin 6
-  SOFTPWM_DEFINE_CHANNEL_INVERT(7, DDRD, PORTD, PORTD7);  //Arduino pin 7
-  SOFTPWM_DEFINE_CHANNEL_INVERT(8, DDRB, PORTB, PORTB0);  //Arduino pin 8
-  SOFTPWM_DEFINE_CHANNEL_INVERT(9, DDRB, PORTB, PORTB2);  //Arduino pin 9
-  SOFTPWM_DEFINE_CHANNEL_INVERT(10, DDRB, PORTB, PORTB2);  //Arduino pin 10
-  SOFTPWM_DEFINE_CHANNEL_INVERT(11, DDRB, PORTB, PORTB3);  //Arduino pin 11
-  SOFTPWM_DEFINE_CHANNEL_INVERT(12, DDRB, PORTB, PORTB4);  //Arduino pin 12
-  SOFTPWM_DEFINE_CHANNEL_INVERT(13, DDRB, PORTB, PORTB5);  //Arduino pin 13
-  SOFTPWM_DEFINE_CHANNEL_INVERT(14, DDRC, PORTC, PORTC0);  //Arduino pin A0
-  SOFTPWM_DEFINE_CHANNEL_INVERT(15, DDRC, PORTC, PORTC1);  //Arduino pin A1
-  SOFTPWM_DEFINE_CHANNEL_INVERT(16, DDRC, PORTC, PORTC2);  //Arduino pin A2
-  SOFTPWM_DEFINE_CHANNEL_INVERT(17, DDRC, PORTC, PORTC3);  //Arduino pin A3
-  SOFTPWM_DEFINE_CHANNEL_INVERT(18, DDRC, PORTC, PORTC4);  //Arduino pin A4
-  SOFTPWM_DEFINE_CHANNEL_INVERT(19, DDRC, PORTC, PORTC5);  //Arduino pin A5
-*/
-
-/* Here you make an instance of desired channel counts you want
-   with the default 256 PWM levels (0 ~ 255). */
-//SOFTPWM_DEFINE_OBJECT(20);
-
-/* Or you can make one with only 100 PWM levels (0 ~ 99).
-   By using less PWM levels, you may be able to use higher
-   pwm frequencies. */
-SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(20, 100);
-
-/* If you want to use the SoftPWM object outside where it's defined,
-   add the following line to the file. */
-//SOFTPWM_DEFINE_EXTERN_OBJECT(16);
-SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS(20, 100);
-
-void setup() {
-  Serial.begin(19200);
-
-  // begin with 60hz pwm frequency
-  Palatis::SoftPWM.begin(60);
-
-  // print interrupt load for diagnostic purposes
-  Palatis::SoftPWM.printInterruptLoad();
-}
-
-static volatile uint8_t v = 0;
-void loop() {
-  for (uint8_t i = 0; i < Palatis::SoftPWM.size(); ++i) {
-    Serial.print(micros());
-    Serial.print(" loop(): ");
-    Serial.println(i);
-
-    unsigned long const WAIT = 1000000 / Palatis::SoftPWM.PWMlevels() / 2;
-    unsigned long nextMicros = 0;
-    for (int v = 0; v < Palatis::SoftPWM.PWMlevels() - 1; ++v) {
-      while (micros() < nextMicros);
-      nextMicros = micros() + WAIT;
-      Palatis::SoftPWM.set(i, v);
-    }
-    for (int v = Palatis::SoftPWM.PWMlevels() - 1; v >= 0; --v) {
-      while (micros() < nextMicros);
-      nextMicros = micros() + WAIT;
-      Palatis::SoftPWM.set(i, v);
-    }
-  }
-}