Modified firmware for the Sparkfun ROB-09571

The Sparkfun Serial Controlled Motor Driver contains adequate firmware code for most purposes, but is begging to be tweaked.

The latest version in my GoogleCode SVN repository can be found here (revision r59).

Changes in this firmware are;

• CURRENT_THRESHOLD has been increased from 150 to 300
  
• Motor current monitoring interrupt code now changes the Sense LEDs based on the ADC
• The command buffer has been modified to accept 'b' as a command (Used to start both motors at a specified speed and direction)
• The speed command is now 16 bits. It is decoded into the OCR1 register directly.
• The UART reply from a command now passes back both Sense current readings from the ADC.