Routine	Costanti	Variabili	bit	Porte	in	out
check_baffi	BEEP_BAFFI	baffoDX	1	RbaffoDX	x
		baffoSX	1	RbaffoSX	x
		baffo_pre	2
		angolo_morto	4
check_us	BEEP_US	inibit_us	1	Rus	x
	TIMER_US	start_timer_us	16
		usON	1
check_luce	TIMER_LUCE	inibit_luce	1	Rluce	x
	BEEP_LUCE	start_timer_luce	16
		luceON	1
check_suono	TIMER_SUONO	inibit_suono	1	Rsuono	x
	BEEP_SUONO	start_timer_suono	16
		suonoON	1
suona	TIMER_BEEP	beep	8	Rbeep		x
		start_timer_beep	16
cammina	TIMER_MOTORI	angolo	16
	MAX_ANGOLO	percorso	32
	REW	speed	8
		inibit_cammina	1
		start_timer_cammina	16
motori	MOT_DX_FWD	pwmDX	8
	MOT_DX_REW	pwmSX	8
	MOT_SX_FWD	dir_motDX	2
	MOT_SX_REW	dir_motSX	2
pwm	CLOCK_PWM	start_timer_motDX	16	RmotDX1		x
	MOT_STOP	start_timer_motSX	16	RmotDX2		x
		cnt_motDX	8	RmotSX1		x
		cnt_motSX	8	RmotSX2		x
		cicloDX	1
		cicloSX	1
isr		timer	16	RencDX	x
		encoderDX	32	RencSX	x
		encoderSX	32