sorta working, control needs to be improved

lib.h

@@ -1,4 +1,12 @@
 
+#define	PI		    3.141592654
+#define	DEG(rad)	(rad*180.0/PI)
+
+#define FULL_SPEED_ZONE 5
+#define MAGIC_45_2_100 2.22222
+#define MAG_SCALER_H 200
+#define MAG_SCALER_L 290
+
 void uart_init() {
     // Upper and lower bytes of the calculated prescaler value for baud.
     UBRR0H = UBRRH_VALUE;