diff --git a/firmware/.metadata/.log b/firmware/.metadata/.log
index 0e19ca0..642770a 100755
--- a/firmware/.metadata/.log
+++ b/firmware/.metadata/.log
@@ -10914,3 +10914,1065 @@ org.eclipse.cdt.internal.formatter.AbortFormatting: [86/1] unexpected token type
 
 !ENTRY org.eclipse.cdt.core 1 0 2012-02-02 14:42:54.928
 !MESSAGE Indexed 'ROS_mega' (19 sources, 60 headers) in 0.99 sec: 2,440 declarations; 10,426 references; 9 unresolved inclusions; 0 syntax errors; 66 unresolved names (0.51%)
+!SESSION 2012-02-02 22:37:20.503 -----------------------------------------------
+eclipse.buildId=I20110613-1736
+java.version=1.6.0_26
+java.vendor=Sun Microsystems Inc.
+BootLoader constants: OS=linux, ARCH=x86_64, WS=gtk, NL=en_US
+Command-line arguments:  -os linux -ws gtk -arch x86_64
+
+!ENTRY org.eclipse.jface 2 0 2012-02-02 22:37:27.237
+!MESSAGE Keybinding conflicts occurred.  They may interfere with normal accelerator operation.
+!SUBENTRY 1 org.eclipse.jface 2 0 2012-02-02 22:37:27.237
+!MESSAGE A conflict occurred for ALT+CTRL+I:
+Binding(ALT+CTRL+I,
+	ParameterizedCommand(Command(org.eclipse.egit.ui.team.Ignore,Ignore,
+		,
+		Category(org.eclipse.egit.ui.commandCategory,Git,null,true),
+		org.eclipse.egit.ui.internal.actions.IgnoreActionHandler,
+		,,true),null),
+	org.eclipse.ui.defaultAcceleratorConfiguration,
+	org.eclipse.ui.contexts.window,,,system)
+Binding(ALT+CTRL+I,
+	ParameterizedCommand(Command(org.eclipse.team.svn.ui.command.AddToSVNIgnoreCommand,Add to svn:ignore...,
+		,
+		Category(org.eclipse.team.svn.ui.command.category,SVN,null,true),
+		,
+		,,true),null),
+	org.eclipse.ui.defaultAcceleratorConfiguration,
+	org.eclipse.ui.contexts.window,,,system)
+!SUBENTRY 1 org.eclipse.jface 2 0 2012-02-02 22:37:27.237
+!MESSAGE A conflict occurred for ALT+CTRL+C:
+Binding(ALT+CTRL+C,
+	ParameterizedCommand(Command(org.eclipse.egit.ui.team.Commit,Commit,
+		,
+		Category(org.eclipse.egit.ui.commandCategory,Git,null,true),
+		org.eclipse.egit.ui.internal.actions.CommitActionHandler,
+		,,true),null),
+	org.eclipse.ui.defaultAcceleratorConfiguration,
+	org.eclipse.ui.contexts.window,,,system)
+Binding(ALT+CTRL+C,
+	ParameterizedCommand(Command(org.eclipse.team.svn.ui.command.CommitCommand,Commit...,
+		,
+		Category(org.eclipse.team.svn.ui.command.category,SVN,null,true),
+		,
+		,,true),null),
+	org.eclipse.ui.defaultAcceleratorConfiguration,
+	org.eclipse.ui.contexts.window,,,system)
+!SUBENTRY 1 org.eclipse.jface 2 0 2012-02-02 22:37:27.237
+!MESSAGE A conflict occurred for ALT+CTRL+U:
+Binding(ALT+CTRL+U,
+	ParameterizedCommand(Command(de.innot.avreclipse.commands.uploadproject,Upload Project,
+		Upload selected project to the target device,
+		Category(de.innot.avreclipse.commands,AVR,AVR Plugin commands,true),
+		ActionDelegateHandlerProxy(null,de.innot.avreclipse.ui.actions.UploadProjectAction),
+		,,true),null),
+	org.eclipse.ui.defaultAcceleratorConfiguration,
+	org.eclipse.ui.contexts.window,,,system)
+Binding(ALT+CTRL+U,
+	ParameterizedCommand(Command(org.eclipse.team.svn.ui.command.UpdateCommand,Update,
+		,
+		Category(org.eclipse.team.svn.ui.command.category,SVN,null,true),
+		,
+		,,true),null),
+	org.eclipse.ui.defaultAcceleratorConfiguration,
+	org.eclipse.ui.contexts.window,,,system)
+
+!ENTRY org.eclipse.osgi 2 1 2012-02-02 22:39:01.728
+!MESSAGE NLS unused message: RenameCSourceFolderChange_ErrorMsg in: org.eclipse.cdt.internal.ui.refactoring.rename.Messages
+
+!ENTRY org.eclipse.osgi 2 1 2012-02-02 22:39:01.728
+!MESSAGE NLS missing message: RenameCSourceFolderChange_ErroMsg in: org.eclipse.cdt.internal.ui.refactoring.rename.Messages
+
+!ENTRY org.eclipse.cdt.core 2 0 2012-02-03 01:15:27.868
+!MESSAGE Formatting problem(s)
+!SUBENTRY 1 org.eclipse.cdt.core 2 0 2012-02-03 01:15:27.868
+!MESSAGE [71/1] unexpected token type, expecting:13, actual:Token type=1  image =m offset=1701
+!STACK 0
+org.eclipse.cdt.internal.formatter.AbortFormatting: [71/1] unexpected token type, expecting:13, actual:Token type=1  image =m offset=1701
+	at org.eclipse.cdt.internal.formatter.Scribe.printNextToken(Scribe.java:1260)
+	at org.eclipse.cdt.internal.formatter.Scribe.printNextToken(Scribe.java:1245)
+	at org.eclipse.cdt.internal.formatter.CodeFormatterVisitor.formatClosingBrace(CodeFormatterVisitor.java:3249)
+	at org.eclipse.cdt.internal.formatter.CodeFormatterVisitor.formatBlock(CodeFormatterVisitor.java:3218)
+	at org.eclipse.cdt.internal.formatter.CodeFormatterVisitor.visit(CodeFormatterVisitor.java:1028)
+	at org.eclipse.cdt.internal.formatter.CodeFormatterVisitor.formatDeclaration(CodeFormatterVisitor.java:336)
+	at org.eclipse.cdt.internal.formatter.CodeFormatterVisitor.visit(CodeFormatterVisitor.java:326)
+	at org.eclipse.cdt.internal.core.dom.parser.cpp.CPPASTFunctionDefinition.accept(CPPASTFunctionDefinition.java:138)
+	at org.eclipse.cdt.internal.formatter.CodeFormatterVisitor.visit(CodeFormatterVisitor.java:301)
+	at org.eclipse.cdt.internal.core.dom.parser.ASTTranslationUnit.accept(ASTTranslationUnit.java:260)
+	at org.eclipse.cdt.internal.formatter.CodeFormatterVisitor.format(CodeFormatterVisitor.java:242)
+	at org.eclipse.cdt.internal.formatter.CCodeFormatter.format(CCodeFormatter.java:160)
+	at org.eclipse.cdt.internal.corext.util.CodeFormatterUtil.format(CodeFormatterUtil.java:126)
+	at org.eclipse.cdt.internal.ui.text.CFormattingStrategy.format(CFormattingStrategy.java:64)
+	at org.eclipse.jface.text.formatter.MultiPassContentFormatter.formatMaster(MultiPassContentFormatter.java:193)
+	at org.eclipse.jface.text.formatter.MultiPassContentFormatter.format(MultiPassContentFormatter.java:142)
+	at org.eclipse.jface.text.source.SourceViewer.doOperation(SourceViewer.java:973)
+	at org.eclipse.jface.text.source.projection.ProjectionViewer.doOperation(ProjectionViewer.java:1451)
+	at org.eclipse.cdt.internal.ui.editor.CSourceViewer.doOperation(CSourceViewer.java:387)
+	at org.eclipse.cdt.internal.ui.editor.CEditor$AdaptedSourceViewer.doOperation(CEditor.java:341)
+	at org.eclipse.ui.texteditor.TextOperationAction$1.run(TextOperationAction.java:128)
+	at org.eclipse.swt.custom.BusyIndicator.showWhile(BusyIndicator.java:70)
+	at org.eclipse.ui.texteditor.TextOperationAction.run(TextOperationAction.java:126)
+	at org.eclipse.jface.action.Action.runWithEvent(Action.java:498)
+	at org.eclipse.ui.commands.ActionHandler.execute(ActionHandler.java:185)
+	at org.eclipse.ui.internal.handlers.LegacyHandlerWrapper.execute(LegacyHandlerWrapper.java:109)
+	at org.eclipse.core.commands.Command.executeWithChecks(Command.java:476)
+	at org.eclipse.core.commands.ParameterizedCommand.executeWithChecks(ParameterizedCommand.java:508)
+	at org.eclipse.ui.internal.handlers.HandlerService.executeCommand(HandlerService.java:169)
+	at org.eclipse.ui.internal.keys.WorkbenchKeyboard.executeCommand(WorkbenchKeyboard.java:468)
+	at org.eclipse.ui.internal.keys.WorkbenchKeyboard.press(WorkbenchKeyboard.java:786)
+	at org.eclipse.ui.internal.keys.WorkbenchKeyboard.processKeyEvent(WorkbenchKeyboard.java:885)
+	at org.eclipse.ui.internal.keys.WorkbenchKeyboard.filterKeySequenceBindings(WorkbenchKeyboard.java:567)
+	at org.eclipse.ui.internal.keys.WorkbenchKeyboard.access$3(WorkbenchKeyboard.java:508)
+	at org.eclipse.ui.internal.keys.WorkbenchKeyboard$KeyDownFilter.handleEvent(WorkbenchKeyboard.java:123)
+	at org.eclipse.swt.widgets.EventTable.sendEvent(EventTable.java:84)
+	at org.eclipse.swt.widgets.Display.filterEvent(Display.java:1531)
+	at org.eclipse.swt.widgets.Widget.sendEvent(Widget.java:1257)
+	at org.eclipse.swt.widgets.Widget.sendEvent(Widget.java:1282)
+	at org.eclipse.swt.widgets.Widget.sendEvent(Widget.java:1267)
+	at org.eclipse.swt.widgets.Widget.sendKeyEvent(Widget.java:1294)
+	at org.eclipse.swt.widgets.Widget.gtk_key_press_event(Widget.java:730)
+	at org.eclipse.swt.widgets.Control.gtk_key_press_event(Control.java:3019)
+	at org.eclipse.swt.widgets.Composite.gtk_key_press_event(Composite.java:734)
+	at org.eclipse.swt.widgets.Widget.windowProc(Widget.java:1743)
+	at org.eclipse.swt.widgets.Control.windowProc(Control.java:5016)
+	at org.eclipse.swt.widgets.Display.windowProc(Display.java:4408)
+	at org.eclipse.swt.internal.gtk.OS._gtk_main_do_event(Native Method)
+	at org.eclipse.swt.internal.gtk.OS.gtk_main_do_event(OS.java:8394)
+	at org.eclipse.swt.widgets.Display.eventProc(Display.java:1245)
+	at org.eclipse.swt.internal.gtk.OS._g_main_context_iteration(Native Method)
+	at org.eclipse.swt.internal.gtk.OS.g_main_context_iteration(OS.java:2258)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3207)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.769
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.770
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.771
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.772
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.773
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.773
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.774
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.775
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.775
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.776
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.777
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.777
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.778
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.778
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.779
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.779
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.780
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.781
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.782
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.782
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.783
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.784
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.785
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.785
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.786
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.787
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.788
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.788
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.789
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.789
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:15:55.791
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.verifyConfigurations(LaunchManager.java:2447)
+	at org.eclipse.debug.internal.core.LaunchManager.getAllLaunchConfigurations(LaunchManager.java:1091)
+	at org.eclipse.debug.internal.core.LaunchManager.getLaunchConfigurations(LaunchManager.java:1375)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreHistory(LaunchConfigurationManager.java:575)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.restoreLaunchHistory(LaunchConfigurationManager.java:544)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.loadLaunchHistories(LaunchConfigurationManager.java:1079)
+	at org.eclipse.debug.internal.ui.launchConfigurations.LaunchConfigurationManager.getLaunchHistory(LaunchConfigurationManager.java:1051)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.internalGetHistory(AbstractLaunchHistoryAction.java:525)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.getToolTip(AbstractLaunchHistoryAction.java:228)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.updateTooltip(AbstractLaunchHistoryAction.java:194)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.initialize(AbstractLaunchHistoryAction.java:164)
+	at org.eclipse.debug.ui.actions.AbstractLaunchHistoryAction.selectionChanged(AbstractLaunchHistoryAction.java:493)
+	at org.eclipse.ui.internal.PluginAction.refreshEnablement(PluginAction.java:206)
+	at org.eclipse.ui.internal.PluginAction.createDelegate(PluginAction.java:126)
+	at org.eclipse.ui.internal.WWinPluginAction.refreshActionList(WWinPluginAction.java:165)
+	at org.eclipse.ui.plugin.AbstractUIPlugin$1.run(AbstractUIPlugin.java:486)
+	at org.eclipse.swt.widgets.RunnableLock.run(RunnableLock.java:35)
+	at org.eclipse.swt.widgets.Synchronizer.runAsyncMessages(Synchronizer.java:135)
+	at org.eclipse.swt.widgets.Display.runAsyncMessages(Display.java:3563)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3212)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2696)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2660)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2494)
+	at org.eclipse.ui.internal.Workbench$7.run(Workbench.java:674)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:667)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:123)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:196)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:344)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:622)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:577)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1410)
+	at org.eclipse.equinox.launcher.Main.main(Main.java:1386)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:15:55.791
+!MESSAGE Invalid launch configuration XML.
+
+!ENTRY org.eclipse.debug.core 4 125 2012-02-03 01:37:54.184
+!MESSAGE Error logged from Debug Core: 
+!STACK 1
+org.eclipse.debug.core.DebugException: Invalid launch configuration XML.
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.getInvalidFormatDebugException(LaunchConfigurationInfo.java:688)
+	at org.eclipse.debug.internal.core.LaunchConfigurationInfo.initializeFromXML(LaunchConfigurationInfo.java:497)
+	at org.eclipse.debug.internal.core.LaunchManager.createInfoFromXML(LaunchManager.java:920)
+	at org.eclipse.debug.internal.core.LaunchManager.getInfo(LaunchManager.java:1322)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getInfo(LaunchConfiguration.java:453)
+	at org.eclipse.debug.internal.core.LaunchConfiguration.getType(LaunchConfiguration.java:614)
+	at org.eclipse.debug.internal.core.LaunchManager.isValid(LaunchManager.java:2055)
+	at org.eclipse.debug.internal.core.LaunchManager.launchConfigurationChanged(LaunchManager.java:2110)
+	at org.eclipse.debug.internal.core.LaunchManager$LaunchManagerVisitor.visit(LaunchManager.java:388)
+	at org.eclipse.core.internal.events.ResourceDelta.accept(ResourceDelta.java:69)
+	at org.eclipse.core.internal.events.ResourceDelta.accept(ResourceDelta.java:80)
+	at org.eclipse.core.internal.events.ResourceDelta.accept(ResourceDelta.java:80)
+	at org.eclipse.core.internal.events.ResourceDelta.accept(ResourceDelta.java:80)
+	at org.eclipse.core.internal.events.ResourceDelta.accept(ResourceDelta.java:49)
+	at org.eclipse.debug.internal.core.LaunchManager.resourceChanged(LaunchManager.java:2259)
+	at org.eclipse.core.internal.events.NotificationManager$1.run(NotificationManager.java:291)
+	at org.eclipse.core.runtime.SafeRunner.run(SafeRunner.java:42)
+	at org.eclipse.core.internal.events.NotificationManager.notify(NotificationManager.java:285)
+	at org.eclipse.core.internal.events.NotificationManager.broadcastChanges(NotificationManager.java:149)
+	at org.eclipse.core.internal.resources.Workspace.broadcastPostChange(Workspace.java:395)
+	at org.eclipse.core.internal.resources.Workspace.endOperation(Workspace.java:1530)
+	at org.eclipse.core.internal.resources.Workspace.buildInternal(Workspace.java:531)
+	at org.eclipse.core.internal.resources.Workspace.build(Workspace.java:422)
+	at org.eclipse.ui.actions.GlobalBuildAction$1.run(GlobalBuildAction.java:180)
+	at org.eclipse.core.internal.jobs.Worker.run(Worker.java:54)
+!SUBENTRY 1 org.eclipse.debug.core 4 5012 2012-02-03 01:37:54.184
+!MESSAGE Invalid launch configuration XML.
diff --git a/firmware/.metadata/.plugins/org.eclipse.cdt.core/ROS_mega.1315171822112.pdom b/firmware/.metadata/.plugins/org.eclipse.cdt.core/ROS_mega.1315171822112.pdom
index 1b04174..e22fca7 100755
Binary files a/firmware/.metadata/.plugins/org.eclipse.cdt.core/ROS_mega.1315171822112.pdom and b/firmware/.metadata/.plugins/org.eclipse.cdt.core/ROS_mega.1315171822112.pdom differ
diff --git a/firmware/.metadata/.plugins/org.eclipse.cdt.core/rover-RelWithDebInfo@rover.1326813629812.pdom b/firmware/.metadata/.plugins/org.eclipse.cdt.core/rover-RelWithDebInfo@rover.1326813629812.pdom
index 725985c..48b3d71 100644
Binary files a/firmware/.metadata/.plugins/org.eclipse.cdt.core/rover-RelWithDebInfo@rover.1326813629812.pdom and b/firmware/.metadata/.plugins/org.eclipse.cdt.core/rover-RelWithDebInfo@rover.1326813629812.pdom differ
diff --git a/firmware/.metadata/.plugins/org.eclipse.cdt.ui/dialog_settings.xml b/firmware/.metadata/.plugins/org.eclipse.cdt.ui/dialog_settings.xml
index 886e53b..a16299b 100755
--- a/firmware/.metadata/.plugins/org.eclipse.cdt.ui/dialog_settings.xml
+++ b/firmware/.metadata/.plugins/org.eclipse.cdt.ui/dialog_settings.xml
@@ -3,8 +3,6 @@
 	<item value="Default C++ header template" key="LastUsedHeaderTemplate"/>
 	<section name="completion_proposal_size">
 	</section>
-	<section name="PDOMSearchPage">
-	</section>
 	<section name="org.eclipse.cdt.internal.ui.wizards.classwizard.NewBaseClassSelectionDialogSettings">
 		<item value="true" key="show_structs"/>
 		<item value="false" key="show_lowlevel"/>
@@ -21,21 +19,23 @@
 		<item value="185" key="y"/>
 		<item value="735" key="x"/>
 	</section>
+	<section name="PDOMSearchPage">
+	</section>
 	<section name="org.eclipse.cdt.internal.ui.text.QuickOutline">
 		<item value="790" key="org.eclipse.cdt.internal.ui.text.COutlineInformationControlDIALOG_X_ORIGIN"/>
-		<item value="340" key="org.eclipse.cdt.internal.ui.text.COutlineInformationControlDIALOG_HEIGHT"/>
 		<item value="474" key="org.eclipse.cdt.internal.ui.text.COutlineInformationControlDIALOG_Y_ORIGIN"/>
+		<item value="340" key="org.eclipse.cdt.internal.ui.text.COutlineInformationControlDIALOG_HEIGHT"/>
 		<item value="true" key="org.eclipse.cdt.internal.ui.text.COutlineInformationControlDIALOG_USE_PERSISTED_SIZE"/>
 		<item value="400" key="org.eclipse.cdt.internal.ui.text.COutlineInformationControlDIALOG_WIDTH"/>
 		<item value="true" key="org.eclipse.cdt.internal.ui.text.COutlineInformationControlDIALOG_USE_PERSISTED_LOCATION"/>
 	</section>
 	<section name="CRenameRefactoringInputPage">
 		<item value="false" key="preprocessor"/>
-		<item value="false" key="macroDefinition"/>
 		<item value="3" key="scope"/>
+		<item value="false" key="macroDefinition"/>
 		<item value="false" key="comment"/>
-		<item value="" key="workingset"/>
 		<item value="false" key="references_inv"/>
+		<item value="" key="workingset"/>
 	</section>
 	<section name="org.eclipse.cdt.ui.text.hover.CMacroExpansionExploration">
 	</section>
diff --git a/firmware/.metadata/.plugins/org.eclipse.core.resources/.root/88.tree b/firmware/.metadata/.plugins/org.eclipse.core.resources/.root/89.tree
similarity index 63%
rename from firmware/.metadata/.plugins/org.eclipse.core.resources/.root/88.tree
rename to firmware/.metadata/.plugins/org.eclipse.core.resources/.root/89.tree
index c307d09..0142bb7 100644
Binary files a/firmware/.metadata/.plugins/org.eclipse.core.resources/.root/88.tree and b/firmware/.metadata/.plugins/org.eclipse.core.resources/.root/89.tree differ
diff --git a/firmware/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources b/firmware/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources
index 0d168a5..2b19451 100644
Binary files a/firmware/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources and b/firmware/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources differ
diff --git a/firmware/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.managedbuilder.core.prefs b/firmware/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.managedbuilder.core.prefs
index f500954..fad3672 100755
--- a/firmware/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.managedbuilder.core.prefs
+++ b/firmware/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.managedbuilder.core.prefs
@@ -1,6 +1,6 @@
-#Thu Feb 02 14:50:54 PST 2012
-properties/Arduino.de.innot.avreclipse.project.winavr.staticlib.1957998578/de.innot.avreclipse.configuration.lib.debug.1350487359=\#\n\#Thu Feb 02 14\:50\:54 PST 2012\nde.innot.avreclipse.toolchain.winavr.lib.debug.1478811096\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.linker.winavr.base.1378194763\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.objdump.winavr.lib.debug.1329629419\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.configuration.lib.debug.1350487359\=\\\#\\n\\\#Wed Feb 01 17\\\:17\\\:00 PST 2012\\nrcState\\\=0\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.archiver.winavr.lib.debug.2130256325\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.cppcompiler.lib.debug.587731906\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.size.winavr.lib.debug.148608959\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.assembler.winavr.lib.debug.1218965810\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.compiler.winavr.lib.debug.1845187750\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.cpplinker.base.1130525375\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\n
+#Fri Feb 03 01:37:46 PST 2012
+properties/Arduino.de.innot.avreclipse.project.winavr.staticlib.1957998578/de.innot.avreclipse.configuration.lib.debug.1350487359=\#\n\#Fri Feb 03 01\:37\:46 PST 2012\nde.innot.avreclipse.toolchain.winavr.lib.debug.1478811096\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.linker.winavr.base.1378194763\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.objdump.winavr.lib.debug.1329629419\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.configuration.lib.debug.1350487359\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrcState\\\=0\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.archiver.winavr.lib.debug.2130256325\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.cppcompiler.lib.debug.587731906\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.size.winavr.lib.debug.148608959\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.assembler.winavr.lib.debug.1218965810\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.compiler.winavr.lib.debug.1845187750\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.cpplinker.base.1130525375\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\n
 eclipse.preferences.version=1
-properties/BlinkenLights.de.innot.avreclipse.project.winavr.elf_2.1.0.1265173354/de.innot.avreclipse.configuration.app.debug.1442371109=\#\n\#Thu Feb 02 14\:50\:54 PST 2012\nde.innot.avreclipse.tool.objcopy.eeprom.winavr.app.debug.821733286\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.objdump.winavr.app.debug.1961351974\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.configuration.app.debug.1442371109\=\\\#\\n\\\#Wed Feb 01 17\\\:17\\\:01 PST 2012\\nrcState\\\=0\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.compiler.winavr.app.debug.1928820524\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.archiver.winavr.base.1899010108\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.size.winavr.app.debug.707203493\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.avrdude.app.debug.1239611434\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.objcopy.eeprom.winavr.app.debug.950759664\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.objcopy.flash.winavr.app.debug.606926010\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.toolchain.winavr.app.debug.386167625\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.objdump.winavr.app.debug.16401742\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.cpplinker.app.debug.1784270606\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.avrdude.app.debug.1347146799\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.cppcompiler.app.debug.1912351951\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.compiler.winavr.app.debug.182189082\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.linker.winavr.app.debug.909085014\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.cppcompiler.app.debug.1377487771\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.assembler.winavr.app.debug.1943747121\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.cpplinker.app.debug.38556970\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.toolchain.winavr.app.debug.1803880956\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.assembler.winavr.app.debug.369677196\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.objcopy.flash.winavr.app.debug.1660660459\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.archiver.winavr.base.1932391335\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.linker.winavr.app.debug.515590643\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.size.winavr.app.debug.716094936\=\\\#\\n\\\#Thu Feb 02 14\\\:50\\\:54 PST 2012\\nrebuildState\\\=false\\n\n
-properties/BlinkenLights.de.innot.avreclipse.project.winavr.elf_2.1.0.1265173354/de.innot.avreclipse.configuration.app.release.166171653=\#\n\#Thu Feb 02 13\:36\:06 PST 2012\nde.innot.avreclipse.tool.cppcompiler.app.release.289196390\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.archiver.winavr.base.1532975366\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.avrdude.app.release.1043432817\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.objcopy.flash.winavr.app.release.1935698912\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.linker.winavr.app.release.1950728929\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.objdump.winavr.app.release.1079240207\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.assembler.winavr.app.release.812676215\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.compiler.winavr.app.release.1441446631\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.objcopy.eeprom.winavr.app.release.871330078\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.cpplinker.app.release.1242834141\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.size.winavr.app.release.785485860\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.toolchain.winavr.app.release.1392306594\=\\\#\\n\\\#Thu Feb 02 13\\\:36\\\:06 PST 2012\\nrebuildState\\\=true\\n\n
-properties/Arduino.de.innot.avreclipse.project.winavr.staticlib.1957998578/de.innot.avreclipse.configuration.lib.release.541486057=\#\n\#Wed Feb 01 17\:17\:01 PST 2012\nde.innot.avreclipse.tool.objdump.winavr.lib.release.1343189199\=\\\#\\n\\\#Wed Feb 01 17\\\:17\\\:01 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.compiler.winavr.lib.release.920481051\=\\\#\\n\\\#Wed Feb 01 17\\\:17\\\:01 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.assembler.winavr.lib.release.451800550\=\\\#\\n\\\#Wed Feb 01 17\\\:17\\\:01 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.cpplinker.base.409386519\=\\\#\\n\\\#Wed Feb 01 17\\\:17\\\:01 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.linker.winavr.base.1194943983\=\\\#\\n\\\#Wed Feb 01 17\\\:17\\\:01 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.size.winavr.lib.release.1889647851\=\\\#\\n\\\#Wed Feb 01 17\\\:17\\\:01 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.archiver.winavr.lib.release.1476566175\=\\\#\\n\\\#Wed Feb 01 17\\\:17\\\:01 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.cppcompiler.lib.release.1363992636\=\\\#\\n\\\#Wed Feb 01 17\\\:17\\\:01 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.toolchain.winavr.lib.release.714416366\=\\\#\\n\\\#Wed Feb 01 17\\\:17\\\:01 PST 2012\\nrebuildState\\\=true\\n\n
+properties/BlinkenLights.de.innot.avreclipse.project.winavr.elf_2.1.0.1265173354/de.innot.avreclipse.configuration.app.debug.1442371109=\#\n\#Fri Feb 03 01\:37\:46 PST 2012\nde.innot.avreclipse.tool.objcopy.eeprom.winavr.app.debug.821733286\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.objdump.winavr.app.debug.1961351974\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.configuration.app.debug.1442371109\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:25 PST 2012\\nrcState\\\=0\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.compiler.winavr.app.debug.1928820524\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.archiver.winavr.base.1899010108\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.size.winavr.app.debug.707203493\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.avrdude.app.debug.1239611434\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.objcopy.eeprom.winavr.app.debug.950759664\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.objcopy.flash.winavr.app.debug.606926010\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.toolchain.winavr.app.debug.386167625\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.objdump.winavr.app.debug.16401742\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.cpplinker.app.debug.1784270606\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.avrdude.app.debug.1347146799\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.cppcompiler.app.debug.1912351951\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.compiler.winavr.app.debug.182189082\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.linker.winavr.app.debug.909085014\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.cppcompiler.app.debug.1377487771\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.assembler.winavr.app.debug.1943747121\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.cpplinker.app.debug.38556970\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.toolchain.winavr.app.debug.1803880956\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.assembler.winavr.app.debug.369677196\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.objcopy.flash.winavr.app.debug.1660660459\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.archiver.winavr.base.1932391335\=\\\#\\n\\\#Thu Feb 02 13\\\:28\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.linker.winavr.app.debug.515590643\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\nde.innot.avreclipse.tool.size.winavr.app.debug.716094936\=\\\#\\n\\\#Fri Feb 03 01\\\:37\\\:46 PST 2012\\nrebuildState\\\=false\\n\n
+properties/BlinkenLights.de.innot.avreclipse.project.winavr.elf_2.1.0.1265173354/de.innot.avreclipse.configuration.app.release.166171653=\#\n\#Thu Feb 02 22\:37\:26 PST 2012\nde.innot.avreclipse.tool.cppcompiler.app.release.289196390\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.archiver.winavr.base.1532975366\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.avrdude.app.release.1043432817\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.objcopy.flash.winavr.app.release.1935698912\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.linker.winavr.app.release.1950728929\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.objdump.winavr.app.release.1079240207\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.assembler.winavr.app.release.812676215\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.compiler.winavr.app.release.1441446631\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.objcopy.eeprom.winavr.app.release.871330078\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.cpplinker.app.release.1242834141\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.size.winavr.app.release.785485860\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.toolchain.winavr.app.release.1392306594\=\\\#\\n\\\#Thu Feb 02 22\\\:37\\\:26 PST 2012\\nrebuildState\\\=true\\n\n
+properties/Arduino.de.innot.avreclipse.project.winavr.staticlib.1957998578/de.innot.avreclipse.configuration.lib.release.541486057=\#\n\#Thu Feb 02 22\:41\:02 PST 2012\nde.innot.avreclipse.tool.objdump.winavr.lib.release.1343189199\=\\\#\\n\\\#Thu Feb 02 22\\\:41\\\:02 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.compiler.winavr.lib.release.920481051\=\\\#\\n\\\#Thu Feb 02 22\\\:41\\\:02 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.assembler.winavr.lib.release.451800550\=\\\#\\n\\\#Thu Feb 02 22\\\:41\\\:02 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.cpplinker.base.409386519\=\\\#\\n\\\#Thu Feb 02 22\\\:41\\\:02 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.linker.winavr.base.1194943983\=\\\#\\n\\\#Thu Feb 02 22\\\:41\\\:02 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.size.winavr.lib.release.1889647851\=\\\#\\n\\\#Thu Feb 02 22\\\:41\\\:02 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.archiver.winavr.lib.release.1476566175\=\\\#\\n\\\#Thu Feb 02 22\\\:41\\\:02 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.tool.cppcompiler.lib.release.1363992636\=\\\#\\n\\\#Thu Feb 02 22\\\:41\\\:02 PST 2012\\nrebuildState\\\=true\\n\nde.innot.avreclipse.toolchain.winavr.lib.release.714416366\=\\\#\\n\\\#Thu Feb 02 22\\\:41\\\:02 PST 2012\\nrebuildState\\\=true\\n\n
diff --git a/firmware/.metadata/.plugins/org.eclipse.ui.workbench.texteditor/dialog_settings.xml b/firmware/.metadata/.plugins/org.eclipse.ui.workbench.texteditor/dialog_settings.xml
index f77a7eb..0890c13 100755
--- a/firmware/.metadata/.plugins/org.eclipse.ui.workbench.texteditor/dialog_settings.xml
+++ b/firmware/.metadata/.plugins/org.eclipse.ui.workbench.texteditor/dialog_settings.xml
@@ -1,28 +1,28 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <section name="Workbench">
 	<section name="org.eclipse.ui.texteditor.FindReplaceDialog_dialogBounds">
-		<item value="338" key="DIALOG_WIDTH"/>
+		<item value="350" key="DIALOG_WIDTH"/>
 		<item value="180" key="DIALOG_Y_ORIGIN"/>
+		<item value="499" key="DIALOG_HEIGHT"/>
 		<item value="1174" key="DIALOG_X_ORIGIN"/>
-		<item value="472" key="DIALOG_HEIGHT"/>
 		<item value="1|Ubuntu|11.0|0|GTK|1|" key="DIALOG_FONT_NAME"/>
 	</section>
 	<section name="org.eclipse.ui.texteditor.FindReplaceDialog">
 		<item value="true" key="wrap"/>
-		<item value="false" key="casesensitive"/>
 		<item value="false" key="isRegEx"/>
+		<item value="false" key="casesensitive"/>
 		<item value="false" key="incremental"/>
 		<item value="false" key="wholeword"/>
-		<item value="MAG_Heading" key="selection"/>
+		<item value="imu" key="selection"/>
 		<list key="findhistory">
+			<item value="imu"/>
+			<item value="print"/>
 			<item value="MAG_Heading"/>
 			<item value="Accel_Vector"/>
 			<item value="GRAVITY"/>
 			<item value="Gyro_Scaled_X"/>
 			<item value="dec"/>
 			<item value="dectofloat"/>
-			<item value="matrix_update"/>
-			<item value="readAccel"/>
 		</list>
 		<list key="replacehistory">
 			<item value="IMUAHRS::initAccel"/>
diff --git a/firmware/.metadata/.plugins/org.eclipse.ui.workbench/dialog_settings.xml b/firmware/.metadata/.plugins/org.eclipse.ui.workbench/dialog_settings.xml
index 6635598..019bae0 100755
--- a/firmware/.metadata/.plugins/org.eclipse.ui.workbench/dialog_settings.xml
+++ b/firmware/.metadata/.plugins/org.eclipse.ui.workbench/dialog_settings.xml
@@ -11,6 +11,8 @@
 		<item value="21" key="DIALOG_Y_ORIGIN"/>
 		<item value="-72" key="DIALOG_X_ORIGIN"/>
 	</section>
+	<section name="NewWizardAction">
+	</section>
 	<section name="ZipFileExportWizard">
 		<item value="true" key="WizardZipFileResourceExportPage1.STORE_CREATE_STRUCTURE_ID"/>
 		<item value="true" key="WizardZipFileResourceExportPage1.STORE_COMPRESS_CONTENTS_ID"/>
@@ -19,8 +21,6 @@
 			<item value="/home/rbtying/Desktop/ard.zip"/>
 		</list>
 	</section>
-	<section name="NewWizardAction">
-	</section>
 	<section name="FileSystemExportWizard">
 		<item value="false" key="WizardFileSystemResourceExportPage1.STORE_OVERWRITE_EXISTING_FILES_ID"/>
 		<item value="false" key="WizardFileSystemResourceExportPage1.STORE_CREATE_STRUCTURE_ID"/>
diff --git a/firmware/.metadata/.plugins/org.eclipse.ui.workbench/workbench.xml b/firmware/.metadata/.plugins/org.eclipse.ui.workbench/workbench.xml
index f26943c..c9efc57 100755
--- a/firmware/.metadata/.plugins/org.eclipse.ui.workbench/workbench.xml
+++ b/firmware/.metadata/.plugins/org.eclipse.ui.workbench/workbench.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<workbench progressCount="23" version="2.0">
+<workbench progressCount="26" version="2.0">
 <workbenchAdvisor/>
 <window height="768" maximized="true" width="1024" x="0" y="0">
 <fastViewData fastViewLocation="1024"/>
@@ -35,9 +35,9 @@
 </folder>
 </info>
 </editorArea>
-<editor activePart="true" focus="true" id="org.eclipse.cdt.ui.editor.CEditor" name="Main.cc" partName="Main.cc" path="/home/rbtying/robot/firmware/ROS_mega/src/Main.cc" title="Main.cc" tooltip="ROS_mega/src/Main.cc" workbook="DefaultEditorWorkbook">
-<input factoryID="org.eclipse.ui.part.FileEditorInputFactory" path="/ROS_mega/src/Main.cc"/>
-<editorState selectionHorizontalPixel="0" selectionLength="0" selectionOffset="1555" selectionTopPixel="833"/>
+<editor activePart="true" focus="true" id="org.eclipse.cdt.ui.editor.CEditor" name="wrapper.cpp" partName="wrapper.cpp" path="/home/rbtying/robot/rover/src/wrapper.cpp" title="wrapper.cpp" tooltip="rover-RelWithDebInfo@rover/src/wrapper.cpp" workbook="DefaultEditorWorkbook">
+<input factoryID="org.eclipse.ui.part.FileEditorInputFactory" path="/rover-RelWithDebInfo@rover/src/wrapper.cpp"/>
+<editorState selectionHorizontalPixel="0" selectionLength="0" selectionOffset="2796" selectionTopPixel="1088"/>
 </editor>
 </editors>
 <views>
@@ -61,7 +61,6 @@
 <viewState PRIMARY_SORT_FIELD="org.eclipse.ui.ide.severityAndDescriptionField" categoryGroup="org.eclipse.ui.ide.severity" markerContentGenerator="org.eclipse.ui.ide.problemsGenerator" partName="Problems">
 <expanded>
 <category IMemento.internal.id="Warnings (1 item)"/>
-<category IMemento.internal.id="Warnings"/>
 <category IMemento.internal.id="Errors"/>
 </expanded>
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 </editors>
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 <position/>
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@@ -568,12 +567,6 @@
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 <actionBarAdvisor/>
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@@ -581,11 +574,28 @@
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 <trimItem IMemento.internal.id="org.eclipse.jface.action.StatusLineManager"/>
 <trimItem IMemento.internal.id="org.eclipse.ui.internal.progress.ProgressRegion"/>
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 </trimArea>
 </trimLayout>
 </window>
 <mruList>
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+<persistable path="/rover-RelWithDebInfo@rover/src/wrapper.cpp"/>
+</file>
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+<persistable path="/ROS_mega/src/lib/motors/RoboClaw.h"/>
+</file>
+<file factoryID="org.eclipse.ui.part.FileEditorInputFactory" id="org.eclipse.cdt.ui.editor.CEditor" name="RoboClaw.cpp" tooltip="ROS_mega/src/lib/motors/RoboClaw.cpp">
+<persistable path="/ROS_mega/src/lib/motors/RoboClaw.cpp"/>
+</file>
+<file factoryID="org.eclipse.ui.part.FileEditorInputFactory" id="org.eclipse.cdt.ui.editor.CEditor" name="Main.cc" tooltip="ROS_mega/src/Main.cc">
+<persistable path="/ROS_mega/src/Main.cc"/>
+</file>
+<file factoryID="org.eclipse.ui.part.FileEditorInputFactory" id="org.eclipse.cdt.ui.editor.CEditor" name="wrapper.h" tooltip="rover-RelWithDebInfo@rover/include/wrapper.h">
+<persistable path="/rover-RelWithDebInfo@rover/include/wrapper.h"/>
+</file>
+<file factoryID="org.eclipse.ui.part.FileEditorInputFactory" id="org.eclipse.cdt.ui.editor.CEditor" name="rover_main.cpp" tooltip="rover-RelWithDebInfo@rover/src/rover_main.cpp">
+<persistable path="/rover-RelWithDebInfo@rover/src/rover_main.cpp"/>
+</file>
 <file factoryID="org.eclipse.ui.part.FileEditorInputFactory" id="org.eclipse.cdt.ui.editor.CEditor" name="CondensedIMU.h" tooltip="ROS_mega/src/ros_lib/rover/CondensedIMU.h">
 <persistable path="/ROS_mega/src/ros_lib/rover/CondensedIMU.h"/>
 </file>
@@ -610,26 +620,8 @@
 <file factoryID="org.eclipse.ui.part.FileEditorInputFactory" id="org.eclipse.cdt.ui.editor.CEditor" name="LCD.cc" tooltip="ROS_mega/src/lib/devices/LCD.cc">
 <persistable path="/ROS_mega/src/lib/devices/LCD.cc"/>
 </file>
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 <file factoryID="org.eclipse.ui.part.FileEditorInputFactory" id="org.eclipse.cdt.ui.editor.CEditor" name="node_handle.h" tooltip="ROS_mega/src/ros_lib/ros/node_handle.h">
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diff --git a/firmware/Arduino-2560/Debug/libArduino.a b/firmware/Arduino-2560/Debug/libArduino.a
index 356af45..cd2c673 100644
Binary files a/firmware/Arduino-2560/Debug/libArduino.a and b/firmware/Arduino-2560/Debug/libArduino.a differ
diff --git a/firmware/ROS_mega/Debug/ROS_mega.elf b/firmware/ROS_mega/Debug/ROS_mega.elf
index 4fc47e8..43bfc8d 100755
Binary files a/firmware/ROS_mega/Debug/ROS_mega.elf and b/firmware/ROS_mega/Debug/ROS_mega.elf differ
diff --git a/firmware/ROS_mega/Debug/ROS_mega.hex b/firmware/ROS_mega/Debug/ROS_mega.hex
index 928f374..69d2f08 100644
--- a/firmware/ROS_mega/Debug/ROS_mega.hex
+++ b/firmware/ROS_mega/Debug/ROS_mega.hex
@@ -2,16 +2,16 @@
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 :00000001FF
diff --git a/firmware/ROS_mega/Debug/ROS_mega.lss b/firmware/ROS_mega/Debug/ROS_mega.lss
index 457e7c8..fc8cbdb 100644
--- a/firmware/ROS_mega/Debug/ROS_mega.lss
+++ b/firmware/ROS_mega/Debug/ROS_mega.lss
@@ -3,15 +3,15 @@ ROS_mega.elf:     file format elf32-avr
 
 Sections:
 Idx Name          Size      VMA       LMA       File off  Algn
-  0 .data         000004a8  00800200  00008574  00008608  2**0
+  0 .data         000004a8  00800200  0000836e  00008402  2**0
                   CONTENTS, ALLOC, LOAD, DATA
-  1 .text         00008574  00000000  00000000  00000094  2**1
+  1 .text         0000836e  00000000  00000000  00000094  2**1
                   CONTENTS, ALLOC, LOAD, READONLY, CODE
-  2 .bss          00000b0d  008006a8  008006a8  00008ab0  2**0
+  2 .bss          00000b0d  008006a8  008006a8  000088aa  2**0
                   ALLOC
-  3 .stab         00005ee0  00000000  00000000  00008ab0  2**2
+  3 .stab         00005ee0  00000000  00000000  000088ac  2**2
                   CONTENTS, READONLY, DEBUGGING
-  4 .stabstr      000013de  00000000  00000000  0000e990  2**0
+  4 .stabstr      000013de  00000000  00000000  0000e78c  2**0
                   CONTENTS, READONLY, DEBUGGING
 
 Disassembly of section .text:
@@ -34,44 +34,44 @@ Disassembly of section .text:
       38:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       3c:	0c 94 ed 01 	jmp	0x3da	; 0x3da <__vector_15>
       40:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
-      44:	0c 94 7d 38 	jmp	0x70fa	; 0x70fa <__vector_17>
+      44:	0c 94 7a 37 	jmp	0x6ef4	; 0x6ef4 <__vector_17>
       48:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       4c:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       50:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       54:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       58:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
-      5c:	0c 94 54 35 	jmp	0x6aa8	; 0x6aa8 <__vector_23>
+      5c:	0c 94 51 34 	jmp	0x68a2	; 0x68a2 <__vector_23>
       60:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
-      64:	0c 94 ba 30 	jmp	0x6174	; 0x6174 <__vector_25>
+      64:	0c 94 68 30 	jmp	0x60d0	; 0x60d0 <__vector_25>
       68:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       6c:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       70:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       74:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       78:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       7c:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
-      80:	0c 94 aa 38 	jmp	0x7154	; 0x7154 <__vector_32>
+      80:	0c 94 a7 37 	jmp	0x6f4e	; 0x6f4e <__vector_32>
       84:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       88:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       8c:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
-      90:	0c 94 e6 30 	jmp	0x61cc	; 0x61cc <__vector_36>
+      90:	0c 94 94 30 	jmp	0x6128	; 0x6128 <__vector_36>
       94:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       98:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
-      9c:	0c 94 27 3b 	jmp	0x764e	; 0x764e <__vector_39>
+      9c:	0c 94 24 3a 	jmp	0x7448	; 0x7448 <__vector_39>
       a0:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       a4:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
-      a8:	0c 94 d7 38 	jmp	0x71ae	; 0x71ae <__vector_42>
+      a8:	0c 94 d4 37 	jmp	0x6fa8	; 0x6fa8 <__vector_42>
       ac:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       b0:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       b4:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       b8:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
-      bc:	0c 94 04 39 	jmp	0x7208	; 0x7208 <__vector_47>
+      bc:	0c 94 01 38 	jmp	0x7002	; 0x7002 <__vector_47>
       c0:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       c4:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       c8:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
-      cc:	0c 94 12 31 	jmp	0x6224	; 0x6224 <__vector_51>
+      cc:	0c 94 c0 30 	jmp	0x6180	; 0x6180 <__vector_51>
       d0:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       d4:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
-      d8:	0c 94 3e 31 	jmp	0x627c	; 0x627c <__vector_54>
+      d8:	0c 94 ec 30 	jmp	0x61d8	; 0x61d8 <__vector_54>
       dc:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       e0:	0c 94 7b 01 	jmp	0x2f6	; 0x2f6 <__bad_interrupt>
       e4:	03 6e       	ori	r16, 0xE3	; 227
@@ -176,12 +176,12 @@ Disassembly of section .text:
 	...
 
 0000028c <__ctors_start>:
-     28c:	15 30       	cpi	r17, 0x05	; 5
-     28e:	51 32       	cpi	r21, 0x21	; 33
-     290:	b5 37       	cpi	r27, 0x75	; 117
+     28c:	c3 2f       	mov	r28, r19
+     28e:	ff 31       	cpi	r31, 0x1F	; 31
+     290:	b2 36       	cpi	r27, 0x62	; 98
 
 00000292 <__ctors_end>:
-     292:	1a 30       	cpi	r17, 0x0A	; 10
+     292:	c8 2f       	mov	r28, r24
 
 00000294 <__dtors_end>:
      294:	11 24       	eor	r1, r1
@@ -197,8 +197,8 @@ Disassembly of section .text:
      2a4:	16 e0       	ldi	r17, 0x06	; 6
      2a6:	a0 e0       	ldi	r26, 0x00	; 0
      2a8:	b2 e0       	ldi	r27, 0x02	; 2
-     2aa:	e4 e7       	ldi	r30, 0x74	; 116
-     2ac:	f5 e8       	ldi	r31, 0x85	; 133
+     2aa:	ee e6       	ldi	r30, 0x6E	; 110
+     2ac:	f3 e8       	ldi	r31, 0x83	; 131
      2ae:	00 e0       	ldi	r16, 0x00	; 0
      2b0:	0b bf       	out	0x3b, r16	; 59
      2b2:	02 c0       	rjmp	.+4      	; 0x2b8 <__do_copy_data+0x14>
@@ -232,14 +232,14 @@ Disassembly of section .text:
      2da:	01 09       	sbc	r16, r1
      2dc:	fe 01       	movw	r30, r28
      2de:	0b bf       	out	0x3b, r16	; 59
-     2e0:	0e 94 a4 42 	call	0x8548	; 0x8548 <__tablejump_elpm__>
+     2e0:	0e 94 a1 41 	call	0x8342	; 0x8342 <__tablejump_elpm__>
      2e4:	cc 38       	cpi	r28, 0x8C	; 140
      2e6:	d1 07       	cpc	r29, r17
      2e8:	80 e0       	ldi	r24, 0x00	; 0
      2ea:	08 07       	cpc	r16, r24
      2ec:	a9 f7       	brne	.-22     	; 0x2d8 <__do_global_ctors+0xa>
-     2ee:	0e 94 fa 2c 	call	0x59f4	; 0x59f4 <main>
-     2f2:	0c 94 8d 3e 	jmp	0x7d1a	; 0x7d1a <exit>
+     2ee:	0e 94 9a 2c 	call	0x5934	; 0x5934 <main>
+     2f2:	0c 94 8a 3d 	jmp	0x7b14	; 0x7b14 <exit>
 
 000002f6 <__bad_interrupt>:
      2f6:	0c 94 00 00 	jmp	0	; 0x0 <__vectors>
@@ -264,7 +264,7 @@ Disassembly of section .text:
      31a:	3a ec       	ldi	r19, 0xCA	; 202
      31c:	4a e9       	ldi	r20, 0x9A	; 154
      31e:	5b e3       	ldi	r21, 0x3B	; 59
-     320:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
+     320:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
      324:	7b 01       	movw	r14, r22
      326:	8c 01       	movw	r16, r24
      328:	88 81       	ld	r24, Y
@@ -393,16 +393,16 @@ Disassembly of section .text:
      446:	69 e6       	ldi	r22, 0x69	; 105
      448:	70 e0       	ldi	r23, 0x00	; 0
      44a:	49 83       	std	Y+1, r20	; 0x01
-     44c:	0e 94 64 37 	call	0x6ec8	; 0x6ec8 <_ZN7TwoWire17beginTransmissionEi>
+     44c:	0e 94 61 36 	call	0x6cc2	; 0x6cc2 <_ZN7TwoWire17beginTransmissionEi>
      450:	c7 01       	movw	r24, r14
      452:	61 2f       	mov	r22, r17
-     454:	0e 94 77 37 	call	0x6eee	; 0x6eee <_ZN7TwoWire4sendEh>
+     454:	0e 94 74 36 	call	0x6ce8	; 0x6ce8 <_ZN7TwoWire4sendEh>
      458:	c7 01       	movw	r24, r14
      45a:	49 81       	ldd	r20, Y+1	; 0x01
      45c:	64 2f       	mov	r22, r20
-     45e:	0e 94 77 37 	call	0x6eee	; 0x6eee <_ZN7TwoWire4sendEh>
+     45e:	0e 94 74 36 	call	0x6ce8	; 0x6ce8 <_ZN7TwoWire4sendEh>
      462:	c7 01       	movw	r24, r14
-     464:	0e 94 67 37 	call	0x6ece	; 0x6ece <_ZN7TwoWire15endTransmissionEv>
+     464:	0e 94 64 36 	call	0x6cc8	; 0x6cc8 <_ZN7TwoWire15endTransmissionEv>
      468:	0f 90       	pop	r0
      46a:	cf 91       	pop	r28
      46c:	df 91       	pop	r29
@@ -425,50 +425,50 @@ Disassembly of section .text:
      48a:	90 e1       	ldi	r25, 0x10	; 16
      48c:	69 e6       	ldi	r22, 0x69	; 105
      48e:	70 e0       	ldi	r23, 0x00	; 0
-     490:	0e 94 64 37 	call	0x6ec8	; 0x6ec8 <_ZN7TwoWire17beginTransmissionEi>
+     490:	0e 94 61 36 	call	0x6cc2	; 0x6cc2 <_ZN7TwoWire17beginTransmissionEi>
      494:	8f ea       	ldi	r24, 0xAF	; 175
      496:	90 e1       	ldi	r25, 0x10	; 16
      498:	68 ea       	ldi	r22, 0xA8	; 168
      49a:	70 e0       	ldi	r23, 0x00	; 0
-     49c:	0e 94 9b 37 	call	0x6f36	; 0x6f36 <_ZN7TwoWire4sendEi>
+     49c:	0e 94 98 36 	call	0x6d30	; 0x6d30 <_ZN7TwoWire4sendEi>
      4a0:	8f ea       	ldi	r24, 0xAF	; 175
      4a2:	90 e1       	ldi	r25, 0x10	; 16
-     4a4:	0e 94 67 37 	call	0x6ece	; 0x6ece <_ZN7TwoWire15endTransmissionEv>
+     4a4:	0e 94 64 36 	call	0x6cc8	; 0x6cc8 <_ZN7TwoWire15endTransmissionEv>
      4a8:	8f ea       	ldi	r24, 0xAF	; 175
      4aa:	90 e1       	ldi	r25, 0x10	; 16
      4ac:	69 e6       	ldi	r22, 0x69	; 105
      4ae:	70 e0       	ldi	r23, 0x00	; 0
      4b0:	46 e0       	ldi	r20, 0x06	; 6
      4b2:	50 e0       	ldi	r21, 0x00	; 0
-     4b4:	0e 94 57 37 	call	0x6eae	; 0x6eae <_ZN7TwoWire11requestFromEii>
+     4b4:	0e 94 54 36 	call	0x6ca8	; 0x6ca8 <_ZN7TwoWire11requestFromEii>
      4b8:	8f ea       	ldi	r24, 0xAF	; 175
      4ba:	90 e1       	ldi	r25, 0x10	; 16
-     4bc:	0e 94 9e 37 	call	0x6f3c	; 0x6f3c <_ZN7TwoWire9availableEv>
+     4bc:	0e 94 9b 36 	call	0x6d36	; 0x6d36 <_ZN7TwoWire9availableEv>
      4c0:	86 30       	cpi	r24, 0x06	; 6
      4c2:	d0 f3       	brcs	.-12     	; 0x4b8 <_ZN8L3G4200D4readEv+0x42>
      4c4:	8f ea       	ldi	r24, 0xAF	; 175
      4c6:	90 e1       	ldi	r25, 0x10	; 16
-     4c8:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     4c8:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      4cc:	d8 2e       	mov	r13, r24
      4ce:	8f ea       	ldi	r24, 0xAF	; 175
      4d0:	90 e1       	ldi	r25, 0x10	; 16
-     4d2:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     4d2:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      4d6:	c8 2e       	mov	r12, r24
      4d8:	8f ea       	ldi	r24, 0xAF	; 175
      4da:	90 e1       	ldi	r25, 0x10	; 16
-     4dc:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     4dc:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      4e0:	f8 2e       	mov	r15, r24
      4e2:	8f ea       	ldi	r24, 0xAF	; 175
      4e4:	90 e1       	ldi	r25, 0x10	; 16
-     4e6:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     4e6:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      4ea:	e8 2e       	mov	r14, r24
      4ec:	8f ea       	ldi	r24, 0xAF	; 175
      4ee:	90 e1       	ldi	r25, 0x10	; 16
-     4f0:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     4f0:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      4f4:	18 2f       	mov	r17, r24
      4f6:	8f ea       	ldi	r24, 0xAF	; 175
      4f8:	90 e1       	ldi	r25, 0x10	; 16
-     4fa:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     4fa:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      4fe:	08 2f       	mov	r16, r24
      500:	3c 2d       	mov	r19, r12
      502:	20 e0       	ldi	r18, 0x00	; 0
@@ -480,7 +480,7 @@ Disassembly of section .text:
      50e:	77 fd       	sbrc	r23, 7
      510:	80 95       	com	r24
      512:	98 2f       	mov	r25, r24
-     514:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
+     514:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
      518:	68 83       	st	Y, r22
      51a:	79 83       	std	Y+1, r23	; 0x01
      51c:	8a 83       	std	Y+2, r24	; 0x02
@@ -495,7 +495,7 @@ Disassembly of section .text:
      52e:	77 fd       	sbrc	r23, 7
      530:	80 95       	com	r24
      532:	98 2f       	mov	r25, r24
-     534:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
+     534:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
      538:	6c 83       	std	Y+4, r22	; 0x04
      53a:	7d 83       	std	Y+5, r23	; 0x05
      53c:	8e 83       	std	Y+6, r24	; 0x06
@@ -510,7 +510,7 @@ Disassembly of section .text:
      54e:	77 fd       	sbrc	r23, 7
      550:	80 95       	com	r24
      552:	98 2f       	mov	r25, r24
-     554:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
+     554:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
      558:	68 87       	std	Y+8, r22	; 0x08
      55a:	79 87       	std	Y+9, r23	; 0x09
      55c:	8a 87       	std	Y+10, r24	; 0x0a
@@ -599,16 +599,16 @@ Disassembly of section .text:
      5fa:	c7 01       	movw	r24, r14
      5fc:	61 a9       	ldd	r22, Z+49	; 0x31
      5fe:	49 83       	std	Y+1, r20	; 0x01
-     600:	0e 94 5a 37 	call	0x6eb4	; 0x6eb4 <_ZN7TwoWire17beginTransmissionEh>
+     600:	0e 94 57 36 	call	0x6cae	; 0x6cae <_ZN7TwoWire17beginTransmissionEh>
      604:	c7 01       	movw	r24, r14
      606:	61 2f       	mov	r22, r17
-     608:	0e 94 77 37 	call	0x6eee	; 0x6eee <_ZN7TwoWire4sendEh>
+     608:	0e 94 74 36 	call	0x6ce8	; 0x6ce8 <_ZN7TwoWire4sendEh>
      60c:	c7 01       	movw	r24, r14
      60e:	49 81       	ldd	r20, Y+1	; 0x01
      610:	64 2f       	mov	r22, r20
-     612:	0e 94 77 37 	call	0x6eee	; 0x6eee <_ZN7TwoWire4sendEh>
+     612:	0e 94 74 36 	call	0x6ce8	; 0x6ce8 <_ZN7TwoWire4sendEh>
      616:	c7 01       	movw	r24, r14
-     618:	0e 94 67 37 	call	0x6ece	; 0x6ece <_ZN7TwoWire15endTransmissionEv>
+     618:	0e 94 64 36 	call	0x6cc8	; 0x6cc8 <_ZN7TwoWire15endTransmissionEv>
      61c:	0f 90       	pop	r0
      61e:	cf 91       	pop	r28
      620:	df 91       	pop	r29
@@ -635,16 +635,16 @@ Disassembly of section .text:
      646:	6e e1       	ldi	r22, 0x1E	; 30
      648:	70 e0       	ldi	r23, 0x00	; 0
      64a:	49 83       	std	Y+1, r20	; 0x01
-     64c:	0e 94 64 37 	call	0x6ec8	; 0x6ec8 <_ZN7TwoWire17beginTransmissionEi>
+     64c:	0e 94 61 36 	call	0x6cc2	; 0x6cc2 <_ZN7TwoWire17beginTransmissionEi>
      650:	c7 01       	movw	r24, r14
      652:	61 2f       	mov	r22, r17
-     654:	0e 94 77 37 	call	0x6eee	; 0x6eee <_ZN7TwoWire4sendEh>
+     654:	0e 94 74 36 	call	0x6ce8	; 0x6ce8 <_ZN7TwoWire4sendEh>
      658:	c7 01       	movw	r24, r14
      65a:	49 81       	ldd	r20, Y+1	; 0x01
      65c:	64 2f       	mov	r22, r20
-     65e:	0e 94 77 37 	call	0x6eee	; 0x6eee <_ZN7TwoWire4sendEh>
+     65e:	0e 94 74 36 	call	0x6ce8	; 0x6ce8 <_ZN7TwoWire4sendEh>
      662:	c7 01       	movw	r24, r14
-     664:	0e 94 67 37 	call	0x6ece	; 0x6ece <_ZN7TwoWire15endTransmissionEv>
+     664:	0e 94 64 36 	call	0x6cc8	; 0x6cc8 <_ZN7TwoWire15endTransmissionEv>
      668:	0f 90       	pop	r0
      66a:	cf 91       	pop	r28
      66c:	df 91       	pop	r29
@@ -713,28 +713,28 @@ Disassembly of section .text:
      6e6:	90 e1       	ldi	r25, 0x10	; 16
      6e8:	6e e1       	ldi	r22, 0x1E	; 30
      6ea:	70 e0       	ldi	r23, 0x00	; 0
-     6ec:	0e 94 64 37 	call	0x6ec8	; 0x6ec8 <_ZN7TwoWire17beginTransmissionEi>
+     6ec:	0e 94 61 36 	call	0x6cc2	; 0x6cc2 <_ZN7TwoWire17beginTransmissionEi>
      6f0:	8f ea       	ldi	r24, 0xAF	; 175
      6f2:	90 e1       	ldi	r25, 0x10	; 16
      6f4:	be 01       	movw	r22, r28
-     6f6:	0e 94 9b 37 	call	0x6f36	; 0x6f36 <_ZN7TwoWire4sendEi>
+     6f6:	0e 94 98 36 	call	0x6d30	; 0x6d30 <_ZN7TwoWire4sendEi>
      6fa:	8f ea       	ldi	r24, 0xAF	; 175
      6fc:	90 e1       	ldi	r25, 0x10	; 16
-     6fe:	0e 94 67 37 	call	0x6ece	; 0x6ece <_ZN7TwoWire15endTransmissionEv>
+     6fe:	0e 94 64 36 	call	0x6cc8	; 0x6cc8 <_ZN7TwoWire15endTransmissionEv>
      702:	8f ea       	ldi	r24, 0xAF	; 175
      704:	90 e1       	ldi	r25, 0x10	; 16
      706:	6e e1       	ldi	r22, 0x1E	; 30
      708:	70 e0       	ldi	r23, 0x00	; 0
      70a:	41 e0       	ldi	r20, 0x01	; 1
      70c:	50 e0       	ldi	r21, 0x00	; 0
-     70e:	0e 94 57 37 	call	0x6eae	; 0x6eae <_ZN7TwoWire11requestFromEii>
+     70e:	0e 94 54 36 	call	0x6ca8	; 0x6ca8 <_ZN7TwoWire11requestFromEii>
      712:	8f ea       	ldi	r24, 0xAF	; 175
      714:	90 e1       	ldi	r25, 0x10	; 16
-     716:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     716:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      71a:	18 2f       	mov	r17, r24
      71c:	8f ea       	ldi	r24, 0xAF	; 175
      71e:	90 e1       	ldi	r25, 0x10	; 16
-     720:	0e 94 67 37 	call	0x6ece	; 0x6ece <_ZN7TwoWire15endTransmissionEv>
+     720:	0e 94 64 36 	call	0x6cc8	; 0x6cc8 <_ZN7TwoWire15endTransmissionEv>
      724:	81 2f       	mov	r24, r17
      726:	df 91       	pop	r29
      728:	cf 91       	pop	r28
@@ -754,48 +754,48 @@ Disassembly of section .text:
      740:	8f ea       	ldi	r24, 0xAF	; 175
      742:	90 e1       	ldi	r25, 0x10	; 16
      744:	69 a9       	ldd	r22, Y+49	; 0x31
-     746:	0e 94 5a 37 	call	0x6eb4	; 0x6eb4 <_ZN7TwoWire17beginTransmissionEh>
+     746:	0e 94 57 36 	call	0x6cae	; 0x6cae <_ZN7TwoWire17beginTransmissionEh>
      74a:	8f ea       	ldi	r24, 0xAF	; 175
      74c:	90 e1       	ldi	r25, 0x10	; 16
      74e:	68 ea       	ldi	r22, 0xA8	; 168
      750:	70 e0       	ldi	r23, 0x00	; 0
-     752:	0e 94 9b 37 	call	0x6f36	; 0x6f36 <_ZN7TwoWire4sendEi>
+     752:	0e 94 98 36 	call	0x6d30	; 0x6d30 <_ZN7TwoWire4sendEi>
      756:	8f ea       	ldi	r24, 0xAF	; 175
      758:	90 e1       	ldi	r25, 0x10	; 16
-     75a:	0e 94 67 37 	call	0x6ece	; 0x6ece <_ZN7TwoWire15endTransmissionEv>
+     75a:	0e 94 64 36 	call	0x6cc8	; 0x6cc8 <_ZN7TwoWire15endTransmissionEv>
      75e:	8f ea       	ldi	r24, 0xAF	; 175
      760:	90 e1       	ldi	r25, 0x10	; 16
      762:	69 a9       	ldd	r22, Y+49	; 0x31
      764:	46 e0       	ldi	r20, 0x06	; 6
-     766:	0e 94 4a 37 	call	0x6e94	; 0x6e94 <_ZN7TwoWire11requestFromEhh>
+     766:	0e 94 47 36 	call	0x6c8e	; 0x6c8e <_ZN7TwoWire11requestFromEhh>
      76a:	8f ea       	ldi	r24, 0xAF	; 175
      76c:	90 e1       	ldi	r25, 0x10	; 16
-     76e:	0e 94 9e 37 	call	0x6f3c	; 0x6f3c <_ZN7TwoWire9availableEv>
+     76e:	0e 94 9b 36 	call	0x6d36	; 0x6d36 <_ZN7TwoWire9availableEv>
      772:	86 30       	cpi	r24, 0x06	; 6
      774:	d0 f3       	brcs	.-12     	; 0x76a <_ZN6LSM3037readAccEv+0x3c>
      776:	8f ea       	ldi	r24, 0xAF	; 175
      778:	90 e1       	ldi	r25, 0x10	; 16
-     77a:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     77a:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      77e:	d8 2e       	mov	r13, r24
      780:	8f ea       	ldi	r24, 0xAF	; 175
      782:	90 e1       	ldi	r25, 0x10	; 16
-     784:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     784:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      788:	c8 2e       	mov	r12, r24
      78a:	8f ea       	ldi	r24, 0xAF	; 175
      78c:	90 e1       	ldi	r25, 0x10	; 16
-     78e:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     78e:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      792:	f8 2e       	mov	r15, r24
      794:	8f ea       	ldi	r24, 0xAF	; 175
      796:	90 e1       	ldi	r25, 0x10	; 16
-     798:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     798:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      79c:	e8 2e       	mov	r14, r24
      79e:	8f ea       	ldi	r24, 0xAF	; 175
      7a0:	90 e1       	ldi	r25, 0x10	; 16
-     7a2:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     7a2:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      7a6:	18 2f       	mov	r17, r24
      7a8:	8f ea       	ldi	r24, 0xAF	; 175
      7aa:	90 e1       	ldi	r25, 0x10	; 16
-     7ac:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     7ac:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      7b0:	08 2f       	mov	r16, r24
      7b2:	3c 2d       	mov	r19, r12
      7b4:	20 e0       	ldi	r18, 0x00	; 0
@@ -812,7 +812,7 @@ Disassembly of section .text:
      7ca:	77 fd       	sbrc	r23, 7
      7cc:	80 95       	com	r24
      7ce:	98 2f       	mov	r25, r24
-     7d0:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
+     7d0:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
      7d4:	68 83       	st	Y, r22
      7d6:	79 83       	std	Y+1, r23	; 0x01
      7d8:	8a 83       	std	Y+2, r24	; 0x02
@@ -832,7 +832,7 @@ Disassembly of section .text:
      7f4:	77 fd       	sbrc	r23, 7
      7f6:	80 95       	com	r24
      7f8:	98 2f       	mov	r25, r24
-     7fa:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
+     7fa:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
      7fe:	6c 83       	std	Y+4, r22	; 0x04
      800:	7d 83       	std	Y+5, r23	; 0x05
      802:	8e 83       	std	Y+6, r24	; 0x06
@@ -852,7 +852,7 @@ Disassembly of section .text:
      81e:	77 fd       	sbrc	r23, 7
      820:	80 95       	com	r24
      822:	98 2f       	mov	r25, r24
-     824:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
+     824:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
      828:	68 87       	std	Y+8, r22	; 0x08
      82a:	79 87       	std	Y+9, r23	; 0x09
      82c:	8a 87       	std	Y+10, r24	; 0x0a
@@ -881,70 +881,70 @@ Disassembly of section .text:
      856:	90 e1       	ldi	r25, 0x10	; 16
      858:	6e e1       	ldi	r22, 0x1E	; 30
      85a:	70 e0       	ldi	r23, 0x00	; 0
-     85c:	0e 94 64 37 	call	0x6ec8	; 0x6ec8 <_ZN7TwoWire17beginTransmissionEi>
+     85c:	0e 94 61 36 	call	0x6cc2	; 0x6cc2 <_ZN7TwoWire17beginTransmissionEi>
      860:	8f ea       	ldi	r24, 0xAF	; 175
      862:	90 e1       	ldi	r25, 0x10	; 16
      864:	63 e0       	ldi	r22, 0x03	; 3
      866:	70 e0       	ldi	r23, 0x00	; 0
-     868:	0e 94 9b 37 	call	0x6f36	; 0x6f36 <_ZN7TwoWire4sendEi>
+     868:	0e 94 98 36 	call	0x6d30	; 0x6d30 <_ZN7TwoWire4sendEi>
      86c:	8f ea       	ldi	r24, 0xAF	; 175
      86e:	90 e1       	ldi	r25, 0x10	; 16
-     870:	0e 94 67 37 	call	0x6ece	; 0x6ece <_ZN7TwoWire15endTransmissionEv>
+     870:	0e 94 64 36 	call	0x6cc8	; 0x6cc8 <_ZN7TwoWire15endTransmissionEv>
      874:	8f ea       	ldi	r24, 0xAF	; 175
      876:	90 e1       	ldi	r25, 0x10	; 16
      878:	6e e1       	ldi	r22, 0x1E	; 30
      87a:	70 e0       	ldi	r23, 0x00	; 0
      87c:	46 e0       	ldi	r20, 0x06	; 6
      87e:	50 e0       	ldi	r21, 0x00	; 0
-     880:	0e 94 57 37 	call	0x6eae	; 0x6eae <_ZN7TwoWire11requestFromEii>
+     880:	0e 94 54 36 	call	0x6ca8	; 0x6ca8 <_ZN7TwoWire11requestFromEii>
      884:	8f ea       	ldi	r24, 0xAF	; 175
      886:	90 e1       	ldi	r25, 0x10	; 16
-     888:	0e 94 9e 37 	call	0x6f3c	; 0x6f3c <_ZN7TwoWire9availableEv>
+     888:	0e 94 9b 36 	call	0x6d36	; 0x6d36 <_ZN7TwoWire9availableEv>
      88c:	86 30       	cpi	r24, 0x06	; 6
      88e:	d0 f3       	brcs	.-12     	; 0x884 <_ZN6LSM3037readMagEv+0x42>
      890:	8f ea       	ldi	r24, 0xAF	; 175
      892:	90 e1       	ldi	r25, 0x10	; 16
-     894:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     894:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      898:	c8 2e       	mov	r12, r24
      89a:	8f ea       	ldi	r24, 0xAF	; 175
      89c:	90 e1       	ldi	r25, 0x10	; 16
-     89e:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     89e:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      8a2:	d8 2e       	mov	r13, r24
      8a4:	88 a9       	ldd	r24, Y+48	; 0x30
      8a6:	88 23       	and	r24, r24
      8a8:	a9 f4       	brne	.+42     	; 0x8d4 <_ZN6LSM3037readMagEv+0x92>
      8aa:	8f ea       	ldi	r24, 0xAF	; 175
      8ac:	90 e1       	ldi	r25, 0x10	; 16
-     8ae:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     8ae:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      8b2:	e8 2e       	mov	r14, r24
      8b4:	8f ea       	ldi	r24, 0xAF	; 175
      8b6:	90 e1       	ldi	r25, 0x10	; 16
-     8b8:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     8b8:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      8bc:	f8 2e       	mov	r15, r24
      8be:	8f ea       	ldi	r24, 0xAF	; 175
      8c0:	90 e1       	ldi	r25, 0x10	; 16
-     8c2:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     8c2:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      8c6:	08 2f       	mov	r16, r24
      8c8:	8f ea       	ldi	r24, 0xAF	; 175
      8ca:	90 e1       	ldi	r25, 0x10	; 16
-     8cc:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     8cc:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      8d0:	18 2f       	mov	r17, r24
      8d2:	14 c0       	rjmp	.+40     	; 0x8fc <_ZN6LSM3037readMagEv+0xba>
      8d4:	8f ea       	ldi	r24, 0xAF	; 175
      8d6:	90 e1       	ldi	r25, 0x10	; 16
-     8d8:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     8d8:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      8dc:	08 2f       	mov	r16, r24
      8de:	8f ea       	ldi	r24, 0xAF	; 175
      8e0:	90 e1       	ldi	r25, 0x10	; 16
-     8e2:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     8e2:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      8e6:	18 2f       	mov	r17, r24
      8e8:	8f ea       	ldi	r24, 0xAF	; 175
      8ea:	90 e1       	ldi	r25, 0x10	; 16
-     8ec:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     8ec:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      8f0:	e8 2e       	mov	r14, r24
      8f2:	8f ea       	ldi	r24, 0xAF	; 175
      8f4:	90 e1       	ldi	r25, 0x10	; 16
-     8f6:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     8f6:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      8fa:	f8 2e       	mov	r15, r24
      8fc:	3c 2d       	mov	r19, r12
      8fe:	20 e0       	ldi	r18, 0x00	; 0
@@ -956,7 +956,7 @@ Disassembly of section .text:
      90a:	77 fd       	sbrc	r23, 7
      90c:	80 95       	com	r24
      90e:	98 2f       	mov	r25, r24
-     910:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
+     910:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
      914:	6c 87       	std	Y+12, r22	; 0x0c
      916:	7d 87       	std	Y+13, r23	; 0x0d
      918:	8e 87       	std	Y+14, r24	; 0x0e
@@ -971,7 +971,7 @@ Disassembly of section .text:
      92a:	77 fd       	sbrc	r23, 7
      92c:	80 95       	com	r24
      92e:	98 2f       	mov	r25, r24
-     930:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
+     930:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
      934:	68 8b       	std	Y+16, r22	; 0x10
      936:	79 8b       	std	Y+17, r23	; 0x11
      938:	8a 8b       	std	Y+18, r24	; 0x12
@@ -986,7 +986,7 @@ Disassembly of section .text:
      94a:	77 fd       	sbrc	r23, 7
      94c:	80 95       	com	r24
      94e:	98 2f       	mov	r25, r24
-     950:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
+     950:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
      954:	6c 8b       	std	Y+20, r22	; 0x14
      956:	7d 8b       	std	Y+21, r23	; 0x15
      958:	8e 8b       	std	Y+22, r24	; 0x16
@@ -1006,30 +1006,30 @@ Disassembly of section .text:
      970:	90 e1       	ldi	r25, 0x10	; 16
      972:	68 e1       	ldi	r22, 0x18	; 24
      974:	70 e0       	ldi	r23, 0x00	; 0
-     976:	0e 94 64 37 	call	0x6ec8	; 0x6ec8 <_ZN7TwoWire17beginTransmissionEi>
+     976:	0e 94 61 36 	call	0x6cc2	; 0x6cc2 <_ZN7TwoWire17beginTransmissionEi>
      97a:	8f ea       	ldi	r24, 0xAF	; 175
      97c:	90 e1       	ldi	r25, 0x10	; 16
      97e:	60 e2       	ldi	r22, 0x20	; 32
      980:	70 e0       	ldi	r23, 0x00	; 0
-     982:	0e 94 9b 37 	call	0x6f36	; 0x6f36 <_ZN7TwoWire4sendEi>
+     982:	0e 94 98 36 	call	0x6d30	; 0x6d30 <_ZN7TwoWire4sendEi>
      986:	8f ea       	ldi	r24, 0xAF	; 175
      988:	90 e1       	ldi	r25, 0x10	; 16
-     98a:	0e 94 67 37 	call	0x6ece	; 0x6ece <_ZN7TwoWire15endTransmissionEv>
+     98a:	0e 94 64 36 	call	0x6cc8	; 0x6cc8 <_ZN7TwoWire15endTransmissionEv>
      98e:	8f ea       	ldi	r24, 0xAF	; 175
      990:	90 e1       	ldi	r25, 0x10	; 16
      992:	68 e1       	ldi	r22, 0x18	; 24
      994:	70 e0       	ldi	r23, 0x00	; 0
      996:	41 e0       	ldi	r20, 0x01	; 1
      998:	50 e0       	ldi	r21, 0x00	; 0
-     99a:	0e 94 57 37 	call	0x6eae	; 0x6eae <_ZN7TwoWire11requestFromEii>
+     99a:	0e 94 54 36 	call	0x6ca8	; 0x6ca8 <_ZN7TwoWire11requestFromEii>
      99e:	8f ea       	ldi	r24, 0xAF	; 175
      9a0:	90 e1       	ldi	r25, 0x10	; 16
-     9a2:	0e 94 9e 37 	call	0x6f3c	; 0x6f3c <_ZN7TwoWire9availableEv>
+     9a2:	0e 94 9b 36 	call	0x6d36	; 0x6d36 <_ZN7TwoWire9availableEv>
      9a6:	88 23       	and	r24, r24
      9a8:	31 f0       	breq	.+12     	; 0x9b6 <_ZN6LSM30311detectSA0_AEv+0x48>
      9aa:	8f ea       	ldi	r24, 0xAF	; 175
      9ac:	90 e1       	ldi	r25, 0x10	; 16
-     9ae:	0e 94 a4 37 	call	0x6f48	; 0x6f48 <_ZN7TwoWire7receiveEv>
+     9ae:	0e 94 a1 36 	call	0x6d42	; 0x6d42 <_ZN7TwoWire7receiveEv>
      9b2:	80 e0       	ldi	r24, 0x00	; 0
      9b4:	08 95       	ret
      9b6:	81 e0       	ldi	r24, 0x01	; 1
@@ -1104,16 +1104,16 @@ Disassembly of section .text:
      a3e:	99 23       	and	r25, r25
      a40:	79 f4       	brne	.+30     	; 0xa60 <_ZN7Battery3setEP10CD74HC4067hh+0x4a>
      a42:	60 e0       	ldi	r22, 0x00	; 0
-     a44:	0e 94 8c 36 	call	0x6d18	; 0x6d18 <pinMode>
+     a44:	0e 94 89 35 	call	0x6b12	; 0x6b12 <pinMode>
      a48:	8c 81       	ldd	r24, Y+4	; 0x04
      a4a:	60 e0       	ldi	r22, 0x00	; 0
-     a4c:	0e 94 8c 36 	call	0x6d18	; 0x6d18 <pinMode>
+     a4c:	0e 94 89 35 	call	0x6b12	; 0x6b12 <pinMode>
      a50:	8b 81       	ldd	r24, Y+3	; 0x03
      a52:	60 e0       	ldi	r22, 0x00	; 0
-     a54:	0e 94 b0 36 	call	0x6d60	; 0x6d60 <digitalWrite>
+     a54:	0e 94 ad 35 	call	0x6b5a	; 0x6b5a <digitalWrite>
      a58:	8c 81       	ldd	r24, Y+4	; 0x04
      a5a:	60 e0       	ldi	r22, 0x00	; 0
-     a5c:	0e 94 b0 36 	call	0x6d60	; 0x6d60 <digitalWrite>
+     a5c:	0e 94 ad 35 	call	0x6b5a	; 0x6b5a <digitalWrite>
      a60:	df 91       	pop	r29
      a62:	cf 91       	pop	r28
      a64:	08 95       	ret
@@ -1161,17 +1161,17 @@ Disassembly of section .text:
      ab2:	bc 01       	movw	r22, r24
      ab4:	05 c0       	rjmp	.+10     	; 0xac0 <_ZN7Battery10getVoltageEv+0x20>
      ab6:	83 81       	ldd	r24, Z+3	; 0x03
-     ab8:	0e 94 59 36 	call	0x6cb2	; 0x6cb2 <analogRead>
+     ab8:	0e 94 56 35 	call	0x6aac	; 0x6aac <analogRead>
      abc:	68 2f       	mov	r22, r24
      abe:	79 2f       	mov	r23, r25
      ac0:	80 e0       	ldi	r24, 0x00	; 0
      ac2:	90 e0       	ldi	r25, 0x00	; 0
-     ac4:	0e 94 17 40 	call	0x802e	; 0x802e <__floatunsisf>
+     ac4:	0e 94 14 3f 	call	0x7e28	; 0x7e28 <__floatunsisf>
      ac8:	20 e0       	ldi	r18, 0x00	; 0
      aca:	30 e0       	ldi	r19, 0x00	; 0
      acc:	4d e9       	ldi	r20, 0x9D	; 157
      ace:	5d e3       	ldi	r21, 0x3D	; 61
-     ad0:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
+     ad0:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
      ad4:	08 95       	ret
 
 00000ad6 <_ZN7Battery10getCurrentEv>:
@@ -1186,17 +1186,17 @@ Disassembly of section .text:
      ae8:	bc 01       	movw	r22, r24
      aea:	05 c0       	rjmp	.+10     	; 0xaf6 <_ZN7Battery10getCurrentEv+0x20>
      aec:	84 81       	ldd	r24, Z+4	; 0x04
-     aee:	0e 94 59 36 	call	0x6cb2	; 0x6cb2 <analogRead>
+     aee:	0e 94 56 35 	call	0x6aac	; 0x6aac <analogRead>
      af2:	68 2f       	mov	r22, r24
      af4:	79 2f       	mov	r23, r25
      af6:	80 e0       	ldi	r24, 0x00	; 0
      af8:	90 e0       	ldi	r25, 0x00	; 0
-     afa:	0e 94 17 40 	call	0x802e	; 0x802e <__floatunsisf>
+     afa:	0e 94 14 3f 	call	0x7e28	; 0x7e28 <__floatunsisf>
      afe:	24 e7       	ldi	r18, 0x74	; 116
      b00:	39 eb       	ldi	r19, 0xB9	; 185
      b02:	48 e0       	ldi	r20, 0x08	; 8
      b04:	5e e3       	ldi	r21, 0x3E	; 62
-     b06:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
+     b06:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
      b0a:	08 95       	ret
 
 00000b0c <_ZN8RoboClawC1EP14HardwareSerialm>:
@@ -1206,7 +1206,7 @@ Disassembly of section .text:
      b12:	a9 01       	movw	r20, r18
      b14:	91 83       	std	Z+1, r25	; 0x01
      b16:	80 83       	st	Z, r24
-     b18:	0e 94 6a 31 	call	0x62d4	; 0x62d4 <_ZN14HardwareSerial5beginEl>
+     b18:	0e 94 18 31 	call	0x6230	; 0x6230 <_ZN14HardwareSerial5beginEl>
      b1c:	08 95       	ret
 
 00000b1e <_ZN8RoboClawD1Ev>:
@@ -1597,7 +1597,7 @@ Disassembly of section .text:
      e10:	ed bf       	out	0x3d, r30	; 61
      e12:	08 95       	ret
 
-00000e14 <_ZN8RoboClaw7SpeedM1Ehm>:
+00000e14 <_ZN8RoboClaw7SpeedM1Ehl>:
      e14:	ad b7       	in	r26, 0x3d	; 61
      e16:	be b7       	in	r27, 0x3e	; 62
      e18:	1f 97       	sbiw	r26, 0x0f	; 15
@@ -1640,7 +1640,7 @@ Disassembly of section .text:
      e64:	ed bf       	out	0x3d, r30	; 61
      e66:	08 95       	ret
 
-00000e68 <_ZN8RoboClaw7SpeedM2Ehm>:
+00000e68 <_ZN8RoboClaw7SpeedM2Ehl>:
      e68:	ad b7       	in	r26, 0x3d	; 61
      e6a:	be b7       	in	r27, 0x3e	; 62
      e6c:	1f 97       	sbiw	r26, 0x0f	; 15
@@ -1691,7 +1691,7 @@ Disassembly of section .text:
      ec4:	cf 93       	push	r28
      ec6:	df 93       	push	r29
      ec8:	ec 01       	movw	r28, r24
-     eca:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
+     eca:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
      ece:	7b 01       	movw	r14, r22
      ed0:	8c 01       	movw	r16, r24
      ed2:	15 c0       	rjmp	.+42     	; 0xefe <_ZN8RoboClaw8ReadByteEm+0x42>
@@ -1716,7 +1716,7 @@ Disassembly of section .text:
      ef8:	e0 2d       	mov	r30, r0
      efa:	19 95       	eicall
      efc:	0c c0       	rjmp	.+24     	; 0xf16 <_ZN8RoboClaw8ReadByteEm+0x5a>
-     efe:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
+     efe:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
      f02:	6e 19       	sub	r22, r14
      f04:	7f 09       	sbc	r23, r15
      f06:	80 0b       	sbc	r24, r16
@@ -1994,7 +1994,7 @@ Disassembly of section .text:
     1122:	7f 01       	movw	r14, r30
     1124:	62 2f       	mov	r22, r18
     1126:	99 83       	std	Y+1, r25	; 0x01
-    1128:	0e 94 b0 36 	call	0x6d60	; 0x6d60 <digitalWrite>
+    1128:	0e 94 ad 35 	call	0x6b5a	; 0x6b5a <digitalWrite>
     112c:	08 94       	sec
     112e:	a1 1c       	adc	r10, r1
     1130:	b1 1c       	adc	r11, r1
@@ -2024,7 +2024,7 @@ Disassembly of section .text:
     115c:	ec 01       	movw	r28, r24
     115e:	0e 94 6b 08 	call	0x10d6	; 0x10d6 <_ZN10CD74HC40676setMuxEh>
     1162:	8c 81       	ldd	r24, Y+4	; 0x04
-    1164:	0e 94 59 36 	call	0x6cb2	; 0x6cb2 <analogRead>
+    1164:	0e 94 56 35 	call	0x6aac	; 0x6aac <analogRead>
     1168:	df 91       	pop	r29
     116a:	cf 91       	pop	r28
     116c:	08 95       	ret
@@ -2203,7 +2203,7 @@ Disassembly of section .text:
     12c2:	97 e0       	ldi	r25, 0x07	; 7
     12c4:	92 83       	std	Z+2, r25	; 0x02
     12c6:	61 e0       	ldi	r22, 0x01	; 1
-    12c8:	0e 94 8c 36 	call	0x6d18	; 0x6d18 <pinMode>
+    12c8:	0e 94 89 35 	call	0x6b12	; 0x6b12 <pinMode>
     12cc:	08 95       	ret
 
 000012ce <_ZN17StrongDriveOutput2onEv>:
@@ -2822,7 +2822,7 @@ Disassembly of section .text:
     1766:	08 95       	ret
 
 00001768 <_ZN14rosserial_msgs20RequestParamResponse7getTypeEv>:
-    1768:	89 ee       	ldi	r24, 0xE9	; 233
+    1768:	8a ee       	ldi	r24, 0xEA	; 234
     176a:	95 e0       	ldi	r25, 0x05	; 5
     176c:	08 95       	ret
 
@@ -4900,7 +4900,7 @@ Disassembly of section .text:
     2704:	3f 4f       	sbci	r19, 0xFF	; 255
     2706:	c9 01       	movw	r24, r18
     2708:	af 01       	movw	r20, r30
-    270a:	0e 94 90 3e 	call	0x7d20	; 0x7d20 <memcpy>
+    270a:	0e 94 8d 3d 	call	0x7b1a	; 0x7b1a <memcpy>
     270e:	f8 01       	movw	r30, r16
     2710:	22 81       	ldd	r18, Z+2	; 0x02
     2712:	33 81       	ldd	r19, Z+3	; 0x03
@@ -4940,7 +4940,7 @@ Disassembly of section .text:
     2756:	3d 1d       	adc	r19, r13
     2758:	c9 01       	movw	r24, r18
     275a:	af 01       	movw	r20, r30
-    275c:	0e 94 90 3e 	call	0x7d20	; 0x7d20 <memcpy>
+    275c:	0e 94 8d 3d 	call	0x7b1a	; 0x7b1a <memcpy>
     2760:	f7 01       	movw	r30, r14
     2762:	20 81       	ld	r18, Z
     2764:	31 81       	ldd	r19, Z+1	; 0x01
@@ -4978,7 +4978,7 @@ Disassembly of section .text:
     27a4:	3f 1d       	adc	r19, r15
     27a6:	c9 01       	movw	r24, r18
     27a8:	af 01       	movw	r20, r30
-    27aa:	0e 94 90 3e 	call	0x7d20	; 0x7d20 <memcpy>
+    27aa:	0e 94 8d 3d 	call	0x7b1a	; 0x7b1a <memcpy>
     27ae:	f6 01       	movw	r30, r12
     27b0:	20 81       	ld	r18, Z
     27b2:	31 81       	ldd	r19, Z+1	; 0x01
@@ -5041,7 +5041,7 @@ Disassembly of section .text:
     2820:	3f 4f       	sbci	r19, 0xFF	; 255
     2822:	c9 01       	movw	r24, r18
     2824:	af 01       	movw	r20, r30
-    2826:	0e 94 90 3e 	call	0x7d20	; 0x7d20 <memcpy>
+    2826:	0e 94 8d 3d 	call	0x7b1a	; 0x7b1a <memcpy>
     282a:	29 81       	ldd	r18, Y+1	; 0x01
     282c:	3a 81       	ldd	r19, Y+2	; 0x02
     282e:	2b 5f       	subi	r18, 0xFB	; 251
@@ -5267,7 +5267,7 @@ Disassembly of section .text:
     29e2:	3d 1d       	adc	r19, r13
     29e4:	c9 01       	movw	r24, r18
     29e6:	af 01       	movw	r20, r30
-    29e8:	0e 94 90 3e 	call	0x7d20	; 0x7d20 <memcpy>
+    29e8:	0e 94 8d 3d 	call	0x7b1a	; 0x7b1a <memcpy>
     29ec:	f5 01       	movw	r30, r10
     29ee:	20 81       	ld	r18, Z
     29f0:	31 81       	ldd	r19, Z+1	; 0x01
@@ -5347,7 +5347,7 @@ Disassembly of section .text:
     2a80:	3f 4f       	sbci	r19, 0xFF	; 255
     2a82:	c9 01       	movw	r24, r18
     2a84:	af 01       	movw	r20, r30
-    2a86:	0e 94 90 3e 	call	0x7d20	; 0x7d20 <memcpy>
+    2a86:	0e 94 8d 3d 	call	0x7b1a	; 0x7b1a <memcpy>
     2a8a:	2c 85       	ldd	r18, Y+12	; 0x0c
     2a8c:	3d 85       	ldd	r19, Y+13	; 0x0d
     2a8e:	20 5f       	subi	r18, 0xF0	; 240
@@ -5738,7 +5738,7 @@ Disassembly of section .text:
     2d84:	5d 93       	st	X+, r21
     2d86:	cd 01       	movw	r24, r26
     2d88:	af 01       	movw	r20, r30
-    2d8a:	0e 94 90 3e 	call	0x7d20	; 0x7d20 <memcpy>
+    2d8a:	0e 94 8d 3d 	call	0x7b1a	; 0x7b1a <memcpy>
     2d8e:	f8 01       	movw	r30, r16
     2d90:	20 81       	ld	r18, Z
     2d92:	31 81       	ldd	r19, Z+1	; 0x01
@@ -5806,7 +5806,7 @@ Disassembly of section .text:
     2e0a:	77 1f       	adc	r23, r23
     2e0c:	8f 81       	ldd	r24, Y+7	; 0x07
     2e0e:	98 85       	ldd	r25, Y+8	; 0x08
-    2e10:	0e 94 b4 3d 	call	0x7b68	; 0x7b68 <realloc>
+    2e10:	0e 94 b1 3c 	call	0x7962	; 0x7962 <realloc>
     2e14:	8f 83       	std	Y+7, r24	; 0x07
     2e16:	98 87       	std	Y+8, r25	; 0x08
     2e18:	0a 83       	std	Y+2, r16	; 0x02
@@ -5909,7 +5909,7 @@ Disassembly of section .text:
     2eda:	77 1f       	adc	r23, r23
     2edc:	8e 85       	ldd	r24, Y+14	; 0x0e
     2ede:	9f 85       	ldd	r25, Y+15	; 0x0f
-    2ee0:	0e 94 b4 3d 	call	0x7b68	; 0x7b68 <realloc>
+    2ee0:	0e 94 b1 3c 	call	0x7962	; 0x7962 <realloc>
     2ee4:	8e 87       	std	Y+14, r24	; 0x0e
     2ee6:	9f 87       	std	Y+15, r25	; 0x0f
     2ee8:	84 e0       	ldi	r24, 0x04	; 4
@@ -6010,7 +6010,7 @@ Disassembly of section .text:
     2fa6:	77 1f       	adc	r23, r23
     2fa8:	8b 89       	ldd	r24, Y+19	; 0x13
     2faa:	9c 89       	ldd	r25, Y+20	; 0x14
-    2fac:	0e 94 b4 3d 	call	0x7b68	; 0x7b68 <realloc>
+    2fac:	0e 94 b1 3c 	call	0x7962	; 0x7962 <realloc>
     2fb0:	8b 8b       	std	Y+19, r24	; 0x13
     2fb2:	9c 8b       	std	Y+20, r25	; 0x14
     2fb4:	f6 01       	movw	r30, r12
@@ -6142,7 +6142,7 @@ Disassembly of section .text:
     30ac:	8d 91       	ld	r24, X+
     30ae:	9c 91       	ld	r25, X
     30b0:	50 97       	sbiw	r26, 0x10	; 16
-    30b2:	0e 94 b4 3d 	call	0x7b68	; 0x7b68 <realloc>
+    30b2:	0e 94 b1 3c 	call	0x7962	; 0x7962 <realloc>
     30b6:	f5 01       	movw	r30, r10
     30b8:	87 87       	std	Z+15, r24	; 0x0f
     30ba:	90 8b       	std	Z+16, r25	; 0x10
@@ -6308,7 +6308,7 @@ Disassembly of section .text:
     31fa:	9a 8d       	ldd	r25, Y+26	; 0x1a
     31fc:	6d 2d       	mov	r22, r13
     31fe:	70 e0       	ldi	r23, 0x00	; 0
-    3200:	0e 94 b4 3d 	call	0x7b68	; 0x7b68 <realloc>
+    3200:	0e 94 b1 3c 	call	0x7962	; 0x7962 <realloc>
     3204:	89 8f       	std	Y+25, r24	; 0x19
     3206:	9a 8f       	std	Y+26, r25	; 0x1a
     3208:	97 01       	movw	r18, r14
@@ -6403,7 +6403,7 @@ Disassembly of section .text:
     32b4:	8e 52       	subi	r24, 0x2E	; 46
     32b6:	98 4f       	sbci	r25, 0xF8	; 248
     32b8:	70 e0       	ldi	r23, 0x00	; 0
-    32ba:	0e 94 90 39 	call	0x7320	; 0x7320 <_ZN5Servo5writeEi>
+    32ba:	0e 94 8d 38 	call	0x711a	; 0x711a <_ZN5Servo5writeEi>
     32be:	21 96       	adiw	r28, 0x01	; 1
     32c0:	e4 cf       	rjmp	.-56     	; 0x328a <_Z7servocbRKN8std_msgs15UInt8MultiArrayE+0xe>
     32c2:	df 91       	pop	r29
@@ -6413,1400 +6413,1407 @@ Disassembly of section .text:
     32ca:	08 95       	ret
 
 000032cc <_Z7drivecbRKN5rover6MotorsE>:
-    32cc:	6f 92       	push	r6
-    32ce:	7f 92       	push	r7
-    32d0:	8f 92       	push	r8
-    32d2:	9f 92       	push	r9
-    32d4:	af 92       	push	r10
-    32d6:	bf 92       	push	r11
-    32d8:	cf 92       	push	r12
-    32da:	df 92       	push	r13
-    32dc:	ef 92       	push	r14
-    32de:	ff 92       	push	r15
-    32e0:	0f 93       	push	r16
-    32e2:	1f 93       	push	r17
-    32e4:	cf 93       	push	r28
-    32e6:	df 93       	push	r29
-    32e8:	ec 01       	movw	r28, r24
-    32ea:	6a 89       	ldd	r22, Y+18	; 0x12
-    32ec:	7b 89       	ldd	r23, Y+19	; 0x13
-    32ee:	8c 89       	ldd	r24, Y+20	; 0x14
-    32f0:	9d 89       	ldd	r25, Y+21	; 0x15
-    32f2:	20 91 e4 07 	lds	r18, 0x07E4
-    32f6:	30 91 e5 07 	lds	r19, 0x07E5
-    32fa:	40 91 e6 07 	lds	r20, 0x07E6
-    32fe:	50 91 e7 07 	lds	r21, 0x07E7
-    3302:	0e 94 7e 3f 	call	0x7efc	; 0x7efc <__divsf3>
-    3306:	0e 94 eb 3f 	call	0x7fd6	; 0x7fd6 <__fixunssfsi>
-    330a:	e6 2e       	mov	r14, r22
-    330c:	f7 2e       	mov	r15, r23
-    330e:	08 2f       	mov	r16, r24
-    3310:	19 2f       	mov	r17, r25
-    3312:	6e 89       	ldd	r22, Y+22	; 0x16
-    3314:	7f 89       	ldd	r23, Y+23	; 0x17
-    3316:	88 8d       	ldd	r24, Y+24	; 0x18
-    3318:	99 8d       	ldd	r25, Y+25	; 0x19
-    331a:	20 91 fc 07 	lds	r18, 0x07FC
-    331e:	30 91 fd 07 	lds	r19, 0x07FD
-    3322:	40 91 fe 07 	lds	r20, 0x07FE
-    3326:	50 91 ff 07 	lds	r21, 0x07FF
-    332a:	0e 94 7e 3f 	call	0x7efc	; 0x7efc <__divsf3>
-    332e:	0e 94 eb 3f 	call	0x7fd6	; 0x7fd6 <__fixunssfsi>
-    3332:	5b 01       	movw	r10, r22
-    3334:	6c 01       	movw	r12, r24
-    3336:	35 01       	movw	r6, r10
-    3338:	46 01       	movw	r8, r12
-    333a:	e1 14       	cp	r14, r1
-    333c:	f1 04       	cpc	r15, r1
-    333e:	01 05       	cpc	r16, r1
-    3340:	11 05       	cpc	r17, r1
-    3342:	29 f4       	brne	.+10     	; 0x334e <_Z7drivecbRKN5rover6MotorsE+0x82>
-    3344:	41 e0       	ldi	r20, 0x01	; 1
-    3346:	e4 2e       	mov	r14, r20
-    3348:	f1 2c       	mov	r15, r1
-    334a:	01 2d       	mov	r16, r1
-    334c:	11 2d       	mov	r17, r1
-    334e:	89 e0       	ldi	r24, 0x09	; 9
-    3350:	98 e0       	ldi	r25, 0x08	; 8
-    3352:	60 e8       	ldi	r22, 0x80	; 128
-    3354:	a8 01       	movw	r20, r16
-    3356:	97 01       	movw	r18, r14
-    3358:	0e 94 0a 07 	call	0xe14	; 0xe14 <_ZN8RoboClaw7SpeedM1Ehm>
-    335c:	a1 14       	cp	r10, r1
-    335e:	b1 04       	cpc	r11, r1
-    3360:	c1 04       	cpc	r12, r1
-    3362:	d1 04       	cpc	r13, r1
-    3364:	29 f4       	brne	.+10     	; 0x3370 <_Z7drivecbRKN5rover6MotorsE+0xa4>
-    3366:	31 e0       	ldi	r19, 0x01	; 1
-    3368:	63 2e       	mov	r6, r19
-    336a:	71 2c       	mov	r7, r1
-    336c:	81 2c       	mov	r8, r1
-    336e:	91 2c       	mov	r9, r1
-    3370:	89 e0       	ldi	r24, 0x09	; 9
-    3372:	98 e0       	ldi	r25, 0x08	; 8
-    3374:	60 e8       	ldi	r22, 0x80	; 128
-    3376:	a4 01       	movw	r20, r8
-    3378:	93 01       	movw	r18, r6
-    337a:	0e 94 34 07 	call	0xe68	; 0xe68 <_ZN8RoboClaw7SpeedM2Ehm>
-    337e:	df 91       	pop	r29
-    3380:	cf 91       	pop	r28
-    3382:	1f 91       	pop	r17
-    3384:	0f 91       	pop	r16
-    3386:	ff 90       	pop	r15
-    3388:	ef 90       	pop	r14
-    338a:	df 90       	pop	r13
-    338c:	cf 90       	pop	r12
-    338e:	bf 90       	pop	r11
-    3390:	af 90       	pop	r10
-    3392:	9f 90       	pop	r9
-    3394:	8f 90       	pop	r8
-    3396:	7f 90       	pop	r7
-    3398:	6f 90       	pop	r6
-    339a:	08 95       	ret
-
-0000339c <_ZN3ros9Publisher7publishEPKNS_3MsgE>:
-    339c:	cf 93       	push	r28
-    339e:	df 93       	push	r29
-    33a0:	fc 01       	movw	r30, r24
-    33a2:	ab 01       	movw	r20, r22
-    33a4:	86 81       	ldd	r24, Z+6	; 0x06
-    33a6:	97 81       	ldd	r25, Z+7	; 0x07
-    33a8:	ec 01       	movw	r28, r24
-    33aa:	a8 81       	ld	r26, Y
-    33ac:	b9 81       	ldd	r27, Y+1	; 0x01
-    33ae:	64 81       	ldd	r22, Z+4	; 0x04
-    33b0:	75 81       	ldd	r23, Z+5	; 0x05
-    33b2:	ed 91       	ld	r30, X+
-    33b4:	fc 91       	ld	r31, X
-    33b6:	19 95       	eicall
-    33b8:	df 91       	pop	r29
-    33ba:	cf 91       	pop	r28
-    33bc:	08 95       	ret
-
-000033be <_ZN15ArduinoHardware4initEv>:
-    33be:	fc 01       	movw	r30, r24
-    33c0:	42 81       	ldd	r20, Z+2	; 0x02
-    33c2:	53 81       	ldd	r21, Z+3	; 0x03
-    33c4:	64 81       	ldd	r22, Z+4	; 0x04
-    33c6:	75 81       	ldd	r23, Z+5	; 0x05
-    33c8:	80 81       	ld	r24, Z
-    33ca:	91 81       	ldd	r25, Z+1	; 0x01
-    33cc:	0e 94 6a 31 	call	0x62d4	; 0x62d4 <_ZN14HardwareSerial5beginEl>
-    33d0:	08 95       	ret
-
-000033d2 <_ZN3IMU15Compass_HeadingEv>:
-    33d2:	2f 92       	push	r2
-    33d4:	3f 92       	push	r3
-    33d6:	4f 92       	push	r4
-    33d8:	5f 92       	push	r5
-    33da:	6f 92       	push	r6
-    33dc:	7f 92       	push	r7
-    33de:	8f 92       	push	r8
-    33e0:	9f 92       	push	r9
-    33e2:	af 92       	push	r10
-    33e4:	bf 92       	push	r11
-    33e6:	cf 92       	push	r12
-    33e8:	df 92       	push	r13
-    33ea:	ef 92       	push	r14
-    33ec:	ff 92       	push	r15
-    33ee:	0f 93       	push	r16
-    33f0:	1f 93       	push	r17
-    33f2:	df 93       	push	r29
-    33f4:	cf 93       	push	r28
-    33f6:	cd b7       	in	r28, 0x3d	; 61
-    33f8:	de b7       	in	r29, 0x3e	; 62
-    33fa:	64 97       	sbiw	r28, 0x14	; 20
-    33fc:	0f b6       	in	r0, 0x3f	; 63
-    33fe:	f8 94       	cli
-    3400:	de bf       	out	0x3e, r29	; 62
-    3402:	0f be       	out	0x3f, r0	; 63
-    3404:	cd bf       	out	0x3d, r28	; 61
-    3406:	e0 90 3d 07 	lds	r14, 0x073D
-    340a:	f0 90 3e 07 	lds	r15, 0x073E
-    340e:	00 91 3f 07 	lds	r16, 0x073F
-    3412:	10 91 40 07 	lds	r17, 0x0740
-    3416:	c8 01       	movw	r24, r16
-    3418:	b7 01       	movw	r22, r14
-    341a:	0e 94 7b 3f 	call	0x7ef6	; 0x7ef6 <cos>
-    341e:	69 83       	std	Y+1, r22	; 0x01
-    3420:	7a 83       	std	Y+2, r23	; 0x02
-    3422:	8b 83       	std	Y+3, r24	; 0x03
-    3424:	9c 83       	std	Y+4, r25	; 0x04
-    3426:	c8 01       	movw	r24, r16
-    3428:	b7 01       	movw	r22, r14
-    342a:	0e 94 c1 41 	call	0x8382	; 0x8382 <sin>
-    342e:	6d 83       	std	Y+5, r22	; 0x05
-    3430:	7e 83       	std	Y+6, r23	; 0x06
-    3432:	8f 83       	std	Y+7, r24	; 0x07
-    3434:	98 87       	std	Y+8, r25	; 0x08
-    3436:	e0 90 41 07 	lds	r14, 0x0741
-    343a:	f0 90 42 07 	lds	r15, 0x0742
-    343e:	00 91 43 07 	lds	r16, 0x0743
-    3442:	10 91 44 07 	lds	r17, 0x0744
-    3446:	c8 01       	movw	r24, r16
-    3448:	b7 01       	movw	r22, r14
-    344a:	0e 94 7b 3f 	call	0x7ef6	; 0x7ef6 <cos>
-    344e:	6d 87       	std	Y+13, r22	; 0x0d
-    3450:	7e 87       	std	Y+14, r23	; 0x0e
-    3452:	8f 87       	std	Y+15, r24	; 0x0f
-    3454:	98 8b       	std	Y+16, r25	; 0x10
-    3456:	c8 01       	movw	r24, r16
-    3458:	b7 01       	movw	r22, r14
-    345a:	0e 94 c1 41 	call	0x8382	; 0x8382 <sin>
-    345e:	69 87       	std	Y+9, r22	; 0x09
-    3460:	7a 87       	std	Y+10, r23	; 0x0a
-    3462:	8b 87       	std	Y+11, r24	; 0x0b
-    3464:	9c 87       	std	Y+12, r25	; 0x0c
-    3466:	e0 90 4d 05 	lds	r14, 0x054D
-    346a:	f0 90 4e 05 	lds	r15, 0x054E
-    346e:	8c e1       	ldi	r24, 0x1C	; 28
-    3470:	93 e0       	ldi	r25, 0x03	; 3
-    3472:	e8 9e       	mul	r14, r24
-    3474:	b0 01       	movw	r22, r0
-    3476:	e9 9e       	mul	r14, r25
-    3478:	70 0d       	add	r23, r0
-    347a:	f8 9e       	mul	r15, r24
-    347c:	70 0d       	add	r23, r0
-    347e:	11 24       	eor	r1, r1
-    3480:	80 91 df 06 	lds	r24, 0x06DF
-    3484:	90 91 e0 06 	lds	r25, 0x06E0
-    3488:	68 0f       	add	r22, r24
-    348a:	79 1f       	adc	r23, r25
-    348c:	88 27       	eor	r24, r24
-    348e:	77 fd       	sbrc	r23, 7
-    3490:	80 95       	com	r24
-    3492:	98 2f       	mov	r25, r24
-    3494:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    3498:	20 e0       	ldi	r18, 0x00	; 0
-    349a:	30 e4       	ldi	r19, 0x40	; 64
-    349c:	48 e7       	ldi	r20, 0x78	; 120
-    349e:	54 e4       	ldi	r21, 0x44	; 68
-    34a0:	0e 94 7e 3f 	call	0x7efc	; 0x7efc <__divsf3>
-    34a4:	5b 01       	movw	r10, r22
-    34a6:	6c 01       	movw	r12, r24
-    34a8:	b7 01       	movw	r22, r14
-    34aa:	88 27       	eor	r24, r24
-    34ac:	77 fd       	sbrc	r23, 7
-    34ae:	80 95       	com	r24
-    34b0:	98 2f       	mov	r25, r24
-    34b2:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    34b6:	20 e0       	ldi	r18, 0x00	; 0
-    34b8:	30 e0       	ldi	r19, 0x00	; 0
-    34ba:	40 e0       	ldi	r20, 0x00	; 0
-    34bc:	5f e3       	ldi	r21, 0x3F	; 63
-    34be:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    34c2:	9b 01       	movw	r18, r22
-    34c4:	ac 01       	movw	r20, r24
-    34c6:	c6 01       	movw	r24, r12
-    34c8:	b5 01       	movw	r22, r10
-    34ca:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    34ce:	56 2e       	mov	r5, r22
-    34d0:	47 2e       	mov	r4, r23
-    34d2:	38 2e       	mov	r3, r24
-    34d4:	29 2e       	mov	r2, r25
-    34d6:	a2 01       	movw	r20, r4
-    34d8:	91 01       	movw	r18, r2
-    34da:	85 2f       	mov	r24, r21
-    34dc:	94 2f       	mov	r25, r20
-    34de:	a3 2f       	mov	r26, r19
-    34e0:	b2 2f       	mov	r27, r18
-    34e2:	80 93 e5 06 	sts	0x06E5, r24
-    34e6:	90 93 e6 06 	sts	0x06E6, r25
-    34ea:	a0 93 e7 06 	sts	0x06E7, r26
-    34ee:	b0 93 e8 06 	sts	0x06E8, r27
-    34f2:	e0 90 4f 05 	lds	r14, 0x054F
-    34f6:	f0 90 50 05 	lds	r15, 0x0550
-    34fa:	89 ec       	ldi	r24, 0xC9	; 201
-    34fc:	91 e0       	ldi	r25, 0x01	; 1
-    34fe:	e8 9e       	mul	r14, r24
-    3500:	b0 01       	movw	r22, r0
-    3502:	e9 9e       	mul	r14, r25
-    3504:	70 0d       	add	r23, r0
-    3506:	f8 9e       	mul	r15, r24
-    3508:	70 0d       	add	r23, r0
-    350a:	11 24       	eor	r1, r1
-    350c:	80 91 e1 06 	lds	r24, 0x06E1
-    3510:	90 91 e2 06 	lds	r25, 0x06E2
-    3514:	68 0f       	add	r22, r24
-    3516:	79 1f       	adc	r23, r25
-    3518:	88 27       	eor	r24, r24
-    351a:	77 fd       	sbrc	r23, 7
-    351c:	80 95       	com	r24
-    351e:	98 2f       	mov	r25, r24
-    3520:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    3524:	20 e0       	ldi	r18, 0x00	; 0
-    3526:	30 e0       	ldi	r19, 0x00	; 0
-    3528:	48 e7       	ldi	r20, 0x78	; 120
-    352a:	54 e4       	ldi	r21, 0x44	; 68
-    352c:	0e 94 7e 3f 	call	0x7efc	; 0x7efc <__divsf3>
-    3530:	5b 01       	movw	r10, r22
-    3532:	6c 01       	movw	r12, r24
-    3534:	b7 01       	movw	r22, r14
-    3536:	88 27       	eor	r24, r24
-    3538:	77 fd       	sbrc	r23, 7
-    353a:	80 95       	com	r24
-    353c:	98 2f       	mov	r25, r24
-    353e:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    3542:	20 e0       	ldi	r18, 0x00	; 0
-    3544:	30 e0       	ldi	r19, 0x00	; 0
-    3546:	40 e0       	ldi	r20, 0x00	; 0
-    3548:	5f e3       	ldi	r21, 0x3F	; 63
-    354a:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    354e:	9b 01       	movw	r18, r22
-    3550:	ac 01       	movw	r20, r24
-    3552:	c6 01       	movw	r24, r12
-    3554:	b5 01       	movw	r22, r10
-    3556:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    355a:	d6 2e       	mov	r13, r22
-    355c:	c7 2e       	mov	r12, r23
-    355e:	b8 2e       	mov	r11, r24
-    3560:	a9 2e       	mov	r10, r25
-    3562:	a6 01       	movw	r20, r12
-    3564:	95 01       	movw	r18, r10
-    3566:	85 2f       	mov	r24, r21
-    3568:	94 2f       	mov	r25, r20
-    356a:	a3 2f       	mov	r26, r19
-    356c:	b2 2f       	mov	r27, r18
-    356e:	80 93 e9 06 	sts	0x06E9, r24
-    3572:	90 93 ea 06 	sts	0x06EA, r25
-    3576:	a0 93 eb 06 	sts	0x06EB, r26
-    357a:	b0 93 ec 06 	sts	0x06EC, r27
-    357e:	e0 90 51 05 	lds	r14, 0x0551
-    3582:	f0 90 52 05 	lds	r15, 0x0552
-    3586:	88 ea       	ldi	r24, 0xA8	; 168
-    3588:	91 e0       	ldi	r25, 0x01	; 1
-    358a:	e8 9e       	mul	r14, r24
-    358c:	b0 01       	movw	r22, r0
-    358e:	e9 9e       	mul	r14, r25
-    3590:	70 0d       	add	r23, r0
-    3592:	f8 9e       	mul	r15, r24
-    3594:	70 0d       	add	r23, r0
-    3596:	11 24       	eor	r1, r1
-    3598:	80 91 e3 06 	lds	r24, 0x06E3
-    359c:	90 91 e4 06 	lds	r25, 0x06E4
-    35a0:	68 0f       	add	r22, r24
-    35a2:	79 1f       	adc	r23, r25
-    35a4:	88 27       	eor	r24, r24
-    35a6:	77 fd       	sbrc	r23, 7
-    35a8:	80 95       	com	r24
-    35aa:	98 2f       	mov	r25, r24
-    35ac:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    35b0:	20 e0       	ldi	r18, 0x00	; 0
-    35b2:	30 e4       	ldi	r19, 0x40	; 64
-    35b4:	4d e4       	ldi	r20, 0x4D	; 77
-    35b6:	54 e4       	ldi	r21, 0x44	; 68
-    35b8:	0e 94 7e 3f 	call	0x7efc	; 0x7efc <__divsf3>
-    35bc:	3b 01       	movw	r6, r22
-    35be:	4c 01       	movw	r8, r24
-    35c0:	b7 01       	movw	r22, r14
-    35c2:	88 27       	eor	r24, r24
-    35c4:	77 fd       	sbrc	r23, 7
-    35c6:	80 95       	com	r24
-    35c8:	98 2f       	mov	r25, r24
-    35ca:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    35ce:	20 e0       	ldi	r18, 0x00	; 0
-    35d0:	30 e0       	ldi	r19, 0x00	; 0
-    35d2:	40 e0       	ldi	r20, 0x00	; 0
-    35d4:	5f e3       	ldi	r21, 0x3F	; 63
-    35d6:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    35da:	9b 01       	movw	r18, r22
-    35dc:	ac 01       	movw	r20, r24
-    35de:	c4 01       	movw	r24, r8
-    35e0:	b3 01       	movw	r22, r6
-    35e2:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    35e6:	8b 01       	movw	r16, r22
-    35e8:	7c 01       	movw	r14, r24
-    35ea:	86 2f       	mov	r24, r22
-    35ec:	91 2f       	mov	r25, r17
-    35ee:	ae 2d       	mov	r26, r14
-    35f0:	bf 2d       	mov	r27, r15
-    35f2:	80 93 ed 06 	sts	0x06ED, r24
-    35f6:	90 93 ee 06 	sts	0x06EE, r25
-    35fa:	a0 93 ef 06 	sts	0x06EF, r26
-    35fe:	b0 93 f0 06 	sts	0x06F0, r27
-    3602:	a6 01       	movw	r20, r12
-    3604:	95 01       	movw	r18, r10
-    3606:	65 2f       	mov	r22, r21
-    3608:	74 2f       	mov	r23, r20
-    360a:	83 2f       	mov	r24, r19
-    360c:	92 2f       	mov	r25, r18
-    360e:	29 81       	ldd	r18, Y+1	; 0x01
-    3610:	3a 81       	ldd	r19, Y+2	; 0x02
-    3612:	4b 81       	ldd	r20, Y+3	; 0x03
-    3614:	5c 81       	ldd	r21, Y+4	; 0x04
-    3616:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    361a:	3b 01       	movw	r6, r22
-    361c:	4c 01       	movw	r8, r24
-    361e:	60 2f       	mov	r22, r16
-    3620:	71 2f       	mov	r23, r17
-    3622:	8e 2d       	mov	r24, r14
-    3624:	9f 2d       	mov	r25, r15
-    3626:	2d 81       	ldd	r18, Y+5	; 0x05
-    3628:	3e 81       	ldd	r19, Y+6	; 0x06
-    362a:	4f 81       	ldd	r20, Y+7	; 0x07
-    362c:	58 85       	ldd	r21, Y+8	; 0x08
-    362e:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3632:	9b 01       	movw	r18, r22
-    3634:	ac 01       	movw	r20, r24
-    3636:	c4 01       	movw	r24, r8
-    3638:	b3 01       	movw	r22, r6
-    363a:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    363e:	9b 01       	movw	r18, r22
-    3640:	ac 01       	movw	r20, r24
-    3642:	50 58       	subi	r21, 0x80	; 128
-    3644:	29 8b       	std	Y+17, r18	; 0x11
-    3646:	3a 8b       	std	Y+18, r19	; 0x12
-    3648:	4b 8b       	std	Y+19, r20	; 0x13
-    364a:	5c 8b       	std	Y+20, r21	; 0x14
-    364c:	a2 01       	movw	r20, r4
-    364e:	91 01       	movw	r18, r2
-    3650:	65 2f       	mov	r22, r21
-    3652:	74 2f       	mov	r23, r20
-    3654:	83 2f       	mov	r24, r19
-    3656:	92 2f       	mov	r25, r18
-    3658:	2d 85       	ldd	r18, Y+13	; 0x0d
-    365a:	3e 85       	ldd	r19, Y+14	; 0x0e
-    365c:	4f 85       	ldd	r20, Y+15	; 0x0f
-    365e:	58 89       	ldd	r21, Y+16	; 0x10
-    3660:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3664:	3b 01       	movw	r6, r22
-    3666:	4c 01       	movw	r8, r24
-    3668:	a6 01       	movw	r20, r12
-    366a:	95 01       	movw	r18, r10
-    366c:	65 2f       	mov	r22, r21
-    366e:	74 2f       	mov	r23, r20
-    3670:	83 2f       	mov	r24, r19
-    3672:	92 2f       	mov	r25, r18
-    3674:	2d 81       	ldd	r18, Y+5	; 0x05
-    3676:	3e 81       	ldd	r19, Y+6	; 0x06
-    3678:	4f 81       	ldd	r20, Y+7	; 0x07
-    367a:	58 85       	ldd	r21, Y+8	; 0x08
-    367c:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3680:	29 85       	ldd	r18, Y+9	; 0x09
-    3682:	3a 85       	ldd	r19, Y+10	; 0x0a
-    3684:	4b 85       	ldd	r20, Y+11	; 0x0b
-    3686:	5c 85       	ldd	r21, Y+12	; 0x0c
-    3688:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    368c:	9b 01       	movw	r18, r22
-    368e:	ac 01       	movw	r20, r24
-    3690:	c4 01       	movw	r24, r8
-    3692:	b3 01       	movw	r22, r6
-    3694:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    3698:	5b 01       	movw	r10, r22
-    369a:	6c 01       	movw	r12, r24
-    369c:	60 2f       	mov	r22, r16
-    369e:	71 2f       	mov	r23, r17
-    36a0:	8e 2d       	mov	r24, r14
-    36a2:	9f 2d       	mov	r25, r15
-    36a4:	29 81       	ldd	r18, Y+1	; 0x01
-    36a6:	3a 81       	ldd	r19, Y+2	; 0x02
-    36a8:	4b 81       	ldd	r20, Y+3	; 0x03
-    36aa:	5c 81       	ldd	r21, Y+4	; 0x04
-    36ac:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    36b0:	29 85       	ldd	r18, Y+9	; 0x09
-    36b2:	3a 85       	ldd	r19, Y+10	; 0x0a
-    36b4:	4b 85       	ldd	r20, Y+11	; 0x0b
-    36b6:	5c 85       	ldd	r21, Y+12	; 0x0c
-    36b8:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    36bc:	9b 01       	movw	r18, r22
-    36be:	ac 01       	movw	r20, r24
-    36c0:	c6 01       	movw	r24, r12
-    36c2:	b5 01       	movw	r22, r10
-    36c4:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    36c8:	9b 01       	movw	r18, r22
-    36ca:	ac 01       	movw	r20, r24
-    36cc:	69 89       	ldd	r22, Y+17	; 0x11
-    36ce:	7a 89       	ldd	r23, Y+18	; 0x12
-    36d0:	8b 89       	ldd	r24, Y+19	; 0x13
-    36d2:	9c 89       	ldd	r25, Y+20	; 0x14
-    36d4:	0e 94 24 3f 	call	0x7e48	; 0x7e48 <atan2>
-    36d8:	60 93 f1 06 	sts	0x06F1, r22
-    36dc:	70 93 f2 06 	sts	0x06F2, r23
-    36e0:	80 93 f3 06 	sts	0x06F3, r24
-    36e4:	90 93 f4 06 	sts	0x06F4, r25
-    36e8:	64 96       	adiw	r28, 0x14	; 20
-    36ea:	0f b6       	in	r0, 0x3f	; 63
-    36ec:	f8 94       	cli
-    36ee:	de bf       	out	0x3e, r29	; 62
-    36f0:	0f be       	out	0x3f, r0	; 63
-    36f2:	cd bf       	out	0x3d, r28	; 61
-    36f4:	cf 91       	pop	r28
-    36f6:	df 91       	pop	r29
-    36f8:	1f 91       	pop	r17
-    36fa:	0f 91       	pop	r16
-    36fc:	ff 90       	pop	r15
-    36fe:	ef 90       	pop	r14
-    3700:	df 90       	pop	r13
-    3702:	cf 90       	pop	r12
-    3704:	bf 90       	pop	r11
-    3706:	af 90       	pop	r10
-    3708:	9f 90       	pop	r9
-    370a:	8f 90       	pop	r8
-    370c:	7f 90       	pop	r7
-    370e:	6f 90       	pop	r6
-    3710:	5f 90       	pop	r5
-    3712:	4f 90       	pop	r4
-    3714:	3f 90       	pop	r3
-    3716:	2f 90       	pop	r2
-    3718:	08 95       	ret
-
-0000371a <_ZN3IMU12Euler_anglesEv>:
-    371a:	60 91 6f 05 	lds	r22, 0x056F
-    371e:	70 91 70 05 	lds	r23, 0x0570
-    3722:	80 91 71 05 	lds	r24, 0x0571
-    3726:	90 91 72 05 	lds	r25, 0x0572
-    372a:	0e 94 fe 3e 	call	0x7dfc	; 0x7dfc <asin>
-    372e:	90 58       	subi	r25, 0x80	; 128
-    3730:	60 93 41 07 	sts	0x0741, r22
-    3734:	70 93 42 07 	sts	0x0742, r23
-    3738:	80 93 43 07 	sts	0x0743, r24
-    373c:	90 93 44 07 	sts	0x0744, r25
-    3740:	60 91 73 05 	lds	r22, 0x0573
-    3744:	70 91 74 05 	lds	r23, 0x0574
-    3748:	80 91 75 05 	lds	r24, 0x0575
-    374c:	90 91 76 05 	lds	r25, 0x0576
-    3750:	20 91 77 05 	lds	r18, 0x0577
-    3754:	30 91 78 05 	lds	r19, 0x0578
-    3758:	40 91 79 05 	lds	r20, 0x0579
-    375c:	50 91 7a 05 	lds	r21, 0x057A
-    3760:	0e 94 24 3f 	call	0x7e48	; 0x7e48 <atan2>
-    3764:	60 93 3d 07 	sts	0x073D, r22
-    3768:	70 93 3e 07 	sts	0x073E, r23
-    376c:	80 93 3f 07 	sts	0x073F, r24
-    3770:	90 93 40 07 	sts	0x0740, r25
-    3774:	60 91 63 05 	lds	r22, 0x0563
-    3778:	70 91 64 05 	lds	r23, 0x0564
-    377c:	80 91 65 05 	lds	r24, 0x0565
-    3780:	90 91 66 05 	lds	r25, 0x0566
-    3784:	20 91 57 05 	lds	r18, 0x0557
-    3788:	30 91 58 05 	lds	r19, 0x0558
-    378c:	40 91 59 05 	lds	r20, 0x0559
-    3790:	50 91 5a 05 	lds	r21, 0x055A
-    3794:	0e 94 24 3f 	call	0x7e48	; 0x7e48 <atan2>
-    3798:	60 93 45 07 	sts	0x0745, r22
-    379c:	70 93 46 07 	sts	0x0746, r23
-    37a0:	80 93 47 07 	sts	0x0747, r24
-    37a4:	90 93 48 07 	sts	0x0748, r25
-    37a8:	08 95       	ret
-
-000037aa <_ZN3IMU7initI2CEv>:
-    37aa:	8f ea       	ldi	r24, 0xAF	; 175
-    37ac:	90 e1       	ldi	r25, 0x10	; 16
-    37ae:	0e 94 3f 37 	call	0x6e7e	; 0x6e7e <_ZN7TwoWire5beginEv>
-    37b2:	08 95       	ret
-
-000037b4 <_ZN3IMU8initGyroEv>:
-    37b4:	cf 93       	push	r28
-    37b6:	df 93       	push	r29
-    37b8:	c7 e8       	ldi	r28, 0x87	; 135
-    37ba:	d7 e0       	ldi	r29, 0x07	; 7
-    37bc:	ce 01       	movw	r24, r28
-    37be:	60 e2       	ldi	r22, 0x20	; 32
-    37c0:	4f e0       	ldi	r20, 0x0F	; 15
-    37c2:	0e 94 15 02 	call	0x42a	; 0x42a <_ZN8L3G4200D8writeRegEhh>
-    37c6:	ce 01       	movw	r24, r28
-    37c8:	63 e2       	ldi	r22, 0x23	; 35
-    37ca:	40 e2       	ldi	r20, 0x20	; 32
-    37cc:	0e 94 15 02 	call	0x42a	; 0x42a <_ZN8L3G4200D8writeRegEhh>
-    37d0:	df 91       	pop	r29
-    37d2:	cf 91       	pop	r28
-    37d4:	08 95       	ret
-
-000037d6 <_ZN3IMU8readGyroEv>:
-    37d6:	0f 93       	push	r16
-    37d8:	1f 93       	push	r17
-    37da:	cf 93       	push	r28
-    37dc:	df 93       	push	r29
-    37de:	87 e8       	ldi	r24, 0x87	; 135
-    37e0:	97 e0       	ldi	r25, 0x07	; 7
-    37e2:	0e 94 3b 02 	call	0x476	; 0x476 <_ZN8L3G4200D4readEv>
-    37e6:	60 91 87 07 	lds	r22, 0x0787
-    37ea:	70 91 88 07 	lds	r23, 0x0788
-    37ee:	80 91 89 07 	lds	r24, 0x0789
-    37f2:	90 91 8a 07 	lds	r25, 0x078A
-    37f6:	0e 94 e6 3f 	call	0x7fcc	; 0x7fcc <__fixsfsi>
-    37fa:	eb 01       	movw	r28, r22
-    37fc:	70 93 bc 06 	sts	0x06BC, r23
-    3800:	60 93 bb 06 	sts	0x06BB, r22
-    3804:	60 91 8b 07 	lds	r22, 0x078B
-    3808:	70 91 8c 07 	lds	r23, 0x078C
-    380c:	80 91 8d 07 	lds	r24, 0x078D
-    3810:	90 91 8e 07 	lds	r25, 0x078E
-    3814:	0e 94 e6 3f 	call	0x7fcc	; 0x7fcc <__fixsfsi>
-    3818:	8b 01       	movw	r16, r22
-    381a:	70 93 be 06 	sts	0x06BE, r23
-    381e:	60 93 bd 06 	sts	0x06BD, r22
-    3822:	60 91 8f 07 	lds	r22, 0x078F
-    3826:	70 91 90 07 	lds	r23, 0x0790
-    382a:	80 91 91 07 	lds	r24, 0x0791
-    382e:	90 91 92 07 	lds	r25, 0x0792
-    3832:	0e 94 e6 3f 	call	0x7fcc	; 0x7fcc <__fixsfsi>
-    3836:	9b 01       	movw	r18, r22
-    3838:	70 93 c0 06 	sts	0x06C0, r23
-    383c:	60 93 bf 06 	sts	0x06BF, r22
-    3840:	80 91 c7 06 	lds	r24, 0x06C7
-    3844:	90 91 c8 06 	lds	r25, 0x06C8
-    3848:	c8 1b       	sub	r28, r24
-    384a:	d9 0b       	sbc	r29, r25
-    384c:	40 91 41 05 	lds	r20, 0x0541
-    3850:	50 91 42 05 	lds	r21, 0x0542
-    3854:	c4 9f       	mul	r28, r20
-    3856:	c0 01       	movw	r24, r0
-    3858:	c5 9f       	mul	r28, r21
-    385a:	90 0d       	add	r25, r0
-    385c:	d4 9f       	mul	r29, r20
-    385e:	90 0d       	add	r25, r0
-    3860:	11 24       	eor	r1, r1
-    3862:	90 93 d4 06 	sts	0x06D4, r25
-    3866:	80 93 d3 06 	sts	0x06D3, r24
-    386a:	80 91 c9 06 	lds	r24, 0x06C9
-    386e:	90 91 ca 06 	lds	r25, 0x06CA
-    3872:	08 1b       	sub	r16, r24
-    3874:	19 0b       	sbc	r17, r25
-    3876:	40 91 43 05 	lds	r20, 0x0543
-    387a:	50 91 44 05 	lds	r21, 0x0544
-    387e:	04 9f       	mul	r16, r20
-    3880:	c0 01       	movw	r24, r0
-    3882:	05 9f       	mul	r16, r21
-    3884:	90 0d       	add	r25, r0
-    3886:	14 9f       	mul	r17, r20
-    3888:	90 0d       	add	r25, r0
-    388a:	11 24       	eor	r1, r1
-    388c:	90 93 d6 06 	sts	0x06D6, r25
-    3890:	80 93 d5 06 	sts	0x06D5, r24
-    3894:	80 91 cb 06 	lds	r24, 0x06CB
-    3898:	90 91 cc 06 	lds	r25, 0x06CC
-    389c:	28 1b       	sub	r18, r24
-    389e:	39 0b       	sbc	r19, r25
-    38a0:	40 91 45 05 	lds	r20, 0x0545
-    38a4:	50 91 46 05 	lds	r21, 0x0546
-    38a8:	24 9f       	mul	r18, r20
-    38aa:	c0 01       	movw	r24, r0
-    38ac:	25 9f       	mul	r18, r21
-    38ae:	90 0d       	add	r25, r0
-    38b0:	34 9f       	mul	r19, r20
-    38b2:	90 0d       	add	r25, r0
-    38b4:	11 24       	eor	r1, r1
-    38b6:	90 93 d8 06 	sts	0x06D8, r25
-    38ba:	80 93 d7 06 	sts	0x06D7, r24
-    38be:	df 91       	pop	r29
-    38c0:	cf 91       	pop	r28
-    38c2:	1f 91       	pop	r17
-    38c4:	0f 91       	pop	r16
-    38c6:	08 95       	ret
-
-000038c8 <_ZN3IMU9initAccelEv>:
-    38c8:	cf 93       	push	r28
-    38ca:	df 93       	push	r29
-    38cc:	c3 e9       	ldi	r28, 0x93	; 147
-    38ce:	d7 e0       	ldi	r29, 0x07	; 7
-    38d0:	ce 01       	movw	r24, r28
-    38d2:	60 e2       	ldi	r22, 0x20	; 32
-    38d4:	47 e2       	ldi	r20, 0x27	; 39
-    38d6:	0e 94 ef 02 	call	0x5de	; 0x5de <_ZN6LSM30311writeAccRegEhh>
-    38da:	ce 01       	movw	r24, r28
-    38dc:	63 e2       	ldi	r22, 0x23	; 35
-    38de:	40 e3       	ldi	r20, 0x30	; 48
-    38e0:	0e 94 ef 02 	call	0x5de	; 0x5de <_ZN6LSM30311writeAccRegEhh>
-    38e4:	df 91       	pop	r29
-    38e6:	cf 91       	pop	r28
-    38e8:	08 95       	ret
-
-000038ea <_ZN3IMU9readAccelEv>:
-    38ea:	0f 93       	push	r16
-    38ec:	1f 93       	push	r17
-    38ee:	cf 93       	push	r28
-    38f0:	df 93       	push	r29
-    38f2:	83 e9       	ldi	r24, 0x93	; 147
-    38f4:	97 e0       	ldi	r25, 0x07	; 7
-    38f6:	0e 94 97 03 	call	0x72e	; 0x72e <_ZN6LSM3037readAccEv>
-    38fa:	60 91 93 07 	lds	r22, 0x0793
-    38fe:	70 91 94 07 	lds	r23, 0x0794
-    3902:	80 91 95 07 	lds	r24, 0x0795
-    3906:	90 91 96 07 	lds	r25, 0x0796
-    390a:	0e 94 e6 3f 	call	0x7fcc	; 0x7fcc <__fixsfsi>
-    390e:	eb 01       	movw	r28, r22
-    3910:	70 93 c2 06 	sts	0x06C2, r23
-    3914:	60 93 c1 06 	sts	0x06C1, r22
-    3918:	60 91 97 07 	lds	r22, 0x0797
-    391c:	70 91 98 07 	lds	r23, 0x0798
-    3920:	80 91 99 07 	lds	r24, 0x0799
-    3924:	90 91 9a 07 	lds	r25, 0x079A
-    3928:	0e 94 e6 3f 	call	0x7fcc	; 0x7fcc <__fixsfsi>
-    392c:	8b 01       	movw	r16, r22
-    392e:	70 93 c4 06 	sts	0x06C4, r23
-    3932:	60 93 c3 06 	sts	0x06C3, r22
-    3936:	60 91 9b 07 	lds	r22, 0x079B
-    393a:	70 91 9c 07 	lds	r23, 0x079C
-    393e:	80 91 9d 07 	lds	r24, 0x079D
-    3942:	90 91 9e 07 	lds	r25, 0x079E
-    3946:	0e 94 e6 3f 	call	0x7fcc	; 0x7fcc <__fixsfsi>
-    394a:	9b 01       	movw	r18, r22
-    394c:	70 93 c6 06 	sts	0x06C6, r23
-    3950:	60 93 c5 06 	sts	0x06C5, r22
-    3954:	80 91 cd 06 	lds	r24, 0x06CD
-    3958:	90 91 ce 06 	lds	r25, 0x06CE
-    395c:	c8 1b       	sub	r28, r24
-    395e:	d9 0b       	sbc	r29, r25
-    3960:	40 91 47 05 	lds	r20, 0x0547
-    3964:	50 91 48 05 	lds	r21, 0x0548
-    3968:	c4 9f       	mul	r28, r20
-    396a:	c0 01       	movw	r24, r0
-    396c:	c5 9f       	mul	r28, r21
-    396e:	90 0d       	add	r25, r0
-    3970:	d4 9f       	mul	r29, r20
-    3972:	90 0d       	add	r25, r0
-    3974:	11 24       	eor	r1, r1
-    3976:	90 93 da 06 	sts	0x06DA, r25
-    397a:	80 93 d9 06 	sts	0x06D9, r24
-    397e:	80 91 cf 06 	lds	r24, 0x06CF
-    3982:	90 91 d0 06 	lds	r25, 0x06D0
-    3986:	08 1b       	sub	r16, r24
-    3988:	19 0b       	sbc	r17, r25
-    398a:	40 91 49 05 	lds	r20, 0x0549
-    398e:	50 91 4a 05 	lds	r21, 0x054A
-    3992:	04 9f       	mul	r16, r20
-    3994:	c0 01       	movw	r24, r0
-    3996:	05 9f       	mul	r16, r21
-    3998:	90 0d       	add	r25, r0
-    399a:	14 9f       	mul	r17, r20
-    399c:	90 0d       	add	r25, r0
-    399e:	11 24       	eor	r1, r1
-    39a0:	90 93 dc 06 	sts	0x06DC, r25
-    39a4:	80 93 db 06 	sts	0x06DB, r24
-    39a8:	80 91 d1 06 	lds	r24, 0x06D1
-    39ac:	90 91 d2 06 	lds	r25, 0x06D2
-    39b0:	28 1b       	sub	r18, r24
-    39b2:	39 0b       	sbc	r19, r25
-    39b4:	40 91 4b 05 	lds	r20, 0x054B
-    39b8:	50 91 4c 05 	lds	r21, 0x054C
-    39bc:	24 9f       	mul	r18, r20
-    39be:	c0 01       	movw	r24, r0
-    39c0:	25 9f       	mul	r18, r21
-    39c2:	90 0d       	add	r25, r0
-    39c4:	34 9f       	mul	r19, r20
-    39c6:	90 0d       	add	r25, r0
-    39c8:	11 24       	eor	r1, r1
-    39ca:	90 93 de 06 	sts	0x06DE, r25
-    39ce:	80 93 dd 06 	sts	0x06DD, r24
-    39d2:	df 91       	pop	r29
-    39d4:	cf 91       	pop	r28
-    39d6:	1f 91       	pop	r17
-    39d8:	0f 91       	pop	r16
-    39da:	08 95       	ret
-
-000039dc <_ZN3IMU11initCompassEv>:
-    39dc:	cf 93       	push	r28
-    39de:	df 93       	push	r29
-    39e0:	c3 e9       	ldi	r28, 0x93	; 147
-    39e2:	d7 e0       	ldi	r29, 0x07	; 7
-    39e4:	ce 01       	movw	r24, r28
-    39e6:	63 e0       	ldi	r22, 0x03	; 3
-    39e8:	42 e0       	ldi	r20, 0x02	; 2
-    39ea:	0e 94 dd 04 	call	0x9ba	; 0x9ba <_ZN6LSM3034initEhh>
-    39ee:	ce 01       	movw	r24, r28
-    39f0:	62 e0       	ldi	r22, 0x02	; 2
-    39f2:	40 e0       	ldi	r20, 0x00	; 0
-    39f4:	0e 94 15 03 	call	0x62a	; 0x62a <_ZN6LSM30311writeMagRegEhh>
-    39f8:	df 91       	pop	r29
-    39fa:	cf 91       	pop	r28
-    39fc:	08 95       	ret
-
-000039fe <_ZN3IMU7initIMUEv>:
-    39fe:	0f 93       	push	r16
-    3a00:	1f 93       	push	r17
-    3a02:	cf 93       	push	r28
-    3a04:	df 93       	push	r29
-    3a06:	8d e4       	ldi	r24, 0x4D	; 77
-    3a08:	90 e1       	ldi	r25, 0x10	; 16
-    3a0a:	40 e0       	ldi	r20, 0x00	; 0
-    3a0c:	52 ec       	ldi	r21, 0xC2	; 194
-    3a0e:	61 e0       	ldi	r22, 0x01	; 1
-    3a10:	70 e0       	ldi	r23, 0x00	; 0
-    3a12:	0e 94 6a 31 	call	0x62d4	; 0x62d4 <_ZN14HardwareSerial5beginEl>
-    3a16:	8d e0       	ldi	r24, 0x0D	; 13
-    3a18:	61 e0       	ldi	r22, 0x01	; 1
-    3a1a:	0e 94 8c 36 	call	0x6d18	; 0x6d18 <pinMode>
-    3a1e:	0e 94 d5 1b 	call	0x37aa	; 0x37aa <_ZN3IMU7initI2CEv>
-    3a22:	8d e4       	ldi	r24, 0x4D	; 77
-    3a24:	90 e1       	ldi	r25, 0x10	; 16
-    3a26:	61 e9       	ldi	r22, 0x91	; 145
-    3a28:	74 e0       	ldi	r23, 0x04	; 4
-    3a2a:	0e 94 40 34 	call	0x6880	; 0x6880 <_ZN5Print7printlnEPKc>
-    3a2e:	8d e0       	ldi	r24, 0x0D	; 13
-    3a30:	60 e0       	ldi	r22, 0x00	; 0
-    3a32:	0e 94 b0 36 	call	0x6d60	; 0x6d60 <digitalWrite>
-    3a36:	6c ed       	ldi	r22, 0xDC	; 220
-    3a38:	75 e0       	ldi	r23, 0x05	; 5
-    3a3a:	80 e0       	ldi	r24, 0x00	; 0
-    3a3c:	90 e0       	ldi	r25, 0x00	; 0
-    3a3e:	0e 94 d0 35 	call	0x6ba0	; 0x6ba0 <delay>
-    3a42:	0e 94 64 1c 	call	0x38c8	; 0x38c8 <_ZN3IMU9initAccelEv>
-    3a46:	0e 94 ee 1c 	call	0x39dc	; 0x39dc <_ZN3IMU11initCompassEv>
-    3a4a:	0e 94 da 1b 	call	0x37b4	; 0x37b4 <_ZN3IMU8initGyroEv>
-    3a4e:	64 e1       	ldi	r22, 0x14	; 20
-    3a50:	70 e0       	ldi	r23, 0x00	; 0
-    3a52:	80 e0       	ldi	r24, 0x00	; 0
-    3a54:	90 e0       	ldi	r25, 0x00	; 0
-    3a56:	0e 94 d0 35 	call	0x6ba0	; 0x6ba0 <delay>
-    3a5a:	00 e2       	ldi	r16, 0x20	; 32
-    3a5c:	10 e0       	ldi	r17, 0x00	; 0
-    3a5e:	0e 94 eb 1b 	call	0x37d6	; 0x37d6 <_ZN3IMU8readGyroEv>
-    3a62:	0e 94 75 1c 	call	0x38ea	; 0x38ea <_ZN3IMU9readAccelEv>
-    3a66:	ab eb       	ldi	r26, 0xBB	; 187
-    3a68:	b6 e0       	ldi	r27, 0x06	; 6
-    3a6a:	c7 ec       	ldi	r28, 0xC7	; 199
-    3a6c:	d6 e0       	ldi	r29, 0x06	; 6
-    3a6e:	fe 01       	movw	r30, r28
-    3a70:	2d 91       	ld	r18, X+
-    3a72:	3d 91       	ld	r19, X+
-    3a74:	80 81       	ld	r24, Z
-    3a76:	91 81       	ldd	r25, Z+1	; 0x01
-    3a78:	82 0f       	add	r24, r18
-    3a7a:	93 1f       	adc	r25, r19
-    3a7c:	81 93       	st	Z+, r24
-    3a7e:	91 93       	st	Z+, r25
-    3a80:	86 e0       	ldi	r24, 0x06	; 6
-    3a82:	a7 3c       	cpi	r26, 0xC7	; 199
-    3a84:	b8 07       	cpc	r27, r24
-    3a86:	a1 f7       	brne	.-24     	; 0x3a70 <_ZN3IMU7initIMUEv+0x72>
-    3a88:	64 e1       	ldi	r22, 0x14	; 20
-    3a8a:	70 e0       	ldi	r23, 0x00	; 0
-    3a8c:	80 e0       	ldi	r24, 0x00	; 0
-    3a8e:	90 e0       	ldi	r25, 0x00	; 0
-    3a90:	0e 94 d0 35 	call	0x6ba0	; 0x6ba0 <delay>
-    3a94:	01 50       	subi	r16, 0x01	; 1
-    3a96:	10 40       	sbci	r17, 0x00	; 0
-    3a98:	11 f7       	brne	.-60     	; 0x3a5e <_ZN3IMU7initIMUEv+0x60>
-    3a9a:	e7 ec       	ldi	r30, 0xC7	; 199
-    3a9c:	f6 e0       	ldi	r31, 0x06	; 6
-    3a9e:	20 e2       	ldi	r18, 0x20	; 32
-    3aa0:	30 e0       	ldi	r19, 0x00	; 0
-    3aa2:	80 81       	ld	r24, Z
-    3aa4:	91 81       	ldd	r25, Z+1	; 0x01
-    3aa6:	b9 01       	movw	r22, r18
-    3aa8:	0e 94 54 42 	call	0x84a8	; 0x84a8 <__divmodhi4>
-    3aac:	61 93       	st	Z+, r22
-    3aae:	71 93       	st	Z+, r23
-    3ab0:	86 e0       	ldi	r24, 0x06	; 6
-    3ab2:	e3 3d       	cpi	r30, 0xD3	; 211
-    3ab4:	f8 07       	cpc	r31, r24
-    3ab6:	a9 f7       	brne	.-22     	; 0x3aa2 <_ZN3IMU7initIMUEv+0xa4>
-    3ab8:	40 91 4b 05 	lds	r20, 0x054B
-    3abc:	50 91 4c 05 	lds	r21, 0x054C
-    3ac0:	20 e0       	ldi	r18, 0x00	; 0
-    3ac2:	3f ef       	ldi	r19, 0xFF	; 255
-    3ac4:	42 9f       	mul	r20, r18
-    3ac6:	c0 01       	movw	r24, r0
-    3ac8:	43 9f       	mul	r20, r19
-    3aca:	90 0d       	add	r25, r0
-    3acc:	52 9f       	mul	r21, r18
-    3ace:	90 0d       	add	r25, r0
-    3ad0:	11 24       	eor	r1, r1
-    3ad2:	20 91 d1 06 	lds	r18, 0x06D1
-    3ad6:	30 91 d2 06 	lds	r19, 0x06D2
-    3ada:	82 0f       	add	r24, r18
-    3adc:	93 1f       	adc	r25, r19
-    3ade:	90 93 d2 06 	sts	0x06D2, r25
-    3ae2:	80 93 d1 06 	sts	0x06D1, r24
-    3ae6:	69 91       	ld	r22, Y+
-    3ae8:	79 91       	ld	r23, Y+
-    3aea:	8d e4       	ldi	r24, 0x4D	; 77
-    3aec:	90 e1       	ldi	r25, 0x10	; 16
-    3aee:	4a e0       	ldi	r20, 0x0A	; 10
-    3af0:	50 e0       	ldi	r21, 0x00	; 0
-    3af2:	0e 94 4b 34 	call	0x6896	; 0x6896 <_ZN5Print7printlnEii>
-    3af6:	86 e0       	ldi	r24, 0x06	; 6
-    3af8:	c3 3d       	cpi	r28, 0xD3	; 211
-    3afa:	d8 07       	cpc	r29, r24
-    3afc:	a1 f7       	brne	.-24     	; 0x3ae6 <_ZN3IMU7initIMUEv+0xe8>
-    3afe:	60 ed       	ldi	r22, 0xD0	; 208
-    3b00:	77 e0       	ldi	r23, 0x07	; 7
-    3b02:	80 e0       	ldi	r24, 0x00	; 0
-    3b04:	90 e0       	ldi	r25, 0x00	; 0
-    3b06:	0e 94 d0 35 	call	0x6ba0	; 0x6ba0 <delay>
-    3b0a:	8d e0       	ldi	r24, 0x0D	; 13
-    3b0c:	61 e0       	ldi	r22, 0x01	; 1
-    3b0e:	0e 94 b0 36 	call	0x6d60	; 0x6d60 <digitalWrite>
-    3b12:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
-    3b16:	60 93 b3 06 	sts	0x06B3, r22
-    3b1a:	70 93 b4 06 	sts	0x06B4, r23
-    3b1e:	80 93 b5 06 	sts	0x06B5, r24
-    3b22:	90 93 b6 06 	sts	0x06B6, r25
-    3b26:	64 e1       	ldi	r22, 0x14	; 20
-    3b28:	70 e0       	ldi	r23, 0x00	; 0
-    3b2a:	80 e0       	ldi	r24, 0x00	; 0
-    3b2c:	90 e0       	ldi	r25, 0x00	; 0
-    3b2e:	0e 94 d0 35 	call	0x6ba0	; 0x6ba0 <delay>
-    3b32:	10 92 62 07 	sts	0x0762, r1
-    3b36:	10 92 61 07 	sts	0x0761, r1
-    3b3a:	df 91       	pop	r29
-    3b3c:	cf 91       	pop	r28
-    3b3e:	1f 91       	pop	r17
-    3b40:	0f 91       	pop	r16
-    3b42:	08 95       	ret
-
-00003b44 <_ZN3IMU11readCompassEv>:
-    3b44:	83 e9       	ldi	r24, 0x93	; 147
-    3b46:	97 e0       	ldi	r25, 0x07	; 7
-    3b48:	0e 94 21 04 	call	0x842	; 0x842 <_ZN6LSM3037readMagEv>
-    3b4c:	60 91 4d 05 	lds	r22, 0x054D
-    3b50:	70 91 4e 05 	lds	r23, 0x054E
-    3b54:	88 27       	eor	r24, r24
-    3b56:	77 fd       	sbrc	r23, 7
-    3b58:	80 95       	com	r24
-    3b5a:	98 2f       	mov	r25, r24
-    3b5c:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    3b60:	20 91 9f 07 	lds	r18, 0x079F
-    3b64:	30 91 a0 07 	lds	r19, 0x07A0
-    3b68:	40 91 a1 07 	lds	r20, 0x07A1
-    3b6c:	50 91 a2 07 	lds	r21, 0x07A2
-    3b70:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3b74:	0e 94 e6 3f 	call	0x7fcc	; 0x7fcc <__fixsfsi>
-    3b78:	70 93 e0 06 	sts	0x06E0, r23
-    3b7c:	60 93 df 06 	sts	0x06DF, r22
-    3b80:	60 91 4f 05 	lds	r22, 0x054F
-    3b84:	70 91 50 05 	lds	r23, 0x0550
-    3b88:	88 27       	eor	r24, r24
-    3b8a:	77 fd       	sbrc	r23, 7
-    3b8c:	80 95       	com	r24
-    3b8e:	98 2f       	mov	r25, r24
-    3b90:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    3b94:	20 91 a3 07 	lds	r18, 0x07A3
-    3b98:	30 91 a4 07 	lds	r19, 0x07A4
-    3b9c:	40 91 a5 07 	lds	r20, 0x07A5
-    3ba0:	50 91 a6 07 	lds	r21, 0x07A6
-    3ba4:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3ba8:	0e 94 e6 3f 	call	0x7fcc	; 0x7fcc <__fixsfsi>
-    3bac:	70 93 e2 06 	sts	0x06E2, r23
-    3bb0:	60 93 e1 06 	sts	0x06E1, r22
-    3bb4:	60 91 51 05 	lds	r22, 0x0551
-    3bb8:	70 91 52 05 	lds	r23, 0x0552
-    3bbc:	88 27       	eor	r24, r24
-    3bbe:	77 fd       	sbrc	r23, 7
-    3bc0:	80 95       	com	r24
-    3bc2:	98 2f       	mov	r25, r24
-    3bc4:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    3bc8:	20 91 a7 07 	lds	r18, 0x07A7
-    3bcc:	30 91 a8 07 	lds	r19, 0x07A8
-    3bd0:	40 91 a9 07 	lds	r20, 0x07A9
-    3bd4:	50 91 aa 07 	lds	r21, 0x07AA
-    3bd8:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3bdc:	0e 94 e6 3f 	call	0x7fcc	; 0x7fcc <__fixsfsi>
-    3be0:	70 93 e4 06 	sts	0x06E4, r23
-    3be4:	60 93 e3 06 	sts	0x06E3, r22
-    3be8:	08 95       	ret
-
-00003bea <_ZN3IMU9printdataEv>:
-    3bea:	0f 93       	push	r16
-    3bec:	1f 93       	push	r17
-    3bee:	cf 93       	push	r28
-    3bf0:	df 93       	push	r29
-    3bf2:	cd e4       	ldi	r28, 0x4D	; 77
-    3bf4:	d0 e1       	ldi	r29, 0x10	; 16
-    3bf6:	ce 01       	movw	r24, r28
-    3bf8:	60 eb       	ldi	r22, 0xB0	; 176
-    3bfa:	74 e0       	ldi	r23, 0x04	; 4
-    3bfc:	0e 94 59 33 	call	0x66b2	; 0x66b2 <_ZN5Print5printEPKc>
-    3c00:	ce 01       	movw	r24, r28
-    3c02:	62 eb       	ldi	r22, 0xB2	; 178
-    3c04:	74 e0       	ldi	r23, 0x04	; 4
-    3c06:	0e 94 59 33 	call	0x66b2	; 0x66b2 <_ZN5Print5printEPKc>
-    3c0a:	60 91 3d 07 	lds	r22, 0x073D
-    3c0e:	70 91 3e 07 	lds	r23, 0x073E
-    3c12:	80 91 3f 07 	lds	r24, 0x073F
-    3c16:	90 91 40 07 	lds	r25, 0x0740
-    3c1a:	21 ee       	ldi	r18, 0xE1	; 225
-    3c1c:	3e e2       	ldi	r19, 0x2E	; 46
-    3c1e:	45 e6       	ldi	r20, 0x65	; 101
-    3c20:	52 e4       	ldi	r21, 0x42	; 66
-    3c22:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3c26:	ab 01       	movw	r20, r22
-    3c28:	bc 01       	movw	r22, r24
-    3c2a:	ce 01       	movw	r24, r28
-    3c2c:	22 e0       	ldi	r18, 0x02	; 2
-    3c2e:	30 e0       	ldi	r19, 0x00	; 0
-    3c30:	0e 94 08 35 	call	0x6a10	; 0x6a10 <_ZN5Print5printEdi>
-    3c34:	07 eb       	ldi	r16, 0xB7	; 183
-    3c36:	14 e0       	ldi	r17, 0x04	; 4
-    3c38:	ce 01       	movw	r24, r28
-    3c3a:	b8 01       	movw	r22, r16
-    3c3c:	0e 94 59 33 	call	0x66b2	; 0x66b2 <_ZN5Print5printEPKc>
-    3c40:	60 91 41 07 	lds	r22, 0x0741
-    3c44:	70 91 42 07 	lds	r23, 0x0742
-    3c48:	80 91 43 07 	lds	r24, 0x0743
-    3c4c:	90 91 44 07 	lds	r25, 0x0744
-    3c50:	21 ee       	ldi	r18, 0xE1	; 225
-    3c52:	3e e2       	ldi	r19, 0x2E	; 46
-    3c54:	45 e6       	ldi	r20, 0x65	; 101
-    3c56:	52 e4       	ldi	r21, 0x42	; 66
-    3c58:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3c5c:	ab 01       	movw	r20, r22
-    3c5e:	bc 01       	movw	r22, r24
-    3c60:	ce 01       	movw	r24, r28
-    3c62:	22 e0       	ldi	r18, 0x02	; 2
-    3c64:	30 e0       	ldi	r19, 0x00	; 0
-    3c66:	0e 94 08 35 	call	0x6a10	; 0x6a10 <_ZN5Print5printEdi>
-    3c6a:	ce 01       	movw	r24, r28
-    3c6c:	b8 01       	movw	r22, r16
-    3c6e:	0e 94 59 33 	call	0x66b2	; 0x66b2 <_ZN5Print5printEPKc>
-    3c72:	60 91 45 07 	lds	r22, 0x0745
-    3c76:	70 91 46 07 	lds	r23, 0x0746
-    3c7a:	80 91 47 07 	lds	r24, 0x0747
-    3c7e:	90 91 48 07 	lds	r25, 0x0748
-    3c82:	21 ee       	ldi	r18, 0xE1	; 225
-    3c84:	3e e2       	ldi	r19, 0x2E	; 46
-    3c86:	45 e6       	ldi	r20, 0x65	; 101
-    3c88:	52 e4       	ldi	r21, 0x42	; 66
-    3c8a:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3c8e:	ab 01       	movw	r20, r22
-    3c90:	bc 01       	movw	r22, r24
-    3c92:	ce 01       	movw	r24, r28
-    3c94:	22 e0       	ldi	r18, 0x02	; 2
-    3c96:	30 e0       	ldi	r19, 0x00	; 0
-    3c98:	0e 94 08 35 	call	0x6a10	; 0x6a10 <_ZN5Print5printEdi>
-    3c9c:	ce 01       	movw	r24, r28
-    3c9e:	0e 94 29 34 	call	0x6852	; 0x6852 <_ZN5Print7printlnEv>
-    3ca2:	df 91       	pop	r29
-    3ca4:	cf 91       	pop	r28
-    3ca6:	1f 91       	pop	r17
-    3ca8:	0f 91       	pop	r16
-    3caa:	08 95       	ret
-
-00003cac <_ZN3IMU16vectorDotProductEPfS0_>:
-    3cac:	af 92       	push	r10
-    3cae:	bf 92       	push	r11
-    3cb0:	cf 92       	push	r12
-    3cb2:	df 92       	push	r13
-    3cb4:	ef 92       	push	r14
-    3cb6:	ff 92       	push	r15
-    3cb8:	0f 93       	push	r16
-    3cba:	1f 93       	push	r17
-    3cbc:	cf 93       	push	r28
-    3cbe:	df 93       	push	r29
-    3cc0:	c8 2e       	mov	r12, r24
-    3cc2:	d9 2e       	mov	r13, r25
-    3cc4:	a6 2e       	mov	r10, r22
-    3cc6:	b7 2e       	mov	r11, r23
-    3cc8:	c3 e0       	ldi	r28, 0x03	; 3
-    3cca:	d0 e0       	ldi	r29, 0x00	; 0
-    3ccc:	10 e0       	ldi	r17, 0x00	; 0
-    3cce:	00 e0       	ldi	r16, 0x00	; 0
-    3cd0:	ff 24       	eor	r15, r15
-    3cd2:	ee 24       	eor	r14, r14
-    3cd4:	f6 01       	movw	r30, r12
-    3cd6:	61 91       	ld	r22, Z+
-    3cd8:	71 91       	ld	r23, Z+
-    3cda:	81 91       	ld	r24, Z+
-    3cdc:	91 91       	ld	r25, Z+
-    3cde:	6f 01       	movw	r12, r30
-    3ce0:	f5 01       	movw	r30, r10
-    3ce2:	21 91       	ld	r18, Z+
-    3ce4:	31 91       	ld	r19, Z+
-    3ce6:	41 91       	ld	r20, Z+
-    3ce8:	51 91       	ld	r21, Z+
-    3cea:	5f 01       	movw	r10, r30
-    3cec:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3cf0:	9b 01       	movw	r18, r22
-    3cf2:	ac 01       	movw	r20, r24
-    3cf4:	d8 01       	movw	r26, r16
-    3cf6:	f7 01       	movw	r30, r14
-    3cf8:	6b 2f       	mov	r22, r27
-    3cfa:	70 2f       	mov	r23, r16
-    3cfc:	8f 2f       	mov	r24, r31
-    3cfe:	9e 2d       	mov	r25, r14
-    3d00:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    3d04:	16 2f       	mov	r17, r22
-    3d06:	07 2f       	mov	r16, r23
-    3d08:	f8 2e       	mov	r15, r24
-    3d0a:	e9 2e       	mov	r14, r25
-    3d0c:	21 97       	sbiw	r28, 0x01	; 1
-    3d0e:	11 f7       	brne	.-60     	; 0x3cd4 <_ZN3IMU16vectorDotProductEPfS0_+0x28>
-    3d10:	a8 01       	movw	r20, r16
-    3d12:	97 01       	movw	r18, r14
-    3d14:	65 2f       	mov	r22, r21
-    3d16:	74 2f       	mov	r23, r20
-    3d18:	83 2f       	mov	r24, r19
-    3d1a:	92 2f       	mov	r25, r18
-    3d1c:	df 91       	pop	r29
-    3d1e:	cf 91       	pop	r28
-    3d20:	1f 91       	pop	r17
-    3d22:	0f 91       	pop	r16
-    3d24:	ff 90       	pop	r15
-    3d26:	ef 90       	pop	r14
-    3d28:	df 90       	pop	r13
-    3d2a:	cf 90       	pop	r12
-    3d2c:	bf 90       	pop	r11
-    3d2e:	af 90       	pop	r10
-    3d30:	08 95       	ret
-
-00003d32 <_ZN3IMU18vectorCrossProductEPfS0_S0_>:
-    3d32:	af 92       	push	r10
-    3d34:	bf 92       	push	r11
-    3d36:	cf 92       	push	r12
-    3d38:	df 92       	push	r13
-    3d3a:	ef 92       	push	r14
-    3d3c:	ff 92       	push	r15
-    3d3e:	0f 93       	push	r16
-    3d40:	1f 93       	push	r17
-    3d42:	cf 93       	push	r28
-    3d44:	df 93       	push	r29
-    3d46:	7c 01       	movw	r14, r24
-    3d48:	eb 01       	movw	r28, r22
-    3d4a:	8a 01       	movw	r16, r20
-    3d4c:	6c 81       	ldd	r22, Y+4	; 0x04
-    3d4e:	7d 81       	ldd	r23, Y+5	; 0x05
-    3d50:	8e 81       	ldd	r24, Y+6	; 0x06
-    3d52:	9f 81       	ldd	r25, Y+7	; 0x07
-    3d54:	fa 01       	movw	r30, r20
-    3d56:	20 85       	ldd	r18, Z+8	; 0x08
-    3d58:	31 85       	ldd	r19, Z+9	; 0x09
-    3d5a:	42 85       	ldd	r20, Z+10	; 0x0a
-    3d5c:	53 85       	ldd	r21, Z+11	; 0x0b
-    3d5e:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3d62:	5b 01       	movw	r10, r22
-    3d64:	6c 01       	movw	r12, r24
-    3d66:	68 85       	ldd	r22, Y+8	; 0x08
-    3d68:	79 85       	ldd	r23, Y+9	; 0x09
-    3d6a:	8a 85       	ldd	r24, Y+10	; 0x0a
-    3d6c:	9b 85       	ldd	r25, Y+11	; 0x0b
-    3d6e:	f8 01       	movw	r30, r16
-    3d70:	24 81       	ldd	r18, Z+4	; 0x04
-    3d72:	35 81       	ldd	r19, Z+5	; 0x05
-    3d74:	46 81       	ldd	r20, Z+6	; 0x06
-    3d76:	57 81       	ldd	r21, Z+7	; 0x07
-    3d78:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3d7c:	9b 01       	movw	r18, r22
-    3d7e:	ac 01       	movw	r20, r24
-    3d80:	c6 01       	movw	r24, r12
-    3d82:	b5 01       	movw	r22, r10
-    3d84:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    3d88:	f7 01       	movw	r30, r14
-    3d8a:	60 83       	st	Z, r22
-    3d8c:	71 83       	std	Z+1, r23	; 0x01
-    3d8e:	82 83       	std	Z+2, r24	; 0x02
-    3d90:	93 83       	std	Z+3, r25	; 0x03
-    3d92:	68 85       	ldd	r22, Y+8	; 0x08
-    3d94:	79 85       	ldd	r23, Y+9	; 0x09
-    3d96:	8a 85       	ldd	r24, Y+10	; 0x0a
-    3d98:	9b 85       	ldd	r25, Y+11	; 0x0b
-    3d9a:	f8 01       	movw	r30, r16
-    3d9c:	20 81       	ld	r18, Z
-    3d9e:	31 81       	ldd	r19, Z+1	; 0x01
-    3da0:	42 81       	ldd	r20, Z+2	; 0x02
-    3da2:	53 81       	ldd	r21, Z+3	; 0x03
-    3da4:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3da8:	5b 01       	movw	r10, r22
-    3daa:	6c 01       	movw	r12, r24
-    3dac:	68 81       	ld	r22, Y
-    3dae:	79 81       	ldd	r23, Y+1	; 0x01
-    3db0:	8a 81       	ldd	r24, Y+2	; 0x02
-    3db2:	9b 81       	ldd	r25, Y+3	; 0x03
-    3db4:	f8 01       	movw	r30, r16
-    3db6:	20 85       	ldd	r18, Z+8	; 0x08
-    3db8:	31 85       	ldd	r19, Z+9	; 0x09
-    3dba:	42 85       	ldd	r20, Z+10	; 0x0a
-    3dbc:	53 85       	ldd	r21, Z+11	; 0x0b
-    3dbe:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3dc2:	9b 01       	movw	r18, r22
-    3dc4:	ac 01       	movw	r20, r24
-    3dc6:	c6 01       	movw	r24, r12
-    3dc8:	b5 01       	movw	r22, r10
-    3dca:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    3dce:	f7 01       	movw	r30, r14
-    3dd0:	64 83       	std	Z+4, r22	; 0x04
-    3dd2:	75 83       	std	Z+5, r23	; 0x05
-    3dd4:	86 83       	std	Z+6, r24	; 0x06
-    3dd6:	97 83       	std	Z+7, r25	; 0x07
-    3dd8:	68 81       	ld	r22, Y
-    3dda:	79 81       	ldd	r23, Y+1	; 0x01
-    3ddc:	8a 81       	ldd	r24, Y+2	; 0x02
-    3dde:	9b 81       	ldd	r25, Y+3	; 0x03
-    3de0:	f8 01       	movw	r30, r16
-    3de2:	24 81       	ldd	r18, Z+4	; 0x04
-    3de4:	35 81       	ldd	r19, Z+5	; 0x05
-    3de6:	46 81       	ldd	r20, Z+6	; 0x06
-    3de8:	57 81       	ldd	r21, Z+7	; 0x07
-    3dea:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3dee:	5b 01       	movw	r10, r22
-    3df0:	6c 01       	movw	r12, r24
-    3df2:	6c 81       	ldd	r22, Y+4	; 0x04
-    3df4:	7d 81       	ldd	r23, Y+5	; 0x05
-    3df6:	8e 81       	ldd	r24, Y+6	; 0x06
-    3df8:	9f 81       	ldd	r25, Y+7	; 0x07
-    3dfa:	f8 01       	movw	r30, r16
-    3dfc:	20 81       	ld	r18, Z
-    3dfe:	31 81       	ldd	r19, Z+1	; 0x01
-    3e00:	42 81       	ldd	r20, Z+2	; 0x02
-    3e02:	53 81       	ldd	r21, Z+3	; 0x03
-    3e04:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3e08:	9b 01       	movw	r18, r22
-    3e0a:	ac 01       	movw	r20, r24
-    3e0c:	c6 01       	movw	r24, r12
-    3e0e:	b5 01       	movw	r22, r10
-    3e10:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
+    32cc:	af 92       	push	r10
+    32ce:	bf 92       	push	r11
+    32d0:	cf 92       	push	r12
+    32d2:	df 92       	push	r13
+    32d4:	ef 92       	push	r14
+    32d6:	ff 92       	push	r15
+    32d8:	0f 93       	push	r16
+    32da:	1f 93       	push	r17
+    32dc:	cf 93       	push	r28
+    32de:	df 93       	push	r29
+    32e0:	ec 01       	movw	r28, r24
+    32e2:	6a 89       	ldd	r22, Y+18	; 0x12
+    32e4:	7b 89       	ldd	r23, Y+19	; 0x13
+    32e6:	8c 89       	ldd	r24, Y+20	; 0x14
+    32e8:	9d 89       	ldd	r25, Y+21	; 0x15
+    32ea:	20 91 e4 07 	lds	r18, 0x07E4
+    32ee:	30 91 e5 07 	lds	r19, 0x07E5
+    32f2:	40 91 e6 07 	lds	r20, 0x07E6
+    32f6:	50 91 e7 07 	lds	r21, 0x07E7
+    32fa:	0e 94 7b 3e 	call	0x7cf6	; 0x7cf6 <__divsf3>
+    32fe:	0e 94 e3 3e 	call	0x7dc6	; 0x7dc6 <__fixsfsi>
+    3302:	d6 2e       	mov	r13, r22
+    3304:	c7 2e       	mov	r12, r23
+    3306:	b8 2e       	mov	r11, r24
+    3308:	a9 2e       	mov	r10, r25
+    330a:	6e 89       	ldd	r22, Y+22	; 0x16
+    330c:	7f 89       	ldd	r23, Y+23	; 0x17
+    330e:	88 8d       	ldd	r24, Y+24	; 0x18
+    3310:	99 8d       	ldd	r25, Y+25	; 0x19
+    3312:	20 91 fc 07 	lds	r18, 0x07FC
+    3316:	30 91 fd 07 	lds	r19, 0x07FD
+    331a:	40 91 fe 07 	lds	r20, 0x07FE
+    331e:	50 91 ff 07 	lds	r21, 0x07FF
+    3322:	0e 94 7b 3e 	call	0x7cf6	; 0x7cf6 <__divsf3>
+    3326:	0e 94 e3 3e 	call	0x7dc6	; 0x7dc6 <__fixsfsi>
+    332a:	16 2f       	mov	r17, r22
+    332c:	07 2f       	mov	r16, r23
+    332e:	f8 2e       	mov	r15, r24
+    3330:	e9 2e       	mov	r14, r25
+    3332:	cd e4       	ldi	r28, 0x4D	; 77
+    3334:	d0 e1       	ldi	r29, 0x10	; 16
+    3336:	ce 01       	movw	r24, r28
+    3338:	4d 2d       	mov	r20, r13
+    333a:	5c 2d       	mov	r21, r12
+    333c:	6b 2d       	mov	r22, r11
+    333e:	7a 2d       	mov	r23, r10
+    3340:	2a e0       	ldi	r18, 0x0A	; 10
+    3342:	30 e0       	ldi	r19, 0x00	; 0
+    3344:	0e 94 92 33 	call	0x6724	; 0x6724 <_ZN5Print5printEli>
+    3348:	ce 01       	movw	r24, r28
+    334a:	61 e9       	ldi	r22, 0x91	; 145
+    334c:	74 e0       	ldi	r23, 0x04	; 4
+    334e:	0e 94 07 33 	call	0x660e	; 0x660e <_ZN5Print5printEPKc>
+    3352:	ce 01       	movw	r24, r28
+    3354:	41 2f       	mov	r20, r17
+    3356:	50 2f       	mov	r21, r16
+    3358:	6f 2d       	mov	r22, r15
+    335a:	7e 2d       	mov	r23, r14
+    335c:	2a e0       	ldi	r18, 0x0A	; 10
+    335e:	30 e0       	ldi	r19, 0x00	; 0
+    3360:	0e 94 ea 33 	call	0x67d4	; 0x67d4 <_ZN5Print7printlnEli>
+    3364:	c9 e0       	ldi	r28, 0x09	; 9
+    3366:	d8 e0       	ldi	r29, 0x08	; 8
+    3368:	ce 01       	movw	r24, r28
+    336a:	60 e8       	ldi	r22, 0x80	; 128
+    336c:	2d 2d       	mov	r18, r13
+    336e:	3c 2d       	mov	r19, r12
+    3370:	4b 2d       	mov	r20, r11
+    3372:	5a 2d       	mov	r21, r10
+    3374:	0e 94 0a 07 	call	0xe14	; 0xe14 <_ZN8RoboClaw7SpeedM1Ehl>
+    3378:	ce 01       	movw	r24, r28
+    337a:	60 e8       	ldi	r22, 0x80	; 128
+    337c:	21 2f       	mov	r18, r17
+    337e:	30 2f       	mov	r19, r16
+    3380:	4f 2d       	mov	r20, r15
+    3382:	5e 2d       	mov	r21, r14
+    3384:	0e 94 34 07 	call	0xe68	; 0xe68 <_ZN8RoboClaw7SpeedM2Ehl>
+    3388:	df 91       	pop	r29
+    338a:	cf 91       	pop	r28
+    338c:	1f 91       	pop	r17
+    338e:	0f 91       	pop	r16
+    3390:	ff 90       	pop	r15
+    3392:	ef 90       	pop	r14
+    3394:	df 90       	pop	r13
+    3396:	cf 90       	pop	r12
+    3398:	bf 90       	pop	r11
+    339a:	af 90       	pop	r10
+    339c:	08 95       	ret
+
+0000339e <_ZN3ros9Publisher7publishEPKNS_3MsgE>:
+    339e:	cf 93       	push	r28
+    33a0:	df 93       	push	r29
+    33a2:	fc 01       	movw	r30, r24
+    33a4:	ab 01       	movw	r20, r22
+    33a6:	86 81       	ldd	r24, Z+6	; 0x06
+    33a8:	97 81       	ldd	r25, Z+7	; 0x07
+    33aa:	ec 01       	movw	r28, r24
+    33ac:	a8 81       	ld	r26, Y
+    33ae:	b9 81       	ldd	r27, Y+1	; 0x01
+    33b0:	64 81       	ldd	r22, Z+4	; 0x04
+    33b2:	75 81       	ldd	r23, Z+5	; 0x05
+    33b4:	ed 91       	ld	r30, X+
+    33b6:	fc 91       	ld	r31, X
+    33b8:	19 95       	eicall
+    33ba:	df 91       	pop	r29
+    33bc:	cf 91       	pop	r28
+    33be:	08 95       	ret
+
+000033c0 <_ZN15ArduinoHardware4initEv>:
+    33c0:	fc 01       	movw	r30, r24
+    33c2:	42 81       	ldd	r20, Z+2	; 0x02
+    33c4:	53 81       	ldd	r21, Z+3	; 0x03
+    33c6:	64 81       	ldd	r22, Z+4	; 0x04
+    33c8:	75 81       	ldd	r23, Z+5	; 0x05
+    33ca:	80 81       	ld	r24, Z
+    33cc:	91 81       	ldd	r25, Z+1	; 0x01
+    33ce:	0e 94 18 31 	call	0x6230	; 0x6230 <_ZN14HardwareSerial5beginEl>
+    33d2:	08 95       	ret
+
+000033d4 <_ZN3IMU15Compass_HeadingEv>:
+    33d4:	2f 92       	push	r2
+    33d6:	3f 92       	push	r3
+    33d8:	4f 92       	push	r4
+    33da:	5f 92       	push	r5
+    33dc:	6f 92       	push	r6
+    33de:	7f 92       	push	r7
+    33e0:	8f 92       	push	r8
+    33e2:	9f 92       	push	r9
+    33e4:	af 92       	push	r10
+    33e6:	bf 92       	push	r11
+    33e8:	cf 92       	push	r12
+    33ea:	df 92       	push	r13
+    33ec:	ef 92       	push	r14
+    33ee:	ff 92       	push	r15
+    33f0:	0f 93       	push	r16
+    33f2:	1f 93       	push	r17
+    33f4:	df 93       	push	r29
+    33f6:	cf 93       	push	r28
+    33f8:	cd b7       	in	r28, 0x3d	; 61
+    33fa:	de b7       	in	r29, 0x3e	; 62
+    33fc:	64 97       	sbiw	r28, 0x14	; 20
+    33fe:	0f b6       	in	r0, 0x3f	; 63
+    3400:	f8 94       	cli
+    3402:	de bf       	out	0x3e, r29	; 62
+    3404:	0f be       	out	0x3f, r0	; 63
+    3406:	cd bf       	out	0x3d, r28	; 61
+    3408:	e0 90 3d 07 	lds	r14, 0x073D
+    340c:	f0 90 3e 07 	lds	r15, 0x073E
+    3410:	00 91 3f 07 	lds	r16, 0x073F
+    3414:	10 91 40 07 	lds	r17, 0x0740
+    3418:	c8 01       	movw	r24, r16
+    341a:	b7 01       	movw	r22, r14
+    341c:	0e 94 78 3e 	call	0x7cf0	; 0x7cf0 <cos>
+    3420:	69 83       	std	Y+1, r22	; 0x01
+    3422:	7a 83       	std	Y+2, r23	; 0x02
+    3424:	8b 83       	std	Y+3, r24	; 0x03
+    3426:	9c 83       	std	Y+4, r25	; 0x04
+    3428:	c8 01       	movw	r24, r16
+    342a:	b7 01       	movw	r22, r14
+    342c:	0e 94 be 40 	call	0x817c	; 0x817c <sin>
+    3430:	6d 83       	std	Y+5, r22	; 0x05
+    3432:	7e 83       	std	Y+6, r23	; 0x06
+    3434:	8f 83       	std	Y+7, r24	; 0x07
+    3436:	98 87       	std	Y+8, r25	; 0x08
+    3438:	e0 90 41 07 	lds	r14, 0x0741
+    343c:	f0 90 42 07 	lds	r15, 0x0742
+    3440:	00 91 43 07 	lds	r16, 0x0743
+    3444:	10 91 44 07 	lds	r17, 0x0744
+    3448:	c8 01       	movw	r24, r16
+    344a:	b7 01       	movw	r22, r14
+    344c:	0e 94 78 3e 	call	0x7cf0	; 0x7cf0 <cos>
+    3450:	6d 87       	std	Y+13, r22	; 0x0d
+    3452:	7e 87       	std	Y+14, r23	; 0x0e
+    3454:	8f 87       	std	Y+15, r24	; 0x0f
+    3456:	98 8b       	std	Y+16, r25	; 0x10
+    3458:	c8 01       	movw	r24, r16
+    345a:	b7 01       	movw	r22, r14
+    345c:	0e 94 be 40 	call	0x817c	; 0x817c <sin>
+    3460:	69 87       	std	Y+9, r22	; 0x09
+    3462:	7a 87       	std	Y+10, r23	; 0x0a
+    3464:	8b 87       	std	Y+11, r24	; 0x0b
+    3466:	9c 87       	std	Y+12, r25	; 0x0c
+    3468:	e0 90 4e 05 	lds	r14, 0x054E
+    346c:	f0 90 4f 05 	lds	r15, 0x054F
+    3470:	8c e1       	ldi	r24, 0x1C	; 28
+    3472:	93 e0       	ldi	r25, 0x03	; 3
+    3474:	e8 9e       	mul	r14, r24
+    3476:	b0 01       	movw	r22, r0
+    3478:	e9 9e       	mul	r14, r25
+    347a:	70 0d       	add	r23, r0
+    347c:	f8 9e       	mul	r15, r24
+    347e:	70 0d       	add	r23, r0
+    3480:	11 24       	eor	r1, r1
+    3482:	80 91 df 06 	lds	r24, 0x06DF
+    3486:	90 91 e0 06 	lds	r25, 0x06E0
+    348a:	68 0f       	add	r22, r24
+    348c:	79 1f       	adc	r23, r25
+    348e:	88 27       	eor	r24, r24
+    3490:	77 fd       	sbrc	r23, 7
+    3492:	80 95       	com	r24
+    3494:	98 2f       	mov	r25, r24
+    3496:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    349a:	20 e0       	ldi	r18, 0x00	; 0
+    349c:	30 e4       	ldi	r19, 0x40	; 64
+    349e:	48 e7       	ldi	r20, 0x78	; 120
+    34a0:	54 e4       	ldi	r21, 0x44	; 68
+    34a2:	0e 94 7b 3e 	call	0x7cf6	; 0x7cf6 <__divsf3>
+    34a6:	5b 01       	movw	r10, r22
+    34a8:	6c 01       	movw	r12, r24
+    34aa:	b7 01       	movw	r22, r14
+    34ac:	88 27       	eor	r24, r24
+    34ae:	77 fd       	sbrc	r23, 7
+    34b0:	80 95       	com	r24
+    34b2:	98 2f       	mov	r25, r24
+    34b4:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    34b8:	20 e0       	ldi	r18, 0x00	; 0
+    34ba:	30 e0       	ldi	r19, 0x00	; 0
+    34bc:	40 e0       	ldi	r20, 0x00	; 0
+    34be:	5f e3       	ldi	r21, 0x3F	; 63
+    34c0:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    34c4:	9b 01       	movw	r18, r22
+    34c6:	ac 01       	movw	r20, r24
+    34c8:	c6 01       	movw	r24, r12
+    34ca:	b5 01       	movw	r22, r10
+    34cc:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    34d0:	56 2e       	mov	r5, r22
+    34d2:	47 2e       	mov	r4, r23
+    34d4:	38 2e       	mov	r3, r24
+    34d6:	29 2e       	mov	r2, r25
+    34d8:	a2 01       	movw	r20, r4
+    34da:	91 01       	movw	r18, r2
+    34dc:	85 2f       	mov	r24, r21
+    34de:	94 2f       	mov	r25, r20
+    34e0:	a3 2f       	mov	r26, r19
+    34e2:	b2 2f       	mov	r27, r18
+    34e4:	80 93 e5 06 	sts	0x06E5, r24
+    34e8:	90 93 e6 06 	sts	0x06E6, r25
+    34ec:	a0 93 e7 06 	sts	0x06E7, r26
+    34f0:	b0 93 e8 06 	sts	0x06E8, r27
+    34f4:	e0 90 50 05 	lds	r14, 0x0550
+    34f8:	f0 90 51 05 	lds	r15, 0x0551
+    34fc:	89 ec       	ldi	r24, 0xC9	; 201
+    34fe:	91 e0       	ldi	r25, 0x01	; 1
+    3500:	e8 9e       	mul	r14, r24
+    3502:	b0 01       	movw	r22, r0
+    3504:	e9 9e       	mul	r14, r25
+    3506:	70 0d       	add	r23, r0
+    3508:	f8 9e       	mul	r15, r24
+    350a:	70 0d       	add	r23, r0
+    350c:	11 24       	eor	r1, r1
+    350e:	80 91 e1 06 	lds	r24, 0x06E1
+    3512:	90 91 e2 06 	lds	r25, 0x06E2
+    3516:	68 0f       	add	r22, r24
+    3518:	79 1f       	adc	r23, r25
+    351a:	88 27       	eor	r24, r24
+    351c:	77 fd       	sbrc	r23, 7
+    351e:	80 95       	com	r24
+    3520:	98 2f       	mov	r25, r24
+    3522:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    3526:	20 e0       	ldi	r18, 0x00	; 0
+    3528:	30 e0       	ldi	r19, 0x00	; 0
+    352a:	48 e7       	ldi	r20, 0x78	; 120
+    352c:	54 e4       	ldi	r21, 0x44	; 68
+    352e:	0e 94 7b 3e 	call	0x7cf6	; 0x7cf6 <__divsf3>
+    3532:	5b 01       	movw	r10, r22
+    3534:	6c 01       	movw	r12, r24
+    3536:	b7 01       	movw	r22, r14
+    3538:	88 27       	eor	r24, r24
+    353a:	77 fd       	sbrc	r23, 7
+    353c:	80 95       	com	r24
+    353e:	98 2f       	mov	r25, r24
+    3540:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    3544:	20 e0       	ldi	r18, 0x00	; 0
+    3546:	30 e0       	ldi	r19, 0x00	; 0
+    3548:	40 e0       	ldi	r20, 0x00	; 0
+    354a:	5f e3       	ldi	r21, 0x3F	; 63
+    354c:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3550:	9b 01       	movw	r18, r22
+    3552:	ac 01       	movw	r20, r24
+    3554:	c6 01       	movw	r24, r12
+    3556:	b5 01       	movw	r22, r10
+    3558:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    355c:	d6 2e       	mov	r13, r22
+    355e:	c7 2e       	mov	r12, r23
+    3560:	b8 2e       	mov	r11, r24
+    3562:	a9 2e       	mov	r10, r25
+    3564:	a6 01       	movw	r20, r12
+    3566:	95 01       	movw	r18, r10
+    3568:	85 2f       	mov	r24, r21
+    356a:	94 2f       	mov	r25, r20
+    356c:	a3 2f       	mov	r26, r19
+    356e:	b2 2f       	mov	r27, r18
+    3570:	80 93 e9 06 	sts	0x06E9, r24
+    3574:	90 93 ea 06 	sts	0x06EA, r25
+    3578:	a0 93 eb 06 	sts	0x06EB, r26
+    357c:	b0 93 ec 06 	sts	0x06EC, r27
+    3580:	e0 90 52 05 	lds	r14, 0x0552
+    3584:	f0 90 53 05 	lds	r15, 0x0553
+    3588:	88 ea       	ldi	r24, 0xA8	; 168
+    358a:	91 e0       	ldi	r25, 0x01	; 1
+    358c:	e8 9e       	mul	r14, r24
+    358e:	b0 01       	movw	r22, r0
+    3590:	e9 9e       	mul	r14, r25
+    3592:	70 0d       	add	r23, r0
+    3594:	f8 9e       	mul	r15, r24
+    3596:	70 0d       	add	r23, r0
+    3598:	11 24       	eor	r1, r1
+    359a:	80 91 e3 06 	lds	r24, 0x06E3
+    359e:	90 91 e4 06 	lds	r25, 0x06E4
+    35a2:	68 0f       	add	r22, r24
+    35a4:	79 1f       	adc	r23, r25
+    35a6:	88 27       	eor	r24, r24
+    35a8:	77 fd       	sbrc	r23, 7
+    35aa:	80 95       	com	r24
+    35ac:	98 2f       	mov	r25, r24
+    35ae:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    35b2:	20 e0       	ldi	r18, 0x00	; 0
+    35b4:	30 e4       	ldi	r19, 0x40	; 64
+    35b6:	4d e4       	ldi	r20, 0x4D	; 77
+    35b8:	54 e4       	ldi	r21, 0x44	; 68
+    35ba:	0e 94 7b 3e 	call	0x7cf6	; 0x7cf6 <__divsf3>
+    35be:	3b 01       	movw	r6, r22
+    35c0:	4c 01       	movw	r8, r24
+    35c2:	b7 01       	movw	r22, r14
+    35c4:	88 27       	eor	r24, r24
+    35c6:	77 fd       	sbrc	r23, 7
+    35c8:	80 95       	com	r24
+    35ca:	98 2f       	mov	r25, r24
+    35cc:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    35d0:	20 e0       	ldi	r18, 0x00	; 0
+    35d2:	30 e0       	ldi	r19, 0x00	; 0
+    35d4:	40 e0       	ldi	r20, 0x00	; 0
+    35d6:	5f e3       	ldi	r21, 0x3F	; 63
+    35d8:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    35dc:	9b 01       	movw	r18, r22
+    35de:	ac 01       	movw	r20, r24
+    35e0:	c4 01       	movw	r24, r8
+    35e2:	b3 01       	movw	r22, r6
+    35e4:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    35e8:	8b 01       	movw	r16, r22
+    35ea:	7c 01       	movw	r14, r24
+    35ec:	86 2f       	mov	r24, r22
+    35ee:	91 2f       	mov	r25, r17
+    35f0:	ae 2d       	mov	r26, r14
+    35f2:	bf 2d       	mov	r27, r15
+    35f4:	80 93 ed 06 	sts	0x06ED, r24
+    35f8:	90 93 ee 06 	sts	0x06EE, r25
+    35fc:	a0 93 ef 06 	sts	0x06EF, r26
+    3600:	b0 93 f0 06 	sts	0x06F0, r27
+    3604:	a6 01       	movw	r20, r12
+    3606:	95 01       	movw	r18, r10
+    3608:	65 2f       	mov	r22, r21
+    360a:	74 2f       	mov	r23, r20
+    360c:	83 2f       	mov	r24, r19
+    360e:	92 2f       	mov	r25, r18
+    3610:	29 81       	ldd	r18, Y+1	; 0x01
+    3612:	3a 81       	ldd	r19, Y+2	; 0x02
+    3614:	4b 81       	ldd	r20, Y+3	; 0x03
+    3616:	5c 81       	ldd	r21, Y+4	; 0x04
+    3618:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    361c:	3b 01       	movw	r6, r22
+    361e:	4c 01       	movw	r8, r24
+    3620:	60 2f       	mov	r22, r16
+    3622:	71 2f       	mov	r23, r17
+    3624:	8e 2d       	mov	r24, r14
+    3626:	9f 2d       	mov	r25, r15
+    3628:	2d 81       	ldd	r18, Y+5	; 0x05
+    362a:	3e 81       	ldd	r19, Y+6	; 0x06
+    362c:	4f 81       	ldd	r20, Y+7	; 0x07
+    362e:	58 85       	ldd	r21, Y+8	; 0x08
+    3630:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3634:	9b 01       	movw	r18, r22
+    3636:	ac 01       	movw	r20, r24
+    3638:	c4 01       	movw	r24, r8
+    363a:	b3 01       	movw	r22, r6
+    363c:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    3640:	9b 01       	movw	r18, r22
+    3642:	ac 01       	movw	r20, r24
+    3644:	50 58       	subi	r21, 0x80	; 128
+    3646:	29 8b       	std	Y+17, r18	; 0x11
+    3648:	3a 8b       	std	Y+18, r19	; 0x12
+    364a:	4b 8b       	std	Y+19, r20	; 0x13
+    364c:	5c 8b       	std	Y+20, r21	; 0x14
+    364e:	a2 01       	movw	r20, r4
+    3650:	91 01       	movw	r18, r2
+    3652:	65 2f       	mov	r22, r21
+    3654:	74 2f       	mov	r23, r20
+    3656:	83 2f       	mov	r24, r19
+    3658:	92 2f       	mov	r25, r18
+    365a:	2d 85       	ldd	r18, Y+13	; 0x0d
+    365c:	3e 85       	ldd	r19, Y+14	; 0x0e
+    365e:	4f 85       	ldd	r20, Y+15	; 0x0f
+    3660:	58 89       	ldd	r21, Y+16	; 0x10
+    3662:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3666:	3b 01       	movw	r6, r22
+    3668:	4c 01       	movw	r8, r24
+    366a:	a6 01       	movw	r20, r12
+    366c:	95 01       	movw	r18, r10
+    366e:	65 2f       	mov	r22, r21
+    3670:	74 2f       	mov	r23, r20
+    3672:	83 2f       	mov	r24, r19
+    3674:	92 2f       	mov	r25, r18
+    3676:	2d 81       	ldd	r18, Y+5	; 0x05
+    3678:	3e 81       	ldd	r19, Y+6	; 0x06
+    367a:	4f 81       	ldd	r20, Y+7	; 0x07
+    367c:	58 85       	ldd	r21, Y+8	; 0x08
+    367e:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3682:	29 85       	ldd	r18, Y+9	; 0x09
+    3684:	3a 85       	ldd	r19, Y+10	; 0x0a
+    3686:	4b 85       	ldd	r20, Y+11	; 0x0b
+    3688:	5c 85       	ldd	r21, Y+12	; 0x0c
+    368a:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    368e:	9b 01       	movw	r18, r22
+    3690:	ac 01       	movw	r20, r24
+    3692:	c4 01       	movw	r24, r8
+    3694:	b3 01       	movw	r22, r6
+    3696:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    369a:	5b 01       	movw	r10, r22
+    369c:	6c 01       	movw	r12, r24
+    369e:	60 2f       	mov	r22, r16
+    36a0:	71 2f       	mov	r23, r17
+    36a2:	8e 2d       	mov	r24, r14
+    36a4:	9f 2d       	mov	r25, r15
+    36a6:	29 81       	ldd	r18, Y+1	; 0x01
+    36a8:	3a 81       	ldd	r19, Y+2	; 0x02
+    36aa:	4b 81       	ldd	r20, Y+3	; 0x03
+    36ac:	5c 81       	ldd	r21, Y+4	; 0x04
+    36ae:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    36b2:	29 85       	ldd	r18, Y+9	; 0x09
+    36b4:	3a 85       	ldd	r19, Y+10	; 0x0a
+    36b6:	4b 85       	ldd	r20, Y+11	; 0x0b
+    36b8:	5c 85       	ldd	r21, Y+12	; 0x0c
+    36ba:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    36be:	9b 01       	movw	r18, r22
+    36c0:	ac 01       	movw	r20, r24
+    36c2:	c6 01       	movw	r24, r12
+    36c4:	b5 01       	movw	r22, r10
+    36c6:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    36ca:	9b 01       	movw	r18, r22
+    36cc:	ac 01       	movw	r20, r24
+    36ce:	69 89       	ldd	r22, Y+17	; 0x11
+    36d0:	7a 89       	ldd	r23, Y+18	; 0x12
+    36d2:	8b 89       	ldd	r24, Y+19	; 0x13
+    36d4:	9c 89       	ldd	r25, Y+20	; 0x14
+    36d6:	0e 94 21 3e 	call	0x7c42	; 0x7c42 <atan2>
+    36da:	60 93 f1 06 	sts	0x06F1, r22
+    36de:	70 93 f2 06 	sts	0x06F2, r23
+    36e2:	80 93 f3 06 	sts	0x06F3, r24
+    36e6:	90 93 f4 06 	sts	0x06F4, r25
+    36ea:	64 96       	adiw	r28, 0x14	; 20
+    36ec:	0f b6       	in	r0, 0x3f	; 63
+    36ee:	f8 94       	cli
+    36f0:	de bf       	out	0x3e, r29	; 62
+    36f2:	0f be       	out	0x3f, r0	; 63
+    36f4:	cd bf       	out	0x3d, r28	; 61
+    36f6:	cf 91       	pop	r28
+    36f8:	df 91       	pop	r29
+    36fa:	1f 91       	pop	r17
+    36fc:	0f 91       	pop	r16
+    36fe:	ff 90       	pop	r15
+    3700:	ef 90       	pop	r14
+    3702:	df 90       	pop	r13
+    3704:	cf 90       	pop	r12
+    3706:	bf 90       	pop	r11
+    3708:	af 90       	pop	r10
+    370a:	9f 90       	pop	r9
+    370c:	8f 90       	pop	r8
+    370e:	7f 90       	pop	r7
+    3710:	6f 90       	pop	r6
+    3712:	5f 90       	pop	r5
+    3714:	4f 90       	pop	r4
+    3716:	3f 90       	pop	r3
+    3718:	2f 90       	pop	r2
+    371a:	08 95       	ret
+
+0000371c <_ZN3IMU12Euler_anglesEv>:
+    371c:	60 91 70 05 	lds	r22, 0x0570
+    3720:	70 91 71 05 	lds	r23, 0x0571
+    3724:	80 91 72 05 	lds	r24, 0x0572
+    3728:	90 91 73 05 	lds	r25, 0x0573
+    372c:	0e 94 fb 3d 	call	0x7bf6	; 0x7bf6 <asin>
+    3730:	90 58       	subi	r25, 0x80	; 128
+    3732:	60 93 41 07 	sts	0x0741, r22
+    3736:	70 93 42 07 	sts	0x0742, r23
+    373a:	80 93 43 07 	sts	0x0743, r24
+    373e:	90 93 44 07 	sts	0x0744, r25
+    3742:	60 91 74 05 	lds	r22, 0x0574
+    3746:	70 91 75 05 	lds	r23, 0x0575
+    374a:	80 91 76 05 	lds	r24, 0x0576
+    374e:	90 91 77 05 	lds	r25, 0x0577
+    3752:	20 91 78 05 	lds	r18, 0x0578
+    3756:	30 91 79 05 	lds	r19, 0x0579
+    375a:	40 91 7a 05 	lds	r20, 0x057A
+    375e:	50 91 7b 05 	lds	r21, 0x057B
+    3762:	0e 94 21 3e 	call	0x7c42	; 0x7c42 <atan2>
+    3766:	60 93 3d 07 	sts	0x073D, r22
+    376a:	70 93 3e 07 	sts	0x073E, r23
+    376e:	80 93 3f 07 	sts	0x073F, r24
+    3772:	90 93 40 07 	sts	0x0740, r25
+    3776:	60 91 64 05 	lds	r22, 0x0564
+    377a:	70 91 65 05 	lds	r23, 0x0565
+    377e:	80 91 66 05 	lds	r24, 0x0566
+    3782:	90 91 67 05 	lds	r25, 0x0567
+    3786:	20 91 58 05 	lds	r18, 0x0558
+    378a:	30 91 59 05 	lds	r19, 0x0559
+    378e:	40 91 5a 05 	lds	r20, 0x055A
+    3792:	50 91 5b 05 	lds	r21, 0x055B
+    3796:	0e 94 21 3e 	call	0x7c42	; 0x7c42 <atan2>
+    379a:	60 93 45 07 	sts	0x0745, r22
+    379e:	70 93 46 07 	sts	0x0746, r23
+    37a2:	80 93 47 07 	sts	0x0747, r24
+    37a6:	90 93 48 07 	sts	0x0748, r25
+    37aa:	08 95       	ret
+
+000037ac <_ZN3IMU7initI2CEv>:
+    37ac:	8f ea       	ldi	r24, 0xAF	; 175
+    37ae:	90 e1       	ldi	r25, 0x10	; 16
+    37b0:	0e 94 3c 36 	call	0x6c78	; 0x6c78 <_ZN7TwoWire5beginEv>
+    37b4:	08 95       	ret
+
+000037b6 <_ZN3IMU8initGyroEv>:
+    37b6:	cf 93       	push	r28
+    37b8:	df 93       	push	r29
+    37ba:	c7 e8       	ldi	r28, 0x87	; 135
+    37bc:	d7 e0       	ldi	r29, 0x07	; 7
+    37be:	ce 01       	movw	r24, r28
+    37c0:	60 e2       	ldi	r22, 0x20	; 32
+    37c2:	4f e0       	ldi	r20, 0x0F	; 15
+    37c4:	0e 94 15 02 	call	0x42a	; 0x42a <_ZN8L3G4200D8writeRegEhh>
+    37c8:	ce 01       	movw	r24, r28
+    37ca:	63 e2       	ldi	r22, 0x23	; 35
+    37cc:	40 e2       	ldi	r20, 0x20	; 32
+    37ce:	0e 94 15 02 	call	0x42a	; 0x42a <_ZN8L3G4200D8writeRegEhh>
+    37d2:	df 91       	pop	r29
+    37d4:	cf 91       	pop	r28
+    37d6:	08 95       	ret
+
+000037d8 <_ZN3IMU8readGyroEv>:
+    37d8:	0f 93       	push	r16
+    37da:	1f 93       	push	r17
+    37dc:	cf 93       	push	r28
+    37de:	df 93       	push	r29
+    37e0:	87 e8       	ldi	r24, 0x87	; 135
+    37e2:	97 e0       	ldi	r25, 0x07	; 7
+    37e4:	0e 94 3b 02 	call	0x476	; 0x476 <_ZN8L3G4200D4readEv>
+    37e8:	60 91 87 07 	lds	r22, 0x0787
+    37ec:	70 91 88 07 	lds	r23, 0x0788
+    37f0:	80 91 89 07 	lds	r24, 0x0789
+    37f4:	90 91 8a 07 	lds	r25, 0x078A
+    37f8:	0e 94 e3 3e 	call	0x7dc6	; 0x7dc6 <__fixsfsi>
+    37fc:	eb 01       	movw	r28, r22
+    37fe:	70 93 bc 06 	sts	0x06BC, r23
+    3802:	60 93 bb 06 	sts	0x06BB, r22
+    3806:	60 91 8b 07 	lds	r22, 0x078B
+    380a:	70 91 8c 07 	lds	r23, 0x078C
+    380e:	80 91 8d 07 	lds	r24, 0x078D
+    3812:	90 91 8e 07 	lds	r25, 0x078E
+    3816:	0e 94 e3 3e 	call	0x7dc6	; 0x7dc6 <__fixsfsi>
+    381a:	8b 01       	movw	r16, r22
+    381c:	70 93 be 06 	sts	0x06BE, r23
+    3820:	60 93 bd 06 	sts	0x06BD, r22
+    3824:	60 91 8f 07 	lds	r22, 0x078F
+    3828:	70 91 90 07 	lds	r23, 0x0790
+    382c:	80 91 91 07 	lds	r24, 0x0791
+    3830:	90 91 92 07 	lds	r25, 0x0792
+    3834:	0e 94 e3 3e 	call	0x7dc6	; 0x7dc6 <__fixsfsi>
+    3838:	9b 01       	movw	r18, r22
+    383a:	70 93 c0 06 	sts	0x06C0, r23
+    383e:	60 93 bf 06 	sts	0x06BF, r22
+    3842:	80 91 c7 06 	lds	r24, 0x06C7
+    3846:	90 91 c8 06 	lds	r25, 0x06C8
+    384a:	c8 1b       	sub	r28, r24
+    384c:	d9 0b       	sbc	r29, r25
+    384e:	40 91 42 05 	lds	r20, 0x0542
+    3852:	50 91 43 05 	lds	r21, 0x0543
+    3856:	c4 9f       	mul	r28, r20
+    3858:	c0 01       	movw	r24, r0
+    385a:	c5 9f       	mul	r28, r21
+    385c:	90 0d       	add	r25, r0
+    385e:	d4 9f       	mul	r29, r20
+    3860:	90 0d       	add	r25, r0
+    3862:	11 24       	eor	r1, r1
+    3864:	90 93 d4 06 	sts	0x06D4, r25
+    3868:	80 93 d3 06 	sts	0x06D3, r24
+    386c:	80 91 c9 06 	lds	r24, 0x06C9
+    3870:	90 91 ca 06 	lds	r25, 0x06CA
+    3874:	08 1b       	sub	r16, r24
+    3876:	19 0b       	sbc	r17, r25
+    3878:	40 91 44 05 	lds	r20, 0x0544
+    387c:	50 91 45 05 	lds	r21, 0x0545
+    3880:	04 9f       	mul	r16, r20
+    3882:	c0 01       	movw	r24, r0
+    3884:	05 9f       	mul	r16, r21
+    3886:	90 0d       	add	r25, r0
+    3888:	14 9f       	mul	r17, r20
+    388a:	90 0d       	add	r25, r0
+    388c:	11 24       	eor	r1, r1
+    388e:	90 93 d6 06 	sts	0x06D6, r25
+    3892:	80 93 d5 06 	sts	0x06D5, r24
+    3896:	80 91 cb 06 	lds	r24, 0x06CB
+    389a:	90 91 cc 06 	lds	r25, 0x06CC
+    389e:	28 1b       	sub	r18, r24
+    38a0:	39 0b       	sbc	r19, r25
+    38a2:	40 91 46 05 	lds	r20, 0x0546
+    38a6:	50 91 47 05 	lds	r21, 0x0547
+    38aa:	24 9f       	mul	r18, r20
+    38ac:	c0 01       	movw	r24, r0
+    38ae:	25 9f       	mul	r18, r21
+    38b0:	90 0d       	add	r25, r0
+    38b2:	34 9f       	mul	r19, r20
+    38b4:	90 0d       	add	r25, r0
+    38b6:	11 24       	eor	r1, r1
+    38b8:	90 93 d8 06 	sts	0x06D8, r25
+    38bc:	80 93 d7 06 	sts	0x06D7, r24
+    38c0:	df 91       	pop	r29
+    38c2:	cf 91       	pop	r28
+    38c4:	1f 91       	pop	r17
+    38c6:	0f 91       	pop	r16
+    38c8:	08 95       	ret
+
+000038ca <_ZN3IMU9initAccelEv>:
+    38ca:	cf 93       	push	r28
+    38cc:	df 93       	push	r29
+    38ce:	c3 e9       	ldi	r28, 0x93	; 147
+    38d0:	d7 e0       	ldi	r29, 0x07	; 7
+    38d2:	ce 01       	movw	r24, r28
+    38d4:	60 e2       	ldi	r22, 0x20	; 32
+    38d6:	47 e2       	ldi	r20, 0x27	; 39
+    38d8:	0e 94 ef 02 	call	0x5de	; 0x5de <_ZN6LSM30311writeAccRegEhh>
+    38dc:	ce 01       	movw	r24, r28
+    38de:	63 e2       	ldi	r22, 0x23	; 35
+    38e0:	40 e3       	ldi	r20, 0x30	; 48
+    38e2:	0e 94 ef 02 	call	0x5de	; 0x5de <_ZN6LSM30311writeAccRegEhh>
+    38e6:	df 91       	pop	r29
+    38e8:	cf 91       	pop	r28
+    38ea:	08 95       	ret
+
+000038ec <_ZN3IMU9readAccelEv>:
+    38ec:	0f 93       	push	r16
+    38ee:	1f 93       	push	r17
+    38f0:	cf 93       	push	r28
+    38f2:	df 93       	push	r29
+    38f4:	83 e9       	ldi	r24, 0x93	; 147
+    38f6:	97 e0       	ldi	r25, 0x07	; 7
+    38f8:	0e 94 97 03 	call	0x72e	; 0x72e <_ZN6LSM3037readAccEv>
+    38fc:	60 91 93 07 	lds	r22, 0x0793
+    3900:	70 91 94 07 	lds	r23, 0x0794
+    3904:	80 91 95 07 	lds	r24, 0x0795
+    3908:	90 91 96 07 	lds	r25, 0x0796
+    390c:	0e 94 e3 3e 	call	0x7dc6	; 0x7dc6 <__fixsfsi>
+    3910:	eb 01       	movw	r28, r22
+    3912:	70 93 c2 06 	sts	0x06C2, r23
+    3916:	60 93 c1 06 	sts	0x06C1, r22
+    391a:	60 91 97 07 	lds	r22, 0x0797
+    391e:	70 91 98 07 	lds	r23, 0x0798
+    3922:	80 91 99 07 	lds	r24, 0x0799
+    3926:	90 91 9a 07 	lds	r25, 0x079A
+    392a:	0e 94 e3 3e 	call	0x7dc6	; 0x7dc6 <__fixsfsi>
+    392e:	8b 01       	movw	r16, r22
+    3930:	70 93 c4 06 	sts	0x06C4, r23
+    3934:	60 93 c3 06 	sts	0x06C3, r22
+    3938:	60 91 9b 07 	lds	r22, 0x079B
+    393c:	70 91 9c 07 	lds	r23, 0x079C
+    3940:	80 91 9d 07 	lds	r24, 0x079D
+    3944:	90 91 9e 07 	lds	r25, 0x079E
+    3948:	0e 94 e3 3e 	call	0x7dc6	; 0x7dc6 <__fixsfsi>
+    394c:	9b 01       	movw	r18, r22
+    394e:	70 93 c6 06 	sts	0x06C6, r23
+    3952:	60 93 c5 06 	sts	0x06C5, r22
+    3956:	80 91 cd 06 	lds	r24, 0x06CD
+    395a:	90 91 ce 06 	lds	r25, 0x06CE
+    395e:	c8 1b       	sub	r28, r24
+    3960:	d9 0b       	sbc	r29, r25
+    3962:	40 91 48 05 	lds	r20, 0x0548
+    3966:	50 91 49 05 	lds	r21, 0x0549
+    396a:	c4 9f       	mul	r28, r20
+    396c:	c0 01       	movw	r24, r0
+    396e:	c5 9f       	mul	r28, r21
+    3970:	90 0d       	add	r25, r0
+    3972:	d4 9f       	mul	r29, r20
+    3974:	90 0d       	add	r25, r0
+    3976:	11 24       	eor	r1, r1
+    3978:	90 93 da 06 	sts	0x06DA, r25
+    397c:	80 93 d9 06 	sts	0x06D9, r24
+    3980:	80 91 cf 06 	lds	r24, 0x06CF
+    3984:	90 91 d0 06 	lds	r25, 0x06D0
+    3988:	08 1b       	sub	r16, r24
+    398a:	19 0b       	sbc	r17, r25
+    398c:	40 91 4a 05 	lds	r20, 0x054A
+    3990:	50 91 4b 05 	lds	r21, 0x054B
+    3994:	04 9f       	mul	r16, r20
+    3996:	c0 01       	movw	r24, r0
+    3998:	05 9f       	mul	r16, r21
+    399a:	90 0d       	add	r25, r0
+    399c:	14 9f       	mul	r17, r20
+    399e:	90 0d       	add	r25, r0
+    39a0:	11 24       	eor	r1, r1
+    39a2:	90 93 dc 06 	sts	0x06DC, r25
+    39a6:	80 93 db 06 	sts	0x06DB, r24
+    39aa:	80 91 d1 06 	lds	r24, 0x06D1
+    39ae:	90 91 d2 06 	lds	r25, 0x06D2
+    39b2:	28 1b       	sub	r18, r24
+    39b4:	39 0b       	sbc	r19, r25
+    39b6:	40 91 4c 05 	lds	r20, 0x054C
+    39ba:	50 91 4d 05 	lds	r21, 0x054D
+    39be:	24 9f       	mul	r18, r20
+    39c0:	c0 01       	movw	r24, r0
+    39c2:	25 9f       	mul	r18, r21
+    39c4:	90 0d       	add	r25, r0
+    39c6:	34 9f       	mul	r19, r20
+    39c8:	90 0d       	add	r25, r0
+    39ca:	11 24       	eor	r1, r1
+    39cc:	90 93 de 06 	sts	0x06DE, r25
+    39d0:	80 93 dd 06 	sts	0x06DD, r24
+    39d4:	df 91       	pop	r29
+    39d6:	cf 91       	pop	r28
+    39d8:	1f 91       	pop	r17
+    39da:	0f 91       	pop	r16
+    39dc:	08 95       	ret
+
+000039de <_ZN3IMU11initCompassEv>:
+    39de:	cf 93       	push	r28
+    39e0:	df 93       	push	r29
+    39e2:	c3 e9       	ldi	r28, 0x93	; 147
+    39e4:	d7 e0       	ldi	r29, 0x07	; 7
+    39e6:	ce 01       	movw	r24, r28
+    39e8:	63 e0       	ldi	r22, 0x03	; 3
+    39ea:	42 e0       	ldi	r20, 0x02	; 2
+    39ec:	0e 94 dd 04 	call	0x9ba	; 0x9ba <_ZN6LSM3034initEhh>
+    39f0:	ce 01       	movw	r24, r28
+    39f2:	62 e0       	ldi	r22, 0x02	; 2
+    39f4:	40 e0       	ldi	r20, 0x00	; 0
+    39f6:	0e 94 15 03 	call	0x62a	; 0x62a <_ZN6LSM30311writeMagRegEhh>
+    39fa:	df 91       	pop	r29
+    39fc:	cf 91       	pop	r28
+    39fe:	08 95       	ret
+
+00003a00 <_ZN3IMU7initIMUEv>:
+    3a00:	0f 93       	push	r16
+    3a02:	1f 93       	push	r17
+    3a04:	cf 93       	push	r28
+    3a06:	df 93       	push	r29
+    3a08:	8d e4       	ldi	r24, 0x4D	; 77
+    3a0a:	90 e1       	ldi	r25, 0x10	; 16
+    3a0c:	40 e0       	ldi	r20, 0x00	; 0
+    3a0e:	52 ec       	ldi	r21, 0xC2	; 194
+    3a10:	61 e0       	ldi	r22, 0x01	; 1
+    3a12:	70 e0       	ldi	r23, 0x00	; 0
+    3a14:	0e 94 18 31 	call	0x6230	; 0x6230 <_ZN14HardwareSerial5beginEl>
+    3a18:	8d e0       	ldi	r24, 0x0D	; 13
+    3a1a:	61 e0       	ldi	r22, 0x01	; 1
+    3a1c:	0e 94 89 35 	call	0x6b12	; 0x6b12 <pinMode>
+    3a20:	0e 94 d6 1b 	call	0x37ac	; 0x37ac <_ZN3IMU7initI2CEv>
+    3a24:	8d e4       	ldi	r24, 0x4D	; 77
+    3a26:	90 e1       	ldi	r25, 0x10	; 16
+    3a28:	64 e9       	ldi	r22, 0x94	; 148
+    3a2a:	74 e0       	ldi	r23, 0x04	; 4
+    3a2c:	0e 94 df 33 	call	0x67be	; 0x67be <_ZN5Print7printlnEPKc>
+    3a30:	8d e0       	ldi	r24, 0x0D	; 13
+    3a32:	60 e0       	ldi	r22, 0x00	; 0
+    3a34:	0e 94 ad 35 	call	0x6b5a	; 0x6b5a <digitalWrite>
+    3a38:	6c ed       	ldi	r22, 0xDC	; 220
+    3a3a:	75 e0       	ldi	r23, 0x05	; 5
+    3a3c:	80 e0       	ldi	r24, 0x00	; 0
+    3a3e:	90 e0       	ldi	r25, 0x00	; 0
+    3a40:	0e 94 cd 34 	call	0x699a	; 0x699a <delay>
+    3a44:	0e 94 65 1c 	call	0x38ca	; 0x38ca <_ZN3IMU9initAccelEv>
+    3a48:	0e 94 ef 1c 	call	0x39de	; 0x39de <_ZN3IMU11initCompassEv>
+    3a4c:	0e 94 db 1b 	call	0x37b6	; 0x37b6 <_ZN3IMU8initGyroEv>
+    3a50:	64 e1       	ldi	r22, 0x14	; 20
+    3a52:	70 e0       	ldi	r23, 0x00	; 0
+    3a54:	80 e0       	ldi	r24, 0x00	; 0
+    3a56:	90 e0       	ldi	r25, 0x00	; 0
+    3a58:	0e 94 cd 34 	call	0x699a	; 0x699a <delay>
+    3a5c:	00 e2       	ldi	r16, 0x20	; 32
+    3a5e:	10 e0       	ldi	r17, 0x00	; 0
+    3a60:	0e 94 ec 1b 	call	0x37d8	; 0x37d8 <_ZN3IMU8readGyroEv>
+    3a64:	0e 94 76 1c 	call	0x38ec	; 0x38ec <_ZN3IMU9readAccelEv>
+    3a68:	ab eb       	ldi	r26, 0xBB	; 187
+    3a6a:	b6 e0       	ldi	r27, 0x06	; 6
+    3a6c:	c7 ec       	ldi	r28, 0xC7	; 199
+    3a6e:	d6 e0       	ldi	r29, 0x06	; 6
+    3a70:	fe 01       	movw	r30, r28
+    3a72:	2d 91       	ld	r18, X+
+    3a74:	3d 91       	ld	r19, X+
+    3a76:	80 81       	ld	r24, Z
+    3a78:	91 81       	ldd	r25, Z+1	; 0x01
+    3a7a:	82 0f       	add	r24, r18
+    3a7c:	93 1f       	adc	r25, r19
+    3a7e:	81 93       	st	Z+, r24
+    3a80:	91 93       	st	Z+, r25
+    3a82:	86 e0       	ldi	r24, 0x06	; 6
+    3a84:	a7 3c       	cpi	r26, 0xC7	; 199
+    3a86:	b8 07       	cpc	r27, r24
+    3a88:	a1 f7       	brne	.-24     	; 0x3a72 <_ZN3IMU7initIMUEv+0x72>
+    3a8a:	64 e1       	ldi	r22, 0x14	; 20
+    3a8c:	70 e0       	ldi	r23, 0x00	; 0
+    3a8e:	80 e0       	ldi	r24, 0x00	; 0
+    3a90:	90 e0       	ldi	r25, 0x00	; 0
+    3a92:	0e 94 cd 34 	call	0x699a	; 0x699a <delay>
+    3a96:	01 50       	subi	r16, 0x01	; 1
+    3a98:	10 40       	sbci	r17, 0x00	; 0
+    3a9a:	11 f7       	brne	.-60     	; 0x3a60 <_ZN3IMU7initIMUEv+0x60>
+    3a9c:	e7 ec       	ldi	r30, 0xC7	; 199
+    3a9e:	f6 e0       	ldi	r31, 0x06	; 6
+    3aa0:	20 e2       	ldi	r18, 0x20	; 32
+    3aa2:	30 e0       	ldi	r19, 0x00	; 0
+    3aa4:	80 81       	ld	r24, Z
+    3aa6:	91 81       	ldd	r25, Z+1	; 0x01
+    3aa8:	b9 01       	movw	r22, r18
+    3aaa:	0e 94 51 41 	call	0x82a2	; 0x82a2 <__divmodhi4>
+    3aae:	61 93       	st	Z+, r22
+    3ab0:	71 93       	st	Z+, r23
+    3ab2:	86 e0       	ldi	r24, 0x06	; 6
+    3ab4:	e3 3d       	cpi	r30, 0xD3	; 211
+    3ab6:	f8 07       	cpc	r31, r24
+    3ab8:	a9 f7       	brne	.-22     	; 0x3aa4 <_ZN3IMU7initIMUEv+0xa4>
+    3aba:	40 91 4c 05 	lds	r20, 0x054C
+    3abe:	50 91 4d 05 	lds	r21, 0x054D
+    3ac2:	20 e0       	ldi	r18, 0x00	; 0
+    3ac4:	3f ef       	ldi	r19, 0xFF	; 255
+    3ac6:	42 9f       	mul	r20, r18
+    3ac8:	c0 01       	movw	r24, r0
+    3aca:	43 9f       	mul	r20, r19
+    3acc:	90 0d       	add	r25, r0
+    3ace:	52 9f       	mul	r21, r18
+    3ad0:	90 0d       	add	r25, r0
+    3ad2:	11 24       	eor	r1, r1
+    3ad4:	20 91 d1 06 	lds	r18, 0x06D1
+    3ad8:	30 91 d2 06 	lds	r19, 0x06D2
+    3adc:	82 0f       	add	r24, r18
+    3ade:	93 1f       	adc	r25, r19
+    3ae0:	90 93 d2 06 	sts	0x06D2, r25
+    3ae4:	80 93 d1 06 	sts	0x06D1, r24
+    3ae8:	69 91       	ld	r22, Y+
+    3aea:	79 91       	ld	r23, Y+
+    3aec:	8d e4       	ldi	r24, 0x4D	; 77
+    3aee:	90 e1       	ldi	r25, 0x10	; 16
+    3af0:	4a e0       	ldi	r20, 0x0A	; 10
+    3af2:	50 e0       	ldi	r21, 0x00	; 0
+    3af4:	0e 94 f5 33 	call	0x67ea	; 0x67ea <_ZN5Print7printlnEii>
+    3af8:	86 e0       	ldi	r24, 0x06	; 6
+    3afa:	c3 3d       	cpi	r28, 0xD3	; 211
+    3afc:	d8 07       	cpc	r29, r24
+    3afe:	a1 f7       	brne	.-24     	; 0x3ae8 <_ZN3IMU7initIMUEv+0xe8>
+    3b00:	60 ed       	ldi	r22, 0xD0	; 208
+    3b02:	77 e0       	ldi	r23, 0x07	; 7
+    3b04:	80 e0       	ldi	r24, 0x00	; 0
+    3b06:	90 e0       	ldi	r25, 0x00	; 0
+    3b08:	0e 94 cd 34 	call	0x699a	; 0x699a <delay>
+    3b0c:	8d e0       	ldi	r24, 0x0D	; 13
+    3b0e:	61 e0       	ldi	r22, 0x01	; 1
+    3b10:	0e 94 ad 35 	call	0x6b5a	; 0x6b5a <digitalWrite>
+    3b14:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
+    3b18:	60 93 b3 06 	sts	0x06B3, r22
+    3b1c:	70 93 b4 06 	sts	0x06B4, r23
+    3b20:	80 93 b5 06 	sts	0x06B5, r24
+    3b24:	90 93 b6 06 	sts	0x06B6, r25
+    3b28:	64 e1       	ldi	r22, 0x14	; 20
+    3b2a:	70 e0       	ldi	r23, 0x00	; 0
+    3b2c:	80 e0       	ldi	r24, 0x00	; 0
+    3b2e:	90 e0       	ldi	r25, 0x00	; 0
+    3b30:	0e 94 cd 34 	call	0x699a	; 0x699a <delay>
+    3b34:	10 92 62 07 	sts	0x0762, r1
+    3b38:	10 92 61 07 	sts	0x0761, r1
+    3b3c:	df 91       	pop	r29
+    3b3e:	cf 91       	pop	r28
+    3b40:	1f 91       	pop	r17
+    3b42:	0f 91       	pop	r16
+    3b44:	08 95       	ret
+
+00003b46 <_ZN3IMU11readCompassEv>:
+    3b46:	83 e9       	ldi	r24, 0x93	; 147
+    3b48:	97 e0       	ldi	r25, 0x07	; 7
+    3b4a:	0e 94 21 04 	call	0x842	; 0x842 <_ZN6LSM3037readMagEv>
+    3b4e:	60 91 4e 05 	lds	r22, 0x054E
+    3b52:	70 91 4f 05 	lds	r23, 0x054F
+    3b56:	88 27       	eor	r24, r24
+    3b58:	77 fd       	sbrc	r23, 7
+    3b5a:	80 95       	com	r24
+    3b5c:	98 2f       	mov	r25, r24
+    3b5e:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    3b62:	20 91 9f 07 	lds	r18, 0x079F
+    3b66:	30 91 a0 07 	lds	r19, 0x07A0
+    3b6a:	40 91 a1 07 	lds	r20, 0x07A1
+    3b6e:	50 91 a2 07 	lds	r21, 0x07A2
+    3b72:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3b76:	0e 94 e3 3e 	call	0x7dc6	; 0x7dc6 <__fixsfsi>
+    3b7a:	70 93 e0 06 	sts	0x06E0, r23
+    3b7e:	60 93 df 06 	sts	0x06DF, r22
+    3b82:	60 91 50 05 	lds	r22, 0x0550
+    3b86:	70 91 51 05 	lds	r23, 0x0551
+    3b8a:	88 27       	eor	r24, r24
+    3b8c:	77 fd       	sbrc	r23, 7
+    3b8e:	80 95       	com	r24
+    3b90:	98 2f       	mov	r25, r24
+    3b92:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    3b96:	20 91 a3 07 	lds	r18, 0x07A3
+    3b9a:	30 91 a4 07 	lds	r19, 0x07A4
+    3b9e:	40 91 a5 07 	lds	r20, 0x07A5
+    3ba2:	50 91 a6 07 	lds	r21, 0x07A6
+    3ba6:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3baa:	0e 94 e3 3e 	call	0x7dc6	; 0x7dc6 <__fixsfsi>
+    3bae:	70 93 e2 06 	sts	0x06E2, r23
+    3bb2:	60 93 e1 06 	sts	0x06E1, r22
+    3bb6:	60 91 52 05 	lds	r22, 0x0552
+    3bba:	70 91 53 05 	lds	r23, 0x0553
+    3bbe:	88 27       	eor	r24, r24
+    3bc0:	77 fd       	sbrc	r23, 7
+    3bc2:	80 95       	com	r24
+    3bc4:	98 2f       	mov	r25, r24
+    3bc6:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    3bca:	20 91 a7 07 	lds	r18, 0x07A7
+    3bce:	30 91 a8 07 	lds	r19, 0x07A8
+    3bd2:	40 91 a9 07 	lds	r20, 0x07A9
+    3bd6:	50 91 aa 07 	lds	r21, 0x07AA
+    3bda:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3bde:	0e 94 e3 3e 	call	0x7dc6	; 0x7dc6 <__fixsfsi>
+    3be2:	70 93 e4 06 	sts	0x06E4, r23
+    3be6:	60 93 e3 06 	sts	0x06E3, r22
+    3bea:	08 95       	ret
+
+00003bec <_ZN3IMU16vectorDotProductEPfS0_>:
+    3bec:	af 92       	push	r10
+    3bee:	bf 92       	push	r11
+    3bf0:	cf 92       	push	r12
+    3bf2:	df 92       	push	r13
+    3bf4:	ef 92       	push	r14
+    3bf6:	ff 92       	push	r15
+    3bf8:	0f 93       	push	r16
+    3bfa:	1f 93       	push	r17
+    3bfc:	cf 93       	push	r28
+    3bfe:	df 93       	push	r29
+    3c00:	c8 2e       	mov	r12, r24
+    3c02:	d9 2e       	mov	r13, r25
+    3c04:	a6 2e       	mov	r10, r22
+    3c06:	b7 2e       	mov	r11, r23
+    3c08:	c3 e0       	ldi	r28, 0x03	; 3
+    3c0a:	d0 e0       	ldi	r29, 0x00	; 0
+    3c0c:	10 e0       	ldi	r17, 0x00	; 0
+    3c0e:	00 e0       	ldi	r16, 0x00	; 0
+    3c10:	ff 24       	eor	r15, r15
+    3c12:	ee 24       	eor	r14, r14
+    3c14:	f6 01       	movw	r30, r12
+    3c16:	61 91       	ld	r22, Z+
+    3c18:	71 91       	ld	r23, Z+
+    3c1a:	81 91       	ld	r24, Z+
+    3c1c:	91 91       	ld	r25, Z+
+    3c1e:	6f 01       	movw	r12, r30
+    3c20:	f5 01       	movw	r30, r10
+    3c22:	21 91       	ld	r18, Z+
+    3c24:	31 91       	ld	r19, Z+
+    3c26:	41 91       	ld	r20, Z+
+    3c28:	51 91       	ld	r21, Z+
+    3c2a:	5f 01       	movw	r10, r30
+    3c2c:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3c30:	9b 01       	movw	r18, r22
+    3c32:	ac 01       	movw	r20, r24
+    3c34:	d8 01       	movw	r26, r16
+    3c36:	f7 01       	movw	r30, r14
+    3c38:	6b 2f       	mov	r22, r27
+    3c3a:	70 2f       	mov	r23, r16
+    3c3c:	8f 2f       	mov	r24, r31
+    3c3e:	9e 2d       	mov	r25, r14
+    3c40:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    3c44:	16 2f       	mov	r17, r22
+    3c46:	07 2f       	mov	r16, r23
+    3c48:	f8 2e       	mov	r15, r24
+    3c4a:	e9 2e       	mov	r14, r25
+    3c4c:	21 97       	sbiw	r28, 0x01	; 1
+    3c4e:	11 f7       	brne	.-60     	; 0x3c14 <_ZN3IMU16vectorDotProductEPfS0_+0x28>
+    3c50:	a8 01       	movw	r20, r16
+    3c52:	97 01       	movw	r18, r14
+    3c54:	65 2f       	mov	r22, r21
+    3c56:	74 2f       	mov	r23, r20
+    3c58:	83 2f       	mov	r24, r19
+    3c5a:	92 2f       	mov	r25, r18
+    3c5c:	df 91       	pop	r29
+    3c5e:	cf 91       	pop	r28
+    3c60:	1f 91       	pop	r17
+    3c62:	0f 91       	pop	r16
+    3c64:	ff 90       	pop	r15
+    3c66:	ef 90       	pop	r14
+    3c68:	df 90       	pop	r13
+    3c6a:	cf 90       	pop	r12
+    3c6c:	bf 90       	pop	r11
+    3c6e:	af 90       	pop	r10
+    3c70:	08 95       	ret
+
+00003c72 <_ZN3IMU18vectorCrossProductEPfS0_S0_>:
+    3c72:	af 92       	push	r10
+    3c74:	bf 92       	push	r11
+    3c76:	cf 92       	push	r12
+    3c78:	df 92       	push	r13
+    3c7a:	ef 92       	push	r14
+    3c7c:	ff 92       	push	r15
+    3c7e:	0f 93       	push	r16
+    3c80:	1f 93       	push	r17
+    3c82:	cf 93       	push	r28
+    3c84:	df 93       	push	r29
+    3c86:	7c 01       	movw	r14, r24
+    3c88:	eb 01       	movw	r28, r22
+    3c8a:	8a 01       	movw	r16, r20
+    3c8c:	6c 81       	ldd	r22, Y+4	; 0x04
+    3c8e:	7d 81       	ldd	r23, Y+5	; 0x05
+    3c90:	8e 81       	ldd	r24, Y+6	; 0x06
+    3c92:	9f 81       	ldd	r25, Y+7	; 0x07
+    3c94:	fa 01       	movw	r30, r20
+    3c96:	20 85       	ldd	r18, Z+8	; 0x08
+    3c98:	31 85       	ldd	r19, Z+9	; 0x09
+    3c9a:	42 85       	ldd	r20, Z+10	; 0x0a
+    3c9c:	53 85       	ldd	r21, Z+11	; 0x0b
+    3c9e:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3ca2:	5b 01       	movw	r10, r22
+    3ca4:	6c 01       	movw	r12, r24
+    3ca6:	68 85       	ldd	r22, Y+8	; 0x08
+    3ca8:	79 85       	ldd	r23, Y+9	; 0x09
+    3caa:	8a 85       	ldd	r24, Y+10	; 0x0a
+    3cac:	9b 85       	ldd	r25, Y+11	; 0x0b
+    3cae:	f8 01       	movw	r30, r16
+    3cb0:	24 81       	ldd	r18, Z+4	; 0x04
+    3cb2:	35 81       	ldd	r19, Z+5	; 0x05
+    3cb4:	46 81       	ldd	r20, Z+6	; 0x06
+    3cb6:	57 81       	ldd	r21, Z+7	; 0x07
+    3cb8:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3cbc:	9b 01       	movw	r18, r22
+    3cbe:	ac 01       	movw	r20, r24
+    3cc0:	c6 01       	movw	r24, r12
+    3cc2:	b5 01       	movw	r22, r10
+    3cc4:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    3cc8:	f7 01       	movw	r30, r14
+    3cca:	60 83       	st	Z, r22
+    3ccc:	71 83       	std	Z+1, r23	; 0x01
+    3cce:	82 83       	std	Z+2, r24	; 0x02
+    3cd0:	93 83       	std	Z+3, r25	; 0x03
+    3cd2:	68 85       	ldd	r22, Y+8	; 0x08
+    3cd4:	79 85       	ldd	r23, Y+9	; 0x09
+    3cd6:	8a 85       	ldd	r24, Y+10	; 0x0a
+    3cd8:	9b 85       	ldd	r25, Y+11	; 0x0b
+    3cda:	f8 01       	movw	r30, r16
+    3cdc:	20 81       	ld	r18, Z
+    3cde:	31 81       	ldd	r19, Z+1	; 0x01
+    3ce0:	42 81       	ldd	r20, Z+2	; 0x02
+    3ce2:	53 81       	ldd	r21, Z+3	; 0x03
+    3ce4:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3ce8:	5b 01       	movw	r10, r22
+    3cea:	6c 01       	movw	r12, r24
+    3cec:	68 81       	ld	r22, Y
+    3cee:	79 81       	ldd	r23, Y+1	; 0x01
+    3cf0:	8a 81       	ldd	r24, Y+2	; 0x02
+    3cf2:	9b 81       	ldd	r25, Y+3	; 0x03
+    3cf4:	f8 01       	movw	r30, r16
+    3cf6:	20 85       	ldd	r18, Z+8	; 0x08
+    3cf8:	31 85       	ldd	r19, Z+9	; 0x09
+    3cfa:	42 85       	ldd	r20, Z+10	; 0x0a
+    3cfc:	53 85       	ldd	r21, Z+11	; 0x0b
+    3cfe:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3d02:	9b 01       	movw	r18, r22
+    3d04:	ac 01       	movw	r20, r24
+    3d06:	c6 01       	movw	r24, r12
+    3d08:	b5 01       	movw	r22, r10
+    3d0a:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    3d0e:	f7 01       	movw	r30, r14
+    3d10:	64 83       	std	Z+4, r22	; 0x04
+    3d12:	75 83       	std	Z+5, r23	; 0x05
+    3d14:	86 83       	std	Z+6, r24	; 0x06
+    3d16:	97 83       	std	Z+7, r25	; 0x07
+    3d18:	68 81       	ld	r22, Y
+    3d1a:	79 81       	ldd	r23, Y+1	; 0x01
+    3d1c:	8a 81       	ldd	r24, Y+2	; 0x02
+    3d1e:	9b 81       	ldd	r25, Y+3	; 0x03
+    3d20:	f8 01       	movw	r30, r16
+    3d22:	24 81       	ldd	r18, Z+4	; 0x04
+    3d24:	35 81       	ldd	r19, Z+5	; 0x05
+    3d26:	46 81       	ldd	r20, Z+6	; 0x06
+    3d28:	57 81       	ldd	r21, Z+7	; 0x07
+    3d2a:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3d2e:	5b 01       	movw	r10, r22
+    3d30:	6c 01       	movw	r12, r24
+    3d32:	6c 81       	ldd	r22, Y+4	; 0x04
+    3d34:	7d 81       	ldd	r23, Y+5	; 0x05
+    3d36:	8e 81       	ldd	r24, Y+6	; 0x06
+    3d38:	9f 81       	ldd	r25, Y+7	; 0x07
+    3d3a:	f8 01       	movw	r30, r16
+    3d3c:	20 81       	ld	r18, Z
+    3d3e:	31 81       	ldd	r19, Z+1	; 0x01
+    3d40:	42 81       	ldd	r20, Z+2	; 0x02
+    3d42:	53 81       	ldd	r21, Z+3	; 0x03
+    3d44:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3d48:	9b 01       	movw	r18, r22
+    3d4a:	ac 01       	movw	r20, r24
+    3d4c:	c6 01       	movw	r24, r12
+    3d4e:	b5 01       	movw	r22, r10
+    3d50:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    3d54:	f7 01       	movw	r30, r14
+    3d56:	60 87       	std	Z+8, r22	; 0x08
+    3d58:	71 87       	std	Z+9, r23	; 0x09
+    3d5a:	82 87       	std	Z+10, r24	; 0x0a
+    3d5c:	93 87       	std	Z+11, r25	; 0x0b
+    3d5e:	df 91       	pop	r29
+    3d60:	cf 91       	pop	r28
+    3d62:	1f 91       	pop	r17
+    3d64:	0f 91       	pop	r16
+    3d66:	ff 90       	pop	r15
+    3d68:	ef 90       	pop	r14
+    3d6a:	df 90       	pop	r13
+    3d6c:	cf 90       	pop	r12
+    3d6e:	bf 90       	pop	r11
+    3d70:	af 90       	pop	r10
+    3d72:	08 95       	ret
+
+00003d74 <_ZN3IMU11vectorScaleEPfS0_f>:
+    3d74:	cf 92       	push	r12
+    3d76:	df 92       	push	r13
+    3d78:	ef 92       	push	r14
+    3d7a:	ff 92       	push	r15
+    3d7c:	0f 93       	push	r16
+    3d7e:	1f 93       	push	r17
+    3d80:	cf 93       	push	r28
+    3d82:	df 93       	push	r29
+    3d84:	6c 01       	movw	r12, r24
+    3d86:	eb 01       	movw	r28, r22
+    3d88:	79 01       	movw	r14, r18
+    3d8a:	8a 01       	movw	r16, r20
+    3d8c:	68 81       	ld	r22, Y
+    3d8e:	79 81       	ldd	r23, Y+1	; 0x01
+    3d90:	8a 81       	ldd	r24, Y+2	; 0x02
+    3d92:	9b 81       	ldd	r25, Y+3	; 0x03
+    3d94:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3d98:	f6 01       	movw	r30, r12
+    3d9a:	60 83       	st	Z, r22
+    3d9c:	71 83       	std	Z+1, r23	; 0x01
+    3d9e:	82 83       	std	Z+2, r24	; 0x02
+    3da0:	93 83       	std	Z+3, r25	; 0x03
+    3da2:	6c 81       	ldd	r22, Y+4	; 0x04
+    3da4:	7d 81       	ldd	r23, Y+5	; 0x05
+    3da6:	8e 81       	ldd	r24, Y+6	; 0x06
+    3da8:	9f 81       	ldd	r25, Y+7	; 0x07
+    3daa:	a8 01       	movw	r20, r16
+    3dac:	97 01       	movw	r18, r14
+    3dae:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3db2:	f6 01       	movw	r30, r12
+    3db4:	64 83       	std	Z+4, r22	; 0x04
+    3db6:	75 83       	std	Z+5, r23	; 0x05
+    3db8:	86 83       	std	Z+6, r24	; 0x06
+    3dba:	97 83       	std	Z+7, r25	; 0x07
+    3dbc:	68 85       	ldd	r22, Y+8	; 0x08
+    3dbe:	79 85       	ldd	r23, Y+9	; 0x09
+    3dc0:	8a 85       	ldd	r24, Y+10	; 0x0a
+    3dc2:	9b 85       	ldd	r25, Y+11	; 0x0b
+    3dc4:	a8 01       	movw	r20, r16
+    3dc6:	97 01       	movw	r18, r14
+    3dc8:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3dcc:	f6 01       	movw	r30, r12
+    3dce:	60 87       	std	Z+8, r22	; 0x08
+    3dd0:	71 87       	std	Z+9, r23	; 0x09
+    3dd2:	82 87       	std	Z+10, r24	; 0x0a
+    3dd4:	93 87       	std	Z+11, r25	; 0x0b
+    3dd6:	df 91       	pop	r29
+    3dd8:	cf 91       	pop	r28
+    3dda:	1f 91       	pop	r17
+    3ddc:	0f 91       	pop	r16
+    3dde:	ff 90       	pop	r15
+    3de0:	ef 90       	pop	r14
+    3de2:	df 90       	pop	r13
+    3de4:	cf 90       	pop	r12
+    3de6:	08 95       	ret
+
+00003de8 <_ZN3IMU9vectorAddEPfS0_S0_>:
+    3de8:	cf 92       	push	r12
+    3dea:	df 92       	push	r13
+    3dec:	ef 92       	push	r14
+    3dee:	ff 92       	push	r15
+    3df0:	0f 93       	push	r16
+    3df2:	1f 93       	push	r17
+    3df4:	cf 93       	push	r28
+    3df6:	df 93       	push	r29
+    3df8:	06 2f       	mov	r16, r22
+    3dfa:	17 2f       	mov	r17, r23
+    3dfc:	e4 2e       	mov	r14, r20
+    3dfe:	f5 2e       	mov	r15, r21
+    3e00:	c8 2e       	mov	r12, r24
+    3e02:	d9 2e       	mov	r13, r25
+    3e04:	c0 e0       	ldi	r28, 0x00	; 0
+    3e06:	d0 e0       	ldi	r29, 0x00	; 0
+    3e08:	f8 01       	movw	r30, r16
+    3e0a:	61 91       	ld	r22, Z+
+    3e0c:	71 91       	ld	r23, Z+
+    3e0e:	81 91       	ld	r24, Z+
+    3e10:	91 91       	ld	r25, Z+
+    3e12:	8f 01       	movw	r16, r30
     3e14:	f7 01       	movw	r30, r14
-    3e16:	60 87       	std	Z+8, r22	; 0x08
-    3e18:	71 87       	std	Z+9, r23	; 0x09
-    3e1a:	82 87       	std	Z+10, r24	; 0x0a
-    3e1c:	93 87       	std	Z+11, r25	; 0x0b
-    3e1e:	df 91       	pop	r29
-    3e20:	cf 91       	pop	r28
-    3e22:	1f 91       	pop	r17
-    3e24:	0f 91       	pop	r16
-    3e26:	ff 90       	pop	r15
-    3e28:	ef 90       	pop	r14
-    3e2a:	df 90       	pop	r13
-    3e2c:	cf 90       	pop	r12
-    3e2e:	bf 90       	pop	r11
-    3e30:	af 90       	pop	r10
-    3e32:	08 95       	ret
-
-00003e34 <_ZN3IMU11vectorScaleEPfS0_f>:
-    3e34:	cf 92       	push	r12
-    3e36:	df 92       	push	r13
-    3e38:	ef 92       	push	r14
-    3e3a:	ff 92       	push	r15
-    3e3c:	0f 93       	push	r16
-    3e3e:	1f 93       	push	r17
-    3e40:	cf 93       	push	r28
-    3e42:	df 93       	push	r29
-    3e44:	6c 01       	movw	r12, r24
-    3e46:	eb 01       	movw	r28, r22
-    3e48:	79 01       	movw	r14, r18
-    3e4a:	8a 01       	movw	r16, r20
-    3e4c:	68 81       	ld	r22, Y
-    3e4e:	79 81       	ldd	r23, Y+1	; 0x01
-    3e50:	8a 81       	ldd	r24, Y+2	; 0x02
-    3e52:	9b 81       	ldd	r25, Y+3	; 0x03
-    3e54:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3e58:	f6 01       	movw	r30, r12
-    3e5a:	60 83       	st	Z, r22
-    3e5c:	71 83       	std	Z+1, r23	; 0x01
-    3e5e:	82 83       	std	Z+2, r24	; 0x02
-    3e60:	93 83       	std	Z+3, r25	; 0x03
-    3e62:	6c 81       	ldd	r22, Y+4	; 0x04
-    3e64:	7d 81       	ldd	r23, Y+5	; 0x05
-    3e66:	8e 81       	ldd	r24, Y+6	; 0x06
-    3e68:	9f 81       	ldd	r25, Y+7	; 0x07
-    3e6a:	a8 01       	movw	r20, r16
-    3e6c:	97 01       	movw	r18, r14
-    3e6e:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3e72:	f6 01       	movw	r30, r12
-    3e74:	64 83       	std	Z+4, r22	; 0x04
-    3e76:	75 83       	std	Z+5, r23	; 0x05
-    3e78:	86 83       	std	Z+6, r24	; 0x06
-    3e7a:	97 83       	std	Z+7, r25	; 0x07
-    3e7c:	68 85       	ldd	r22, Y+8	; 0x08
-    3e7e:	79 85       	ldd	r23, Y+9	; 0x09
-    3e80:	8a 85       	ldd	r24, Y+10	; 0x0a
-    3e82:	9b 85       	ldd	r25, Y+11	; 0x0b
-    3e84:	a8 01       	movw	r20, r16
-    3e86:	97 01       	movw	r18, r14
-    3e88:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3e8c:	f6 01       	movw	r30, r12
-    3e8e:	60 87       	std	Z+8, r22	; 0x08
-    3e90:	71 87       	std	Z+9, r23	; 0x09
-    3e92:	82 87       	std	Z+10, r24	; 0x0a
-    3e94:	93 87       	std	Z+11, r25	; 0x0b
-    3e96:	df 91       	pop	r29
-    3e98:	cf 91       	pop	r28
-    3e9a:	1f 91       	pop	r17
-    3e9c:	0f 91       	pop	r16
-    3e9e:	ff 90       	pop	r15
-    3ea0:	ef 90       	pop	r14
-    3ea2:	df 90       	pop	r13
-    3ea4:	cf 90       	pop	r12
-    3ea6:	08 95       	ret
-
-00003ea8 <_ZN3IMU9vectorAddEPfS0_S0_>:
-    3ea8:	cf 92       	push	r12
-    3eaa:	df 92       	push	r13
-    3eac:	ef 92       	push	r14
-    3eae:	ff 92       	push	r15
-    3eb0:	0f 93       	push	r16
-    3eb2:	1f 93       	push	r17
-    3eb4:	cf 93       	push	r28
-    3eb6:	df 93       	push	r29
-    3eb8:	06 2f       	mov	r16, r22
-    3eba:	17 2f       	mov	r17, r23
-    3ebc:	e4 2e       	mov	r14, r20
-    3ebe:	f5 2e       	mov	r15, r21
-    3ec0:	c8 2e       	mov	r12, r24
-    3ec2:	d9 2e       	mov	r13, r25
-    3ec4:	c0 e0       	ldi	r28, 0x00	; 0
-    3ec6:	d0 e0       	ldi	r29, 0x00	; 0
-    3ec8:	f8 01       	movw	r30, r16
-    3eca:	61 91       	ld	r22, Z+
-    3ecc:	71 91       	ld	r23, Z+
-    3ece:	81 91       	ld	r24, Z+
-    3ed0:	91 91       	ld	r25, Z+
-    3ed2:	8f 01       	movw	r16, r30
-    3ed4:	f7 01       	movw	r30, r14
-    3ed6:	21 91       	ld	r18, Z+
-    3ed8:	31 91       	ld	r19, Z+
-    3eda:	41 91       	ld	r20, Z+
-    3edc:	51 91       	ld	r21, Z+
-    3ede:	7f 01       	movw	r14, r30
-    3ee0:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    3ee4:	f6 01       	movw	r30, r12
-    3ee6:	61 93       	st	Z+, r22
-    3ee8:	71 93       	st	Z+, r23
-    3eea:	81 93       	st	Z+, r24
-    3eec:	91 93       	st	Z+, r25
-    3eee:	6f 01       	movw	r12, r30
-    3ef0:	21 96       	adiw	r28, 0x01	; 1
-    3ef2:	c3 30       	cpi	r28, 0x03	; 3
-    3ef4:	d1 05       	cpc	r29, r1
-    3ef6:	41 f7       	brne	.-48     	; 0x3ec8 <_ZN3IMU9vectorAddEPfS0_S0_+0x20>
-    3ef8:	df 91       	pop	r29
-    3efa:	cf 91       	pop	r28
-    3efc:	1f 91       	pop	r17
-    3efe:	0f 91       	pop	r16
-    3f00:	ff 90       	pop	r15
-    3f02:	ef 90       	pop	r14
-    3f04:	df 90       	pop	r13
-    3f06:	cf 90       	pop	r12
-    3f08:	08 95       	ret
-
-00003f0a <_ZN3IMU16Drift_correctionEv>:
-    3f0a:	6f 92       	push	r6
-    3f0c:	7f 92       	push	r7
-    3f0e:	8f 92       	push	r8
-    3f10:	9f 92       	push	r9
-    3f12:	af 92       	push	r10
-    3f14:	bf 92       	push	r11
-    3f16:	cf 92       	push	r12
-    3f18:	df 92       	push	r13
-    3f1a:	ef 92       	push	r14
-    3f1c:	ff 92       	push	r15
-    3f1e:	0f 93       	push	r16
-    3f20:	1f 93       	push	r17
-    3f22:	20 91 f5 06 	lds	r18, 0x06F5
-    3f26:	30 91 f6 06 	lds	r19, 0x06F6
-    3f2a:	40 91 f7 06 	lds	r20, 0x06F7
-    3f2e:	50 91 f8 06 	lds	r21, 0x06F8
-    3f32:	e0 90 f9 06 	lds	r14, 0x06F9
-    3f36:	f0 90 fa 06 	lds	r15, 0x06FA
-    3f3a:	00 91 fb 06 	lds	r16, 0x06FB
-    3f3e:	10 91 fc 06 	lds	r17, 0x06FC
-    3f42:	a0 90 fd 06 	lds	r10, 0x06FD
-    3f46:	b0 90 fe 06 	lds	r11, 0x06FE
-    3f4a:	c0 90 ff 06 	lds	r12, 0x06FF
-    3f4e:	d0 90 00 07 	lds	r13, 0x0700
-    3f52:	ca 01       	movw	r24, r20
-    3f54:	b9 01       	movw	r22, r18
-    3f56:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3f5a:	3b 01       	movw	r6, r22
-    3f5c:	4c 01       	movw	r8, r24
-    3f5e:	c8 01       	movw	r24, r16
-    3f60:	b7 01       	movw	r22, r14
-    3f62:	a8 01       	movw	r20, r16
-    3f64:	97 01       	movw	r18, r14
-    3f66:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3f6a:	9b 01       	movw	r18, r22
-    3f6c:	ac 01       	movw	r20, r24
-    3f6e:	c4 01       	movw	r24, r8
-    3f70:	b3 01       	movw	r22, r6
-    3f72:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    3f76:	7b 01       	movw	r14, r22
-    3f78:	8c 01       	movw	r16, r24
-    3f7a:	c6 01       	movw	r24, r12
-    3f7c:	b5 01       	movw	r22, r10
-    3f7e:	a6 01       	movw	r20, r12
-    3f80:	95 01       	movw	r18, r10
-    3f82:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3f86:	9b 01       	movw	r18, r22
-    3f88:	ac 01       	movw	r20, r24
-    3f8a:	c8 01       	movw	r24, r16
-    3f8c:	b7 01       	movw	r22, r14
-    3f8e:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    3f92:	0e 94 cb 41 	call	0x8396	; 0x8396 <sqrt>
-    3f96:	20 e0       	ldi	r18, 0x00	; 0
-    3f98:	30 e0       	ldi	r19, 0x00	; 0
-    3f9a:	40 e8       	ldi	r20, 0x80	; 128
-    3f9c:	5b e3       	ldi	r21, 0x3B	; 59
-    3f9e:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    3fa2:	9b 01       	movw	r18, r22
-    3fa4:	ac 01       	movw	r20, r24
-    3fa6:	60 e0       	ldi	r22, 0x00	; 0
-    3fa8:	70 e0       	ldi	r23, 0x00	; 0
-    3faa:	80 e8       	ldi	r24, 0x80	; 128
-    3fac:	9f e3       	ldi	r25, 0x3F	; 63
-    3fae:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    3fb2:	f6 2e       	mov	r15, r22
-    3fb4:	07 2f       	mov	r16, r23
-    3fb6:	18 2f       	mov	r17, r24
-    3fb8:	e9 2e       	mov	r14, r25
-    3fba:	20 e0       	ldi	r18, 0x00	; 0
-    3fbc:	30 e0       	ldi	r19, 0x00	; 0
-    3fbe:	a9 01       	movw	r20, r18
-    3fc0:	0e 94 53 41 	call	0x82a6	; 0x82a6 <__gesf2>
-    3fc4:	18 16       	cp	r1, r24
-    3fc6:	d4 f4       	brge	.+52     	; 0x3ffc <_ZN3IMU16Drift_correctionEv+0xf2>
-    3fc8:	6f 2d       	mov	r22, r15
-    3fca:	70 2f       	mov	r23, r16
-    3fcc:	81 2f       	mov	r24, r17
-    3fce:	9e 2d       	mov	r25, r14
-    3fd0:	2f 2d       	mov	r18, r15
-    3fd2:	30 2f       	mov	r19, r16
-    3fd4:	41 2f       	mov	r20, r17
-    3fd6:	5e 2d       	mov	r21, r14
-    3fd8:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    3fdc:	9b 01       	movw	r18, r22
-    3fde:	ac 01       	movw	r20, r24
-    3fe0:	60 e0       	ldi	r22, 0x00	; 0
-    3fe2:	70 e0       	ldi	r23, 0x00	; 0
-    3fe4:	80 e8       	ldi	r24, 0x80	; 128
-    3fe6:	9f e3       	ldi	r25, 0x3F	; 63
-    3fe8:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    3fec:	20 e0       	ldi	r18, 0x00	; 0
-    3fee:	30 e0       	ldi	r19, 0x00	; 0
-    3ff0:	a9 01       	movw	r20, r18
-    3ff2:	0e 94 77 3f 	call	0x7eee	; 0x7eee <__cmpsf2>
-    3ff6:	87 ff       	sbrs	r24, 7
-    3ff8:	19 c0       	rjmp	.+50     	; 0x402c <_ZN3IMU16Drift_correctionEv+0x122>
-    3ffa:	75 c0       	rjmp	.+234    	; 0x40e6 <_ZN3IMU16Drift_correctionEv+0x1dc>
+    3e16:	21 91       	ld	r18, Z+
+    3e18:	31 91       	ld	r19, Z+
+    3e1a:	41 91       	ld	r20, Z+
+    3e1c:	51 91       	ld	r21, Z+
+    3e1e:	7f 01       	movw	r14, r30
+    3e20:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    3e24:	f6 01       	movw	r30, r12
+    3e26:	61 93       	st	Z+, r22
+    3e28:	71 93       	st	Z+, r23
+    3e2a:	81 93       	st	Z+, r24
+    3e2c:	91 93       	st	Z+, r25
+    3e2e:	6f 01       	movw	r12, r30
+    3e30:	21 96       	adiw	r28, 0x01	; 1
+    3e32:	c3 30       	cpi	r28, 0x03	; 3
+    3e34:	d1 05       	cpc	r29, r1
+    3e36:	41 f7       	brne	.-48     	; 0x3e08 <_ZN3IMU9vectorAddEPfS0_S0_+0x20>
+    3e38:	df 91       	pop	r29
+    3e3a:	cf 91       	pop	r28
+    3e3c:	1f 91       	pop	r17
+    3e3e:	0f 91       	pop	r16
+    3e40:	ff 90       	pop	r15
+    3e42:	ef 90       	pop	r14
+    3e44:	df 90       	pop	r13
+    3e46:	cf 90       	pop	r12
+    3e48:	08 95       	ret
+
+00003e4a <_ZN3IMU16Drift_correctionEv>:
+    3e4a:	6f 92       	push	r6
+    3e4c:	7f 92       	push	r7
+    3e4e:	8f 92       	push	r8
+    3e50:	9f 92       	push	r9
+    3e52:	af 92       	push	r10
+    3e54:	bf 92       	push	r11
+    3e56:	cf 92       	push	r12
+    3e58:	df 92       	push	r13
+    3e5a:	ef 92       	push	r14
+    3e5c:	ff 92       	push	r15
+    3e5e:	0f 93       	push	r16
+    3e60:	1f 93       	push	r17
+    3e62:	20 91 f5 06 	lds	r18, 0x06F5
+    3e66:	30 91 f6 06 	lds	r19, 0x06F6
+    3e6a:	40 91 f7 06 	lds	r20, 0x06F7
+    3e6e:	50 91 f8 06 	lds	r21, 0x06F8
+    3e72:	e0 90 f9 06 	lds	r14, 0x06F9
+    3e76:	f0 90 fa 06 	lds	r15, 0x06FA
+    3e7a:	00 91 fb 06 	lds	r16, 0x06FB
+    3e7e:	10 91 fc 06 	lds	r17, 0x06FC
+    3e82:	a0 90 fd 06 	lds	r10, 0x06FD
+    3e86:	b0 90 fe 06 	lds	r11, 0x06FE
+    3e8a:	c0 90 ff 06 	lds	r12, 0x06FF
+    3e8e:	d0 90 00 07 	lds	r13, 0x0700
+    3e92:	ca 01       	movw	r24, r20
+    3e94:	b9 01       	movw	r22, r18
+    3e96:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3e9a:	3b 01       	movw	r6, r22
+    3e9c:	4c 01       	movw	r8, r24
+    3e9e:	c8 01       	movw	r24, r16
+    3ea0:	b7 01       	movw	r22, r14
+    3ea2:	a8 01       	movw	r20, r16
+    3ea4:	97 01       	movw	r18, r14
+    3ea6:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3eaa:	9b 01       	movw	r18, r22
+    3eac:	ac 01       	movw	r20, r24
+    3eae:	c4 01       	movw	r24, r8
+    3eb0:	b3 01       	movw	r22, r6
+    3eb2:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    3eb6:	7b 01       	movw	r14, r22
+    3eb8:	8c 01       	movw	r16, r24
+    3eba:	c6 01       	movw	r24, r12
+    3ebc:	b5 01       	movw	r22, r10
+    3ebe:	a6 01       	movw	r20, r12
+    3ec0:	95 01       	movw	r18, r10
+    3ec2:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3ec6:	9b 01       	movw	r18, r22
+    3ec8:	ac 01       	movw	r20, r24
+    3eca:	c8 01       	movw	r24, r16
+    3ecc:	b7 01       	movw	r22, r14
+    3ece:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    3ed2:	0e 94 c8 40 	call	0x8190	; 0x8190 <sqrt>
+    3ed6:	20 e0       	ldi	r18, 0x00	; 0
+    3ed8:	30 e0       	ldi	r19, 0x00	; 0
+    3eda:	40 e8       	ldi	r20, 0x80	; 128
+    3edc:	5b e3       	ldi	r21, 0x3B	; 59
+    3ede:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    3ee2:	9b 01       	movw	r18, r22
+    3ee4:	ac 01       	movw	r20, r24
+    3ee6:	60 e0       	ldi	r22, 0x00	; 0
+    3ee8:	70 e0       	ldi	r23, 0x00	; 0
+    3eea:	80 e8       	ldi	r24, 0x80	; 128
+    3eec:	9f e3       	ldi	r25, 0x3F	; 63
+    3eee:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    3ef2:	f6 2e       	mov	r15, r22
+    3ef4:	07 2f       	mov	r16, r23
+    3ef6:	18 2f       	mov	r17, r24
+    3ef8:	e9 2e       	mov	r14, r25
+    3efa:	20 e0       	ldi	r18, 0x00	; 0
+    3efc:	30 e0       	ldi	r19, 0x00	; 0
+    3efe:	a9 01       	movw	r20, r18
+    3f00:	0e 94 50 40 	call	0x80a0	; 0x80a0 <__gesf2>
+    3f04:	18 16       	cp	r1, r24
+    3f06:	d4 f4       	brge	.+52     	; 0x3f3c <_ZN3IMU16Drift_correctionEv+0xf2>
+    3f08:	6f 2d       	mov	r22, r15
+    3f0a:	70 2f       	mov	r23, r16
+    3f0c:	81 2f       	mov	r24, r17
+    3f0e:	9e 2d       	mov	r25, r14
+    3f10:	2f 2d       	mov	r18, r15
+    3f12:	30 2f       	mov	r19, r16
+    3f14:	41 2f       	mov	r20, r17
+    3f16:	5e 2d       	mov	r21, r14
+    3f18:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    3f1c:	9b 01       	movw	r18, r22
+    3f1e:	ac 01       	movw	r20, r24
+    3f20:	60 e0       	ldi	r22, 0x00	; 0
+    3f22:	70 e0       	ldi	r23, 0x00	; 0
+    3f24:	80 e8       	ldi	r24, 0x80	; 128
+    3f26:	9f e3       	ldi	r25, 0x3F	; 63
+    3f28:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    3f2c:	20 e0       	ldi	r18, 0x00	; 0
+    3f2e:	30 e0       	ldi	r19, 0x00	; 0
+    3f30:	a9 01       	movw	r20, r18
+    3f32:	0e 94 74 3e 	call	0x7ce8	; 0x7ce8 <__cmpsf2>
+    3f36:	87 ff       	sbrs	r24, 7
+    3f38:	19 c0       	rjmp	.+50     	; 0x3f6c <_ZN3IMU16Drift_correctionEv+0x122>
+    3f3a:	75 c0       	rjmp	.+234    	; 0x4026 <_ZN3IMU16Drift_correctionEv+0x1dc>
+    3f3c:	6f 2d       	mov	r22, r15
+    3f3e:	70 2f       	mov	r23, r16
+    3f40:	81 2f       	mov	r24, r17
+    3f42:	9e 2d       	mov	r25, r14
+    3f44:	2f 2d       	mov	r18, r15
+    3f46:	30 2f       	mov	r19, r16
+    3f48:	41 2f       	mov	r20, r17
+    3f4a:	5e 2d       	mov	r21, r14
+    3f4c:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    3f50:	20 e0       	ldi	r18, 0x00	; 0
+    3f52:	30 e0       	ldi	r19, 0x00	; 0
+    3f54:	40 e8       	ldi	r20, 0x80	; 128
+    3f56:	5f e3       	ldi	r21, 0x3F	; 63
+    3f58:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    3f5c:	20 e0       	ldi	r18, 0x00	; 0
+    3f5e:	30 e0       	ldi	r19, 0x00	; 0
+    3f60:	a9 01       	movw	r20, r18
+    3f62:	0e 94 74 3e 	call	0x7ce8	; 0x7ce8 <__cmpsf2>
+    3f66:	87 ff       	sbrs	r24, 7
+    3f68:	1d c0       	rjmp	.+58     	; 0x3fa4 <_ZN3IMU16Drift_correctionEv+0x15a>
+    3f6a:	5d c0       	rjmp	.+186    	; 0x4026 <_ZN3IMU16Drift_correctionEv+0x1dc>
+    3f6c:	6f 2d       	mov	r22, r15
+    3f6e:	70 2f       	mov	r23, r16
+    3f70:	81 2f       	mov	r24, r17
+    3f72:	9e 2d       	mov	r25, r14
+    3f74:	2f 2d       	mov	r18, r15
+    3f76:	30 2f       	mov	r19, r16
+    3f78:	41 2f       	mov	r20, r17
+    3f7a:	5e 2d       	mov	r21, r14
+    3f7c:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    3f80:	9b 01       	movw	r18, r22
+    3f82:	ac 01       	movw	r20, r24
+    3f84:	60 e0       	ldi	r22, 0x00	; 0
+    3f86:	70 e0       	ldi	r23, 0x00	; 0
+    3f88:	80 e8       	ldi	r24, 0x80	; 128
+    3f8a:	9f e3       	ldi	r25, 0x3F	; 63
+    3f8c:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    3f90:	20 e0       	ldi	r18, 0x00	; 0
+    3f92:	30 e0       	ldi	r19, 0x00	; 0
+    3f94:	40 e8       	ldi	r20, 0x80	; 128
+    3f96:	5f e3       	ldi	r21, 0x3F	; 63
+    3f98:	0e 94 50 40 	call	0x80a0	; 0x80a0 <__gesf2>
+    3f9c:	18 16       	cp	r1, r24
+    3f9e:	0c f4       	brge	.+2      	; 0x3fa2 <_ZN3IMU16Drift_correctionEv+0x158>
+    3fa0:	47 c0       	rjmp	.+142    	; 0x4030 <_ZN3IMU16Drift_correctionEv+0x1e6>
+    3fa2:	19 c0       	rjmp	.+50     	; 0x3fd6 <_ZN3IMU16Drift_correctionEv+0x18c>
+    3fa4:	6f 2d       	mov	r22, r15
+    3fa6:	70 2f       	mov	r23, r16
+    3fa8:	81 2f       	mov	r24, r17
+    3faa:	9e 2d       	mov	r25, r14
+    3fac:	2f 2d       	mov	r18, r15
+    3fae:	30 2f       	mov	r19, r16
+    3fb0:	41 2f       	mov	r20, r17
+    3fb2:	5e 2d       	mov	r21, r14
+    3fb4:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    3fb8:	20 e0       	ldi	r18, 0x00	; 0
+    3fba:	30 e0       	ldi	r19, 0x00	; 0
+    3fbc:	40 e8       	ldi	r20, 0x80	; 128
+    3fbe:	5f e3       	ldi	r21, 0x3F	; 63
+    3fc0:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    3fc4:	20 e0       	ldi	r18, 0x00	; 0
+    3fc6:	30 e0       	ldi	r19, 0x00	; 0
+    3fc8:	40 e8       	ldi	r20, 0x80	; 128
+    3fca:	5f e3       	ldi	r21, 0x3F	; 63
+    3fcc:	0e 94 50 40 	call	0x80a0	; 0x80a0 <__gesf2>
+    3fd0:	18 16       	cp	r1, r24
+    3fd2:	74 f1       	brlt	.+92     	; 0x4030 <_ZN3IMU16Drift_correctionEv+0x1e6>
+    3fd4:	13 c0       	rjmp	.+38     	; 0x3ffc <_ZN3IMU16Drift_correctionEv+0x1b2>
+    3fd6:	6f 2d       	mov	r22, r15
+    3fd8:	70 2f       	mov	r23, r16
+    3fda:	81 2f       	mov	r24, r17
+    3fdc:	9e 2d       	mov	r25, r14
+    3fde:	2f 2d       	mov	r18, r15
+    3fe0:	30 2f       	mov	r19, r16
+    3fe2:	41 2f       	mov	r20, r17
+    3fe4:	5e 2d       	mov	r21, r14
+    3fe6:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    3fea:	9b 01       	movw	r18, r22
+    3fec:	ac 01       	movw	r20, r24
+    3fee:	60 e0       	ldi	r22, 0x00	; 0
+    3ff0:	70 e0       	ldi	r23, 0x00	; 0
+    3ff2:	80 e8       	ldi	r24, 0x80	; 128
+    3ff4:	9f e3       	ldi	r25, 0x3F	; 63
+    3ff6:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    3ffa:	10 c0       	rjmp	.+32     	; 0x401c <_ZN3IMU16Drift_correctionEv+0x1d2>
     3ffc:	6f 2d       	mov	r22, r15
     3ffe:	70 2f       	mov	r23, r16
     4000:	81 2f       	mov	r24, r17
@@ -7815,8046 +7822,7807 @@ Disassembly of section .text:
     4006:	30 2f       	mov	r19, r16
     4008:	41 2f       	mov	r20, r17
     400a:	5e 2d       	mov	r21, r14
-    400c:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
+    400c:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
     4010:	20 e0       	ldi	r18, 0x00	; 0
     4012:	30 e0       	ldi	r19, 0x00	; 0
     4014:	40 e8       	ldi	r20, 0x80	; 128
     4016:	5f e3       	ldi	r21, 0x3F	; 63
-    4018:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    401c:	20 e0       	ldi	r18, 0x00	; 0
-    401e:	30 e0       	ldi	r19, 0x00	; 0
-    4020:	a9 01       	movw	r20, r18
-    4022:	0e 94 77 3f 	call	0x7eee	; 0x7eee <__cmpsf2>
-    4026:	87 ff       	sbrs	r24, 7
-    4028:	1d c0       	rjmp	.+58     	; 0x4064 <_ZN3IMU16Drift_correctionEv+0x15a>
-    402a:	5d c0       	rjmp	.+186    	; 0x40e6 <_ZN3IMU16Drift_correctionEv+0x1dc>
-    402c:	6f 2d       	mov	r22, r15
-    402e:	70 2f       	mov	r23, r16
-    4030:	81 2f       	mov	r24, r17
-    4032:	9e 2d       	mov	r25, r14
-    4034:	2f 2d       	mov	r18, r15
-    4036:	30 2f       	mov	r19, r16
-    4038:	41 2f       	mov	r20, r17
-    403a:	5e 2d       	mov	r21, r14
-    403c:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    4040:	9b 01       	movw	r18, r22
-    4042:	ac 01       	movw	r20, r24
-    4044:	60 e0       	ldi	r22, 0x00	; 0
-    4046:	70 e0       	ldi	r23, 0x00	; 0
-    4048:	80 e8       	ldi	r24, 0x80	; 128
-    404a:	9f e3       	ldi	r25, 0x3F	; 63
-    404c:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    4050:	20 e0       	ldi	r18, 0x00	; 0
-    4052:	30 e0       	ldi	r19, 0x00	; 0
-    4054:	40 e8       	ldi	r20, 0x80	; 128
-    4056:	5f e3       	ldi	r21, 0x3F	; 63
-    4058:	0e 94 53 41 	call	0x82a6	; 0x82a6 <__gesf2>
-    405c:	18 16       	cp	r1, r24
-    405e:	0c f4       	brge	.+2      	; 0x4062 <_ZN3IMU16Drift_correctionEv+0x158>
-    4060:	47 c0       	rjmp	.+142    	; 0x40f0 <_ZN3IMU16Drift_correctionEv+0x1e6>
-    4062:	19 c0       	rjmp	.+50     	; 0x4096 <_ZN3IMU16Drift_correctionEv+0x18c>
-    4064:	6f 2d       	mov	r22, r15
-    4066:	70 2f       	mov	r23, r16
-    4068:	81 2f       	mov	r24, r17
-    406a:	9e 2d       	mov	r25, r14
-    406c:	2f 2d       	mov	r18, r15
-    406e:	30 2f       	mov	r19, r16
-    4070:	41 2f       	mov	r20, r17
-    4072:	5e 2d       	mov	r21, r14
-    4074:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    4078:	20 e0       	ldi	r18, 0x00	; 0
-    407a:	30 e0       	ldi	r19, 0x00	; 0
-    407c:	40 e8       	ldi	r20, 0x80	; 128
-    407e:	5f e3       	ldi	r21, 0x3F	; 63
-    4080:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    4084:	20 e0       	ldi	r18, 0x00	; 0
-    4086:	30 e0       	ldi	r19, 0x00	; 0
-    4088:	40 e8       	ldi	r20, 0x80	; 128
-    408a:	5f e3       	ldi	r21, 0x3F	; 63
-    408c:	0e 94 53 41 	call	0x82a6	; 0x82a6 <__gesf2>
-    4090:	18 16       	cp	r1, r24
-    4092:	74 f1       	brlt	.+92     	; 0x40f0 <_ZN3IMU16Drift_correctionEv+0x1e6>
-    4094:	13 c0       	rjmp	.+38     	; 0x40bc <_ZN3IMU16Drift_correctionEv+0x1b2>
-    4096:	6f 2d       	mov	r22, r15
-    4098:	70 2f       	mov	r23, r16
-    409a:	81 2f       	mov	r24, r17
-    409c:	9e 2d       	mov	r25, r14
-    409e:	2f 2d       	mov	r18, r15
-    40a0:	30 2f       	mov	r19, r16
-    40a2:	41 2f       	mov	r20, r17
-    40a4:	5e 2d       	mov	r21, r14
-    40a6:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    40aa:	9b 01       	movw	r18, r22
-    40ac:	ac 01       	movw	r20, r24
-    40ae:	60 e0       	ldi	r22, 0x00	; 0
-    40b0:	70 e0       	ldi	r23, 0x00	; 0
-    40b2:	80 e8       	ldi	r24, 0x80	; 128
-    40b4:	9f e3       	ldi	r25, 0x3F	; 63
-    40b6:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    40ba:	10 c0       	rjmp	.+32     	; 0x40dc <_ZN3IMU16Drift_correctionEv+0x1d2>
-    40bc:	6f 2d       	mov	r22, r15
-    40be:	70 2f       	mov	r23, r16
-    40c0:	81 2f       	mov	r24, r17
-    40c2:	9e 2d       	mov	r25, r14
-    40c4:	2f 2d       	mov	r18, r15
-    40c6:	30 2f       	mov	r19, r16
-    40c8:	41 2f       	mov	r20, r17
-    40ca:	5e 2d       	mov	r21, r14
-    40cc:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    40d0:	20 e0       	ldi	r18, 0x00	; 0
-    40d2:	30 e0       	ldi	r19, 0x00	; 0
-    40d4:	40 e8       	ldi	r20, 0x80	; 128
-    40d6:	5f e3       	ldi	r21, 0x3F	; 63
-    40d8:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    40dc:	f6 2e       	mov	r15, r22
-    40de:	07 2f       	mov	r16, r23
-    40e0:	18 2f       	mov	r17, r24
-    40e2:	e9 2e       	mov	r14, r25
-    40e4:	0a c0       	rjmp	.+20     	; 0x40fa <_ZN3IMU16Drift_correctionEv+0x1f0>
-    40e6:	ff 24       	eor	r15, r15
-    40e8:	00 e0       	ldi	r16, 0x00	; 0
-    40ea:	10 e0       	ldi	r17, 0x00	; 0
-    40ec:	ee 24       	eor	r14, r14
-    40ee:	05 c0       	rjmp	.+10     	; 0x40fa <_ZN3IMU16Drift_correctionEv+0x1f0>
-    40f0:	ff 24       	eor	r15, r15
-    40f2:	00 e0       	ldi	r16, 0x00	; 0
-    40f4:	10 e8       	ldi	r17, 0x80	; 128
-    40f6:	5f e3       	ldi	r21, 0x3F	; 63
-    40f8:	e5 2e       	mov	r14, r21
-    40fa:	89 e4       	ldi	r24, 0x49	; 73
-    40fc:	97 e0       	ldi	r25, 0x07	; 7
-    40fe:	65 ef       	ldi	r22, 0xF5	; 245
-    4100:	76 e0       	ldi	r23, 0x06	; 6
-    4102:	4f e6       	ldi	r20, 0x6F	; 111
-    4104:	55 e0       	ldi	r21, 0x05	; 5
-    4106:	0e 94 99 1e 	call	0x3d32	; 0x3d32 <_ZN3IMU18vectorCrossProductEPfS0_S0_>
-    410a:	6f 2d       	mov	r22, r15
-    410c:	70 2f       	mov	r23, r16
-    410e:	81 2f       	mov	r24, r17
-    4110:	9e 2d       	mov	r25, r14
-    4112:	2a e0       	ldi	r18, 0x0A	; 10
-    4114:	37 ed       	ldi	r19, 0xD7	; 215
-    4116:	43 ea       	ldi	r20, 0xA3	; 163
-    4118:	5c e3       	ldi	r21, 0x3C	; 60
-    411a:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    411e:	9b 01       	movw	r18, r22
-    4120:	ac 01       	movw	r20, r24
-    4122:	89 e1       	ldi	r24, 0x19	; 25
-    4124:	97 e0       	ldi	r25, 0x07	; 7
-    4126:	69 e4       	ldi	r22, 0x49	; 73
-    4128:	77 e0       	ldi	r23, 0x07	; 7
-    412a:	0e 94 1a 1f 	call	0x3e34	; 0x3e34 <_ZN3IMU11vectorScaleEPfS0_f>
-    412e:	6f 2d       	mov	r22, r15
-    4130:	70 2f       	mov	r23, r16
-    4132:	81 2f       	mov	r24, r17
-    4134:	9e 2d       	mov	r25, r14
-    4136:	2c ea       	ldi	r18, 0xAC	; 172
-    4138:	35 ec       	ldi	r19, 0xC5	; 197
-    413a:	47 ea       	ldi	r20, 0xA7	; 167
-    413c:	57 e3       	ldi	r21, 0x37	; 55
-    413e:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4142:	9b 01       	movw	r18, r22
-    4144:	ac 01       	movw	r20, r24
-    4146:	8c ee       	ldi	r24, 0xEC	; 236
-    4148:	9d e0       	ldi	r25, 0x0D	; 13
-    414a:	69 e4       	ldi	r22, 0x49	; 73
-    414c:	77 e0       	ldi	r23, 0x07	; 7
-    414e:	0e 94 1a 1f 	call	0x3e34	; 0x3e34 <_ZN3IMU11vectorScaleEPfS0_f>
-    4152:	85 e2       	ldi	r24, 0x25	; 37
-    4154:	97 e0       	ldi	r25, 0x07	; 7
-    4156:	bc 01       	movw	r22, r24
-    4158:	4c ee       	ldi	r20, 0xEC	; 236
-    415a:	5d e0       	ldi	r21, 0x0D	; 13
-    415c:	0e 94 54 1f 	call	0x3ea8	; 0x3ea8 <_ZN3IMU9vectorAddEPfS0_S0_>
-    4160:	e0 90 f1 06 	lds	r14, 0x06F1
-    4164:	f0 90 f2 06 	lds	r15, 0x06F2
-    4168:	00 91 f3 06 	lds	r16, 0x06F3
-    416c:	10 91 f4 06 	lds	r17, 0x06F4
-    4170:	c8 01       	movw	r24, r16
-    4172:	b7 01       	movw	r22, r14
-    4174:	0e 94 7b 3f 	call	0x7ef6	; 0x7ef6 <cos>
-    4178:	5b 01       	movw	r10, r22
-    417a:	6c 01       	movw	r12, r24
-    417c:	c8 01       	movw	r24, r16
-    417e:	b7 01       	movw	r22, r14
-    4180:	0e 94 c1 41 	call	0x8382	; 0x8382 <sin>
-    4184:	20 91 57 05 	lds	r18, 0x0557
-    4188:	30 91 58 05 	lds	r19, 0x0558
-    418c:	40 91 59 05 	lds	r20, 0x0559
-    4190:	50 91 5a 05 	lds	r21, 0x055A
-    4194:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4198:	7b 01       	movw	r14, r22
-    419a:	8c 01       	movw	r16, r24
-    419c:	c6 01       	movw	r24, r12
-    419e:	b5 01       	movw	r22, r10
-    41a0:	20 91 63 05 	lds	r18, 0x0563
-    41a4:	30 91 64 05 	lds	r19, 0x0564
-    41a8:	40 91 65 05 	lds	r20, 0x0565
-    41ac:	50 91 66 05 	lds	r21, 0x0566
-    41b0:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    41b4:	9b 01       	movw	r18, r22
-    41b6:	ac 01       	movw	r20, r24
-    41b8:	c8 01       	movw	r24, r16
-    41ba:	b7 01       	movw	r22, r14
-    41bc:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    41c0:	9b 01       	movw	r18, r22
-    41c2:	ac 01       	movw	r20, r24
-    41c4:	85 e5       	ldi	r24, 0x55	; 85
-    41c6:	97 e0       	ldi	r25, 0x07	; 7
-    41c8:	6f e6       	ldi	r22, 0x6F	; 111
-    41ca:	75 e0       	ldi	r23, 0x05	; 5
-    41cc:	0e 94 1a 1f 	call	0x3e34	; 0x3e34 <_ZN3IMU11vectorScaleEPfS0_f>
-    41d0:	88 ef       	ldi	r24, 0xF8	; 248
-    41d2:	9d e0       	ldi	r25, 0x0D	; 13
-    41d4:	65 e5       	ldi	r22, 0x55	; 85
-    41d6:	77 e0       	ldi	r23, 0x07	; 7
-    41d8:	2a e9       	ldi	r18, 0x9A	; 154
-    41da:	39 e9       	ldi	r19, 0x99	; 153
-    41dc:	49 e9       	ldi	r20, 0x99	; 153
-    41de:	5f e3       	ldi	r21, 0x3F	; 63
-    41e0:	0e 94 1a 1f 	call	0x3e34	; 0x3e34 <_ZN3IMU11vectorScaleEPfS0_f>
-    41e4:	89 e1       	ldi	r24, 0x19	; 25
-    41e6:	97 e0       	ldi	r25, 0x07	; 7
-    41e8:	bc 01       	movw	r22, r24
-    41ea:	48 ef       	ldi	r20, 0xF8	; 248
-    41ec:	5d e0       	ldi	r21, 0x0D	; 13
-    41ee:	0e 94 54 1f 	call	0x3ea8	; 0x3ea8 <_ZN3IMU9vectorAddEPfS0_S0_>
-    41f2:	8c ee       	ldi	r24, 0xEC	; 236
-    41f4:	9d e0       	ldi	r25, 0x0D	; 13
-    41f6:	65 e5       	ldi	r22, 0x55	; 85
-    41f8:	77 e0       	ldi	r23, 0x07	; 7
-    41fa:	2c ea       	ldi	r18, 0xAC	; 172
-    41fc:	35 ec       	ldi	r19, 0xC5	; 197
-    41fe:	47 ea       	ldi	r20, 0xA7	; 167
-    4200:	57 e3       	ldi	r21, 0x37	; 55
-    4202:	0e 94 1a 1f 	call	0x3e34	; 0x3e34 <_ZN3IMU11vectorScaleEPfS0_f>
-    4206:	85 e2       	ldi	r24, 0x25	; 37
-    4208:	97 e0       	ldi	r25, 0x07	; 7
-    420a:	bc 01       	movw	r22, r24
-    420c:	4c ee       	ldi	r20, 0xEC	; 236
-    420e:	5d e0       	ldi	r21, 0x0D	; 13
-    4210:	0e 94 54 1f 	call	0x3ea8	; 0x3ea8 <_ZN3IMU9vectorAddEPfS0_S0_>
-    4214:	1f 91       	pop	r17
-    4216:	0f 91       	pop	r16
-    4218:	ff 90       	pop	r15
-    421a:	ef 90       	pop	r14
-    421c:	df 90       	pop	r13
-    421e:	cf 90       	pop	r12
-    4220:	bf 90       	pop	r11
-    4222:	af 90       	pop	r10
-    4224:	9f 90       	pop	r9
-    4226:	8f 90       	pop	r8
-    4228:	7f 90       	pop	r7
-    422a:	6f 90       	pop	r6
-    422c:	08 95       	ret
-
-0000422e <_ZN3IMU9NormalizeEv>:
-    422e:	6f 92       	push	r6
-    4230:	7f 92       	push	r7
-    4232:	8f 92       	push	r8
-    4234:	9f 92       	push	r9
-    4236:	af 92       	push	r10
-    4238:	bf 92       	push	r11
-    423a:	cf 92       	push	r12
-    423c:	df 92       	push	r13
-    423e:	ef 92       	push	r14
-    4240:	ff 92       	push	r15
-    4242:	0f 93       	push	r16
-    4244:	1f 93       	push	r17
-    4246:	df 93       	push	r29
-    4248:	cf 93       	push	r28
-    424a:	cd b7       	in	r28, 0x3d	; 61
-    424c:	de b7       	in	r29, 0x3e	; 62
-    424e:	a4 97       	sbiw	r28, 0x24	; 36
-    4250:	0f b6       	in	r0, 0x3f	; 63
-    4252:	f8 94       	cli
-    4254:	de bf       	out	0x3e, r29	; 62
-    4256:	0f be       	out	0x3f, r0	; 63
-    4258:	cd bf       	out	0x3d, r28	; 61
-    425a:	f7 e5       	ldi	r31, 0x57	; 87
-    425c:	cf 2e       	mov	r12, r31
-    425e:	f5 e0       	ldi	r31, 0x05	; 5
-    4260:	df 2e       	mov	r13, r31
-    4262:	ec e0       	ldi	r30, 0x0C	; 12
-    4264:	6e 2e       	mov	r6, r30
-    4266:	71 2c       	mov	r7, r1
-    4268:	6c 0c       	add	r6, r12
-    426a:	7d 1c       	adc	r7, r13
-    426c:	c6 01       	movw	r24, r12
-    426e:	b3 01       	movw	r22, r6
-    4270:	0e 94 56 1e 	call	0x3cac	; 0x3cac <_ZN3IMU16vectorDotProductEPfS0_>
-    4274:	90 58       	subi	r25, 0x80	; 128
-    4276:	20 e0       	ldi	r18, 0x00	; 0
-    4278:	30 e0       	ldi	r19, 0x00	; 0
-    427a:	40 e0       	ldi	r20, 0x00	; 0
-    427c:	5f e3       	ldi	r21, 0x3F	; 63
-    427e:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4282:	5b 01       	movw	r10, r22
-    4284:	98 2e       	mov	r9, r24
-    4286:	89 2e       	mov	r8, r25
-    4288:	8e 01       	movw	r16, r28
-    428a:	0f 5f       	subi	r16, 0xFF	; 255
-    428c:	1f 4f       	sbci	r17, 0xFF	; 255
-    428e:	c8 01       	movw	r24, r16
-    4290:	b3 01       	movw	r22, r6
-    4292:	f4 01       	movw	r30, r8
-    4294:	2a 2d       	mov	r18, r10
-    4296:	3b 2d       	mov	r19, r11
-    4298:	4f 2f       	mov	r20, r31
-    429a:	5e 2f       	mov	r21, r30
-    429c:	0e 94 1a 1f 	call	0x3e34	; 0x3e34 <_ZN3IMU11vectorScaleEPfS0_f>
-    42a0:	7d e0       	ldi	r23, 0x0D	; 13
-    42a2:	e7 2e       	mov	r14, r23
-    42a4:	f1 2c       	mov	r15, r1
-    42a6:	ec 0e       	add	r14, r28
-    42a8:	fd 1e       	adc	r15, r29
-    42aa:	c7 01       	movw	r24, r14
-    42ac:	b6 01       	movw	r22, r12
-    42ae:	f4 01       	movw	r30, r8
-    42b0:	2a 2d       	mov	r18, r10
-    42b2:	3b 2d       	mov	r19, r11
-    42b4:	4f 2f       	mov	r20, r31
-    42b6:	5e 2f       	mov	r21, r30
-    42b8:	0e 94 1a 1f 	call	0x3e34	; 0x3e34 <_ZN3IMU11vectorScaleEPfS0_f>
-    42bc:	c8 01       	movw	r24, r16
-    42be:	b8 01       	movw	r22, r16
-    42c0:	a6 01       	movw	r20, r12
-    42c2:	0e 94 54 1f 	call	0x3ea8	; 0x3ea8 <_ZN3IMU9vectorAddEPfS0_S0_>
-    42c6:	c7 01       	movw	r24, r14
-    42c8:	b7 01       	movw	r22, r14
-    42ca:	a3 01       	movw	r20, r6
-    42cc:	0e 94 54 1f 	call	0x3ea8	; 0x3ea8 <_ZN3IMU9vectorAddEPfS0_S0_>
-    42d0:	69 e1       	ldi	r22, 0x19	; 25
-    42d2:	a6 2e       	mov	r10, r22
-    42d4:	b1 2c       	mov	r11, r1
-    42d6:	ac 0e       	add	r10, r28
-    42d8:	bd 1e       	adc	r11, r29
-    42da:	c5 01       	movw	r24, r10
-    42dc:	b8 01       	movw	r22, r16
-    42de:	a7 01       	movw	r20, r14
-    42e0:	0e 94 99 1e 	call	0x3d32	; 0x3d32 <_ZN3IMU18vectorCrossProductEPfS0_S0_>
-    42e4:	c8 01       	movw	r24, r16
-    42e6:	b8 01       	movw	r22, r16
-    42e8:	0e 94 56 1e 	call	0x3cac	; 0x3cac <_ZN3IMU16vectorDotProductEPfS0_>
-    42ec:	9b 01       	movw	r18, r22
-    42ee:	ac 01       	movw	r20, r24
-    42f0:	60 e0       	ldi	r22, 0x00	; 0
-    42f2:	70 e0       	ldi	r23, 0x00	; 0
-    42f4:	80 e4       	ldi	r24, 0x40	; 64
-    42f6:	90 e4       	ldi	r25, 0x40	; 64
-    42f8:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    42fc:	20 e0       	ldi	r18, 0x00	; 0
-    42fe:	30 e0       	ldi	r19, 0x00	; 0
-    4300:	40 e0       	ldi	r20, 0x00	; 0
-    4302:	5f e3       	ldi	r21, 0x3F	; 63
-    4304:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4308:	9b 01       	movw	r18, r22
-    430a:	ac 01       	movw	r20, r24
-    430c:	c6 01       	movw	r24, r12
-    430e:	b8 01       	movw	r22, r16
-    4310:	0e 94 1a 1f 	call	0x3e34	; 0x3e34 <_ZN3IMU11vectorScaleEPfS0_f>
-    4314:	c7 01       	movw	r24, r14
-    4316:	b7 01       	movw	r22, r14
-    4318:	0e 94 56 1e 	call	0x3cac	; 0x3cac <_ZN3IMU16vectorDotProductEPfS0_>
-    431c:	9b 01       	movw	r18, r22
-    431e:	ac 01       	movw	r20, r24
-    4320:	60 e0       	ldi	r22, 0x00	; 0
-    4322:	70 e0       	ldi	r23, 0x00	; 0
-    4324:	80 e4       	ldi	r24, 0x40	; 64
-    4326:	90 e4       	ldi	r25, 0x40	; 64
-    4328:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    432c:	20 e0       	ldi	r18, 0x00	; 0
-    432e:	30 e0       	ldi	r19, 0x00	; 0
-    4330:	40 e0       	ldi	r20, 0x00	; 0
-    4332:	5f e3       	ldi	r21, 0x3F	; 63
-    4334:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4338:	9b 01       	movw	r18, r22
-    433a:	ac 01       	movw	r20, r24
-    433c:	c3 01       	movw	r24, r6
-    433e:	b7 01       	movw	r22, r14
-    4340:	0e 94 1a 1f 	call	0x3e34	; 0x3e34 <_ZN3IMU11vectorScaleEPfS0_f>
-    4344:	c5 01       	movw	r24, r10
-    4346:	b5 01       	movw	r22, r10
-    4348:	0e 94 56 1e 	call	0x3cac	; 0x3cac <_ZN3IMU16vectorDotProductEPfS0_>
-    434c:	9b 01       	movw	r18, r22
-    434e:	ac 01       	movw	r20, r24
-    4350:	60 e0       	ldi	r22, 0x00	; 0
-    4352:	70 e0       	ldi	r23, 0x00	; 0
-    4354:	80 e4       	ldi	r24, 0x40	; 64
-    4356:	90 e4       	ldi	r25, 0x40	; 64
-    4358:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    435c:	20 e0       	ldi	r18, 0x00	; 0
-    435e:	30 e0       	ldi	r19, 0x00	; 0
-    4360:	40 e0       	ldi	r20, 0x00	; 0
-    4362:	5f e3       	ldi	r21, 0x3F	; 63
-    4364:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4368:	9b 01       	movw	r18, r22
-    436a:	ac 01       	movw	r20, r24
-    436c:	8f e6       	ldi	r24, 0x6F	; 111
-    436e:	95 e0       	ldi	r25, 0x05	; 5
-    4370:	b5 01       	movw	r22, r10
-    4372:	0e 94 1a 1f 	call	0x3e34	; 0x3e34 <_ZN3IMU11vectorScaleEPfS0_f>
-    4376:	a4 96       	adiw	r28, 0x24	; 36
-    4378:	0f b6       	in	r0, 0x3f	; 63
-    437a:	f8 94       	cli
-    437c:	de bf       	out	0x3e, r29	; 62
-    437e:	0f be       	out	0x3f, r0	; 63
-    4380:	cd bf       	out	0x3d, r28	; 61
-    4382:	cf 91       	pop	r28
-    4384:	df 91       	pop	r29
-    4386:	1f 91       	pop	r17
-    4388:	0f 91       	pop	r16
-    438a:	ff 90       	pop	r15
-    438c:	ef 90       	pop	r14
-    438e:	df 90       	pop	r13
-    4390:	cf 90       	pop	r12
-    4392:	bf 90       	pop	r11
-    4394:	af 90       	pop	r10
-    4396:	9f 90       	pop	r9
-    4398:	8f 90       	pop	r8
-    439a:	7f 90       	pop	r7
-    439c:	6f 90       	pop	r6
-    439e:	08 95       	ret
-
-000043a0 <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_>:
-    43a0:	2f 92       	push	r2
-    43a2:	3f 92       	push	r3
-    43a4:	4f 92       	push	r4
-    43a6:	5f 92       	push	r5
-    43a8:	6f 92       	push	r6
-    43aa:	7f 92       	push	r7
-    43ac:	8f 92       	push	r8
-    43ae:	9f 92       	push	r9
-    43b0:	af 92       	push	r10
-    43b2:	bf 92       	push	r11
-    43b4:	cf 92       	push	r12
-    43b6:	df 92       	push	r13
-    43b8:	ef 92       	push	r14
-    43ba:	ff 92       	push	r15
-    43bc:	0f 93       	push	r16
-    43be:	1f 93       	push	r17
-    43c0:	df 93       	push	r29
-    43c2:	cf 93       	push	r28
-    43c4:	cd b7       	in	r28, 0x3d	; 61
-    43c6:	de b7       	in	r29, 0x3e	; 62
-    43c8:	2e 97       	sbiw	r28, 0x0e	; 14
-    43ca:	0f b6       	in	r0, 0x3f	; 63
-    43cc:	f8 94       	cli
-    43ce:	de bf       	out	0x3e, r29	; 62
-    43d0:	0f be       	out	0x3f, r0	; 63
-    43d2:	cd bf       	out	0x3d, r28	; 61
-    43d4:	6d 87       	std	Y+13, r22	; 0x0d
-    43d6:	7e 87       	std	Y+14, r23	; 0x0e
-    43d8:	c4 2e       	mov	r12, r20
-    43da:	d5 2e       	mov	r13, r21
-    43dc:	e8 2e       	mov	r14, r24
-    43de:	f9 2e       	mov	r15, r25
-    43e0:	b4 e2       	ldi	r27, 0x24	; 36
-    43e2:	2b 2e       	mov	r2, r27
-    43e4:	31 2c       	mov	r3, r1
-    43e6:	2c 0c       	add	r2, r12
-    43e8:	3d 1c       	adc	r3, r13
-    43ea:	50 c0       	rjmp	.+160    	; 0x448c <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_+0xec>
-    43ec:	f8 01       	movw	r30, r16
-    43ee:	21 91       	ld	r18, Z+
-    43f0:	31 91       	ld	r19, Z+
-    43f2:	41 91       	ld	r20, Z+
-    43f4:	51 91       	ld	r21, Z+
-    43f6:	8f 01       	movw	r16, r30
-    43f8:	f7 01       	movw	r30, r14
-    43fa:	60 81       	ld	r22, Z
-    43fc:	71 81       	ldd	r23, Z+1	; 0x01
-    43fe:	82 81       	ldd	r24, Z+2	; 0x02
-    4400:	93 81       	ldd	r25, Z+3	; 0x03
-    4402:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4406:	4b 01       	movw	r8, r22
-    4408:	5c 01       	movw	r10, r24
-    440a:	69 83       	std	Y+1, r22	; 0x01
-    440c:	7a 83       	std	Y+2, r23	; 0x02
-    440e:	8b 83       	std	Y+3, r24	; 0x03
-    4410:	9c 83       	std	Y+4, r25	; 0x04
-    4412:	f7 01       	movw	r30, r14
-    4414:	64 81       	ldd	r22, Z+4	; 0x04
-    4416:	75 81       	ldd	r23, Z+5	; 0x05
-    4418:	86 81       	ldd	r24, Z+6	; 0x06
-    441a:	97 81       	ldd	r25, Z+7	; 0x07
-    441c:	f8 01       	movw	r30, r16
-    441e:	20 85       	ldd	r18, Z+8	; 0x08
-    4420:	31 85       	ldd	r19, Z+9	; 0x09
-    4422:	42 85       	ldd	r20, Z+10	; 0x0a
-    4424:	53 85       	ldd	r21, Z+11	; 0x0b
-    4426:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    442a:	9b 01       	movw	r18, r22
-    442c:	ac 01       	movw	r20, r24
-    442e:	6d 83       	std	Y+5, r22	; 0x05
-    4430:	7e 83       	std	Y+6, r23	; 0x06
-    4432:	8f 83       	std	Y+7, r24	; 0x07
-    4434:	98 87       	std	Y+8, r25	; 0x08
-    4436:	c5 01       	movw	r24, r10
-    4438:	b4 01       	movw	r22, r8
-    443a:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    443e:	4b 01       	movw	r8, r22
-    4440:	5c 01       	movw	r10, r24
-    4442:	f7 01       	movw	r30, r14
-    4444:	60 85       	ldd	r22, Z+8	; 0x08
-    4446:	71 85       	ldd	r23, Z+9	; 0x09
-    4448:	82 85       	ldd	r24, Z+10	; 0x0a
-    444a:	93 85       	ldd	r25, Z+11	; 0x0b
-    444c:	f8 01       	movw	r30, r16
-    444e:	24 89       	ldd	r18, Z+20	; 0x14
-    4450:	35 89       	ldd	r19, Z+21	; 0x15
-    4452:	46 89       	ldd	r20, Z+22	; 0x16
-    4454:	57 89       	ldd	r21, Z+23	; 0x17
-    4456:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    445a:	9b 01       	movw	r18, r22
-    445c:	ac 01       	movw	r20, r24
-    445e:	c5 01       	movw	r24, r10
-    4460:	b4 01       	movw	r22, r8
-    4462:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    4466:	f3 01       	movw	r30, r6
-    4468:	61 93       	st	Z+, r22
-    446a:	71 93       	st	Z+, r23
-    446c:	81 93       	st	Z+, r24
-    446e:	91 93       	st	Z+, r25
-    4470:	3f 01       	movw	r6, r30
-    4472:	04 15       	cp	r16, r4
-    4474:	15 05       	cpc	r17, r5
-    4476:	09 f0       	breq	.+2      	; 0x447a <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_+0xda>
-    4478:	b9 cf       	rjmp	.-142    	; 0x43ec <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_+0x4c>
-    447a:	8c e0       	ldi	r24, 0x0C	; 12
-    447c:	90 e0       	ldi	r25, 0x00	; 0
-    447e:	c8 0e       	add	r12, r24
-    4480:	d9 1e       	adc	r13, r25
-    4482:	e8 0e       	add	r14, r24
-    4484:	f9 1e       	adc	r15, r25
-    4486:	c2 14       	cp	r12, r2
-    4488:	d3 04       	cpc	r13, r3
-    448a:	59 f0       	breq	.+22     	; 0x44a2 <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_+0x102>
-    448c:	9d 85       	ldd	r25, Y+13	; 0x0d
-    448e:	8e 85       	ldd	r24, Y+14	; 0x0e
-    4490:	09 2f       	mov	r16, r25
-    4492:	18 2f       	mov	r17, r24
-    4494:	ac e0       	ldi	r26, 0x0C	; 12
-    4496:	4a 2e       	mov	r4, r26
-    4498:	51 2c       	mov	r5, r1
-    449a:	40 0e       	add	r4, r16
-    449c:	51 1e       	adc	r5, r17
-    449e:	36 01       	movw	r6, r12
-    44a0:	a5 cf       	rjmp	.-182    	; 0x43ec <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_+0x4c>
-    44a2:	2e 96       	adiw	r28, 0x0e	; 14
-    44a4:	0f b6       	in	r0, 0x3f	; 63
-    44a6:	f8 94       	cli
-    44a8:	de bf       	out	0x3e, r29	; 62
-    44aa:	0f be       	out	0x3f, r0	; 63
-    44ac:	cd bf       	out	0x3d, r28	; 61
-    44ae:	cf 91       	pop	r28
-    44b0:	df 91       	pop	r29
-    44b2:	1f 91       	pop	r17
-    44b4:	0f 91       	pop	r16
-    44b6:	ff 90       	pop	r15
-    44b8:	ef 90       	pop	r14
-    44ba:	df 90       	pop	r13
-    44bc:	cf 90       	pop	r12
-    44be:	bf 90       	pop	r11
-    44c0:	af 90       	pop	r10
-    44c2:	9f 90       	pop	r9
-    44c4:	8f 90       	pop	r8
-    44c6:	7f 90       	pop	r7
-    44c8:	6f 90       	pop	r6
-    44ca:	5f 90       	pop	r5
-    44cc:	4f 90       	pop	r4
-    44ce:	3f 90       	pop	r3
-    44d0:	2f 90       	pop	r2
-    44d2:	08 95       	ret
-
-000044d4 <_ZN3IMU13Matrix_updateEv>:
-    44d4:	2f 92       	push	r2
-    44d6:	3f 92       	push	r3
-    44d8:	4f 92       	push	r4
-    44da:	5f 92       	push	r5
-    44dc:	6f 92       	push	r6
-    44de:	7f 92       	push	r7
-    44e0:	8f 92       	push	r8
-    44e2:	9f 92       	push	r9
-    44e4:	af 92       	push	r10
-    44e6:	bf 92       	push	r11
-    44e8:	cf 92       	push	r12
-    44ea:	df 92       	push	r13
-    44ec:	ef 92       	push	r14
-    44ee:	ff 92       	push	r15
-    44f0:	0f 93       	push	r16
-    44f2:	1f 93       	push	r17
-    44f4:	df 93       	push	r29
-    44f6:	cf 93       	push	r28
-    44f8:	00 d0       	rcall	.+0      	; 0x44fa <_ZN3IMU13Matrix_updateEv+0x26>
-    44fa:	0f 92       	push	r0
-    44fc:	cd b7       	in	r28, 0x3d	; 61
-    44fe:	de b7       	in	r29, 0x3e	; 62
-    4500:	60 91 d3 06 	lds	r22, 0x06D3
-    4504:	70 91 d4 06 	lds	r23, 0x06D4
-    4508:	88 27       	eor	r24, r24
-    450a:	77 fd       	sbrc	r23, 7
-    450c:	80 95       	com	r24
-    450e:	98 2f       	mov	r25, r24
-    4510:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    4514:	29 e7       	ldi	r18, 0x79	; 121
-    4516:	32 e2       	ldi	r19, 0x22	; 34
-    4518:	40 ea       	ldi	r20, 0xA0	; 160
-    451a:	5a e3       	ldi	r21, 0x3A	; 58
-    451c:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4520:	60 93 01 07 	sts	0x0701, r22
-    4524:	70 93 02 07 	sts	0x0702, r23
-    4528:	80 93 03 07 	sts	0x0703, r24
-    452c:	90 93 04 07 	sts	0x0704, r25
-    4530:	60 91 d5 06 	lds	r22, 0x06D5
-    4534:	70 91 d6 06 	lds	r23, 0x06D6
-    4538:	88 27       	eor	r24, r24
-    453a:	77 fd       	sbrc	r23, 7
-    453c:	80 95       	com	r24
-    453e:	98 2f       	mov	r25, r24
-    4540:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    4544:	29 e7       	ldi	r18, 0x79	; 121
-    4546:	32 e2       	ldi	r19, 0x22	; 34
-    4548:	40 ea       	ldi	r20, 0xA0	; 160
-    454a:	5a e3       	ldi	r21, 0x3A	; 58
-    454c:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4550:	60 93 05 07 	sts	0x0705, r22
-    4554:	70 93 06 07 	sts	0x0706, r23
-    4558:	80 93 07 07 	sts	0x0707, r24
-    455c:	90 93 08 07 	sts	0x0708, r25
-    4560:	60 91 d7 06 	lds	r22, 0x06D7
-    4564:	70 91 d8 06 	lds	r23, 0x06D8
-    4568:	88 27       	eor	r24, r24
-    456a:	77 fd       	sbrc	r23, 7
-    456c:	80 95       	com	r24
-    456e:	98 2f       	mov	r25, r24
-    4570:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    4574:	29 e7       	ldi	r18, 0x79	; 121
-    4576:	32 e2       	ldi	r19, 0x22	; 34
-    4578:	40 ea       	ldi	r20, 0xA0	; 160
-    457a:	5a e3       	ldi	r21, 0x3A	; 58
-    457c:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4580:	60 93 09 07 	sts	0x0709, r22
-    4584:	70 93 0a 07 	sts	0x070A, r23
-    4588:	80 93 0b 07 	sts	0x070B, r24
-    458c:	90 93 0c 07 	sts	0x070C, r25
-    4590:	60 91 d9 06 	lds	r22, 0x06D9
-    4594:	70 91 da 06 	lds	r23, 0x06DA
-    4598:	88 27       	eor	r24, r24
-    459a:	77 fd       	sbrc	r23, 7
-    459c:	80 95       	com	r24
-    459e:	98 2f       	mov	r25, r24
-    45a0:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    45a4:	60 93 f5 06 	sts	0x06F5, r22
-    45a8:	70 93 f6 06 	sts	0x06F6, r23
-    45ac:	80 93 f7 06 	sts	0x06F7, r24
-    45b0:	90 93 f8 06 	sts	0x06F8, r25
-    45b4:	60 91 db 06 	lds	r22, 0x06DB
-    45b8:	70 91 dc 06 	lds	r23, 0x06DC
-    45bc:	88 27       	eor	r24, r24
-    45be:	77 fd       	sbrc	r23, 7
-    45c0:	80 95       	com	r24
-    45c2:	98 2f       	mov	r25, r24
-    45c4:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    45c8:	60 93 f9 06 	sts	0x06F9, r22
-    45cc:	70 93 fa 06 	sts	0x06FA, r23
-    45d0:	80 93 fb 06 	sts	0x06FB, r24
-    45d4:	90 93 fc 06 	sts	0x06FC, r25
-    45d8:	60 91 dd 06 	lds	r22, 0x06DD
-    45dc:	70 91 de 06 	lds	r23, 0x06DE
-    45e0:	88 27       	eor	r24, r24
-    45e2:	77 fd       	sbrc	r23, 7
-    45e4:	80 95       	com	r24
-    45e6:	98 2f       	mov	r25, r24
-    45e8:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    45ec:	60 93 fd 06 	sts	0x06FD, r22
-    45f0:	70 93 fe 06 	sts	0x06FE, r23
-    45f4:	80 93 ff 06 	sts	0x06FF, r24
-    45f8:	90 93 00 07 	sts	0x0700, r25
-    45fc:	81 e3       	ldi	r24, 0x31	; 49
-    45fe:	97 e0       	ldi	r25, 0x07	; 7
-    4600:	61 e0       	ldi	r22, 0x01	; 1
-    4602:	77 e0       	ldi	r23, 0x07	; 7
-    4604:	45 e2       	ldi	r20, 0x25	; 37
-    4606:	57 e0       	ldi	r21, 0x07	; 7
-    4608:	0e 94 54 1f 	call	0x3ea8	; 0x3ea8 <_ZN3IMU9vectorAddEPfS0_S0_>
-    460c:	8d e0       	ldi	r24, 0x0D	; 13
-    460e:	97 e0       	ldi	r25, 0x07	; 7
-    4610:	61 e3       	ldi	r22, 0x31	; 49
-    4612:	77 e0       	ldi	r23, 0x07	; 7
-    4614:	49 e1       	ldi	r20, 0x19	; 25
-    4616:	57 e0       	ldi	r21, 0x07	; 7
-    4618:	0e 94 54 1f 	call	0x3ea8	; 0x3ea8 <_ZN3IMU9vectorAddEPfS0_S0_>
-    461c:	0f 2e       	mov	r0, r31
-    461e:	f0 e0       	ldi	r31, 0x00	; 0
-    4620:	2f 2e       	mov	r2, r31
-    4622:	f0 e0       	ldi	r31, 0x00	; 0
-    4624:	3f 2e       	mov	r3, r31
-    4626:	f0 e0       	ldi	r31, 0x00	; 0
-    4628:	4f 2e       	mov	r4, r31
-    462a:	f0 e0       	ldi	r31, 0x00	; 0
-    462c:	5f 2e       	mov	r5, r31
-    462e:	f0 2d       	mov	r31, r0
-    4630:	20 92 7b 05 	sts	0x057B, r2
-    4634:	30 92 7c 05 	sts	0x057C, r3
-    4638:	40 92 7d 05 	sts	0x057D, r4
-    463c:	50 92 7e 05 	sts	0x057E, r5
-    4640:	e0 90 53 05 	lds	r14, 0x0553
-    4644:	f0 90 54 05 	lds	r15, 0x0554
-    4648:	00 91 55 05 	lds	r16, 0x0555
-    464c:	10 91 56 05 	lds	r17, 0x0556
-    4650:	57 01       	movw	r10, r14
-    4652:	68 01       	movw	r12, r16
-    4654:	d7 fa       	bst	r13, 7
-    4656:	d0 94       	com	r13
-    4658:	d7 f8       	bld	r13, 7
-    465a:	d0 94       	com	r13
-    465c:	60 90 15 07 	lds	r6, 0x0715
-    4660:	70 90 16 07 	lds	r7, 0x0716
-    4664:	80 90 17 07 	lds	r8, 0x0717
-    4668:	90 90 18 07 	lds	r9, 0x0718
-    466c:	c6 01       	movw	r24, r12
-    466e:	b5 01       	movw	r22, r10
-    4670:	a4 01       	movw	r20, r8
-    4672:	93 01       	movw	r18, r6
-    4674:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4678:	60 93 7f 05 	sts	0x057F, r22
-    467c:	70 93 80 05 	sts	0x0580, r23
-    4680:	80 93 81 05 	sts	0x0581, r24
-    4684:	90 93 82 05 	sts	0x0582, r25
-    4688:	80 91 11 07 	lds	r24, 0x0711
-    468c:	90 91 12 07 	lds	r25, 0x0712
-    4690:	a0 91 13 07 	lds	r26, 0x0713
-    4694:	b0 91 14 07 	lds	r27, 0x0714
-    4698:	89 83       	std	Y+1, r24	; 0x01
-    469a:	9a 83       	std	Y+2, r25	; 0x02
-    469c:	ab 83       	std	Y+3, r26	; 0x03
-    469e:	bc 83       	std	Y+4, r27	; 0x04
-    46a0:	c8 01       	movw	r24, r16
-    46a2:	b7 01       	movw	r22, r14
-    46a4:	29 81       	ldd	r18, Y+1	; 0x01
-    46a6:	3a 81       	ldd	r19, Y+2	; 0x02
-    46a8:	4b 81       	ldd	r20, Y+3	; 0x03
-    46aa:	5c 81       	ldd	r21, Y+4	; 0x04
-    46ac:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    46b0:	60 93 83 05 	sts	0x0583, r22
-    46b4:	70 93 84 05 	sts	0x0584, r23
-    46b8:	80 93 85 05 	sts	0x0585, r24
-    46bc:	90 93 86 05 	sts	0x0586, r25
-    46c0:	c8 01       	movw	r24, r16
-    46c2:	b7 01       	movw	r22, r14
-    46c4:	a4 01       	movw	r20, r8
-    46c6:	93 01       	movw	r18, r6
-    46c8:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    46cc:	60 93 87 05 	sts	0x0587, r22
-    46d0:	70 93 88 05 	sts	0x0588, r23
-    46d4:	80 93 89 05 	sts	0x0589, r24
-    46d8:	90 93 8a 05 	sts	0x058A, r25
-    46dc:	20 92 8b 05 	sts	0x058B, r2
-    46e0:	30 92 8c 05 	sts	0x058C, r3
-    46e4:	40 92 8d 05 	sts	0x058D, r4
-    46e8:	50 92 8e 05 	sts	0x058E, r5
-    46ec:	60 90 0d 07 	lds	r6, 0x070D
-    46f0:	70 90 0e 07 	lds	r7, 0x070E
-    46f4:	80 90 0f 07 	lds	r8, 0x070F
-    46f8:	90 90 10 07 	lds	r9, 0x0710
-    46fc:	c6 01       	movw	r24, r12
-    46fe:	b5 01       	movw	r22, r10
-    4700:	a4 01       	movw	r20, r8
-    4702:	93 01       	movw	r18, r6
-    4704:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4708:	60 93 8f 05 	sts	0x058F, r22
-    470c:	70 93 90 05 	sts	0x0590, r23
-    4710:	80 93 91 05 	sts	0x0591, r24
-    4714:	90 93 92 05 	sts	0x0592, r25
-    4718:	c6 01       	movw	r24, r12
-    471a:	b5 01       	movw	r22, r10
-    471c:	29 81       	ldd	r18, Y+1	; 0x01
-    471e:	3a 81       	ldd	r19, Y+2	; 0x02
-    4720:	4b 81       	ldd	r20, Y+3	; 0x03
-    4722:	5c 81       	ldd	r21, Y+4	; 0x04
-    4724:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4728:	60 93 93 05 	sts	0x0593, r22
-    472c:	70 93 94 05 	sts	0x0594, r23
-    4730:	80 93 95 05 	sts	0x0595, r24
-    4734:	90 93 96 05 	sts	0x0596, r25
-    4738:	c8 01       	movw	r24, r16
-    473a:	b7 01       	movw	r22, r14
-    473c:	a4 01       	movw	r20, r8
-    473e:	93 01       	movw	r18, r6
-    4740:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4744:	60 93 97 05 	sts	0x0597, r22
-    4748:	70 93 98 05 	sts	0x0598, r23
-    474c:	80 93 99 05 	sts	0x0599, r24
-    4750:	90 93 9a 05 	sts	0x059A, r25
-    4754:	20 92 9b 05 	sts	0x059B, r2
-    4758:	30 92 9c 05 	sts	0x059C, r3
-    475c:	40 92 9d 05 	sts	0x059D, r4
-    4760:	50 92 9e 05 	sts	0x059E, r5
-    4764:	87 e5       	ldi	r24, 0x57	; 87
-    4766:	95 e0       	ldi	r25, 0x05	; 5
-    4768:	6b e7       	ldi	r22, 0x7B	; 123
-    476a:	75 e0       	ldi	r23, 0x05	; 5
-    476c:	43 e6       	ldi	r20, 0x63	; 99
-    476e:	57 e0       	ldi	r21, 0x07	; 7
-    4770:	0e 94 d0 21 	call	0x43a0	; 0x43a0 <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_>
-    4774:	17 e5       	ldi	r17, 0x57	; 87
-    4776:	e1 2e       	mov	r14, r17
-    4778:	15 e0       	ldi	r17, 0x05	; 5
-    477a:	f1 2e       	mov	r15, r17
-    477c:	03 e6       	ldi	r16, 0x63	; 99
-    477e:	17 e0       	ldi	r17, 0x07	; 7
-    4780:	d7 01       	movw	r26, r14
-    4782:	6d 91       	ld	r22, X+
-    4784:	7d 91       	ld	r23, X+
-    4786:	8d 91       	ld	r24, X+
-    4788:	9c 91       	ld	r25, X
-    478a:	f8 01       	movw	r30, r16
-    478c:	20 81       	ld	r18, Z
-    478e:	31 81       	ldd	r19, Z+1	; 0x01
-    4790:	42 81       	ldd	r20, Z+2	; 0x02
-    4792:	53 81       	ldd	r21, Z+3	; 0x03
-    4794:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    4798:	d7 01       	movw	r26, r14
-    479a:	6d 93       	st	X+, r22
-    479c:	7d 93       	st	X+, r23
-    479e:	8d 93       	st	X+, r24
-    47a0:	9c 93       	st	X, r25
-    47a2:	13 97       	sbiw	r26, 0x03	; 3
-    47a4:	14 96       	adiw	r26, 0x04	; 4
-    47a6:	6d 91       	ld	r22, X+
-    47a8:	7d 91       	ld	r23, X+
-    47aa:	8d 91       	ld	r24, X+
-    47ac:	9c 91       	ld	r25, X
-    47ae:	17 97       	sbiw	r26, 0x07	; 7
-    47b0:	f8 01       	movw	r30, r16
-    47b2:	24 81       	ldd	r18, Z+4	; 0x04
-    47b4:	35 81       	ldd	r19, Z+5	; 0x05
-    47b6:	46 81       	ldd	r20, Z+6	; 0x06
-    47b8:	57 81       	ldd	r21, Z+7	; 0x07
-    47ba:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    47be:	d7 01       	movw	r26, r14
-    47c0:	14 96       	adiw	r26, 0x04	; 4
-    47c2:	6d 93       	st	X+, r22
-    47c4:	7d 93       	st	X+, r23
-    47c6:	8d 93       	st	X+, r24
-    47c8:	9c 93       	st	X, r25
-    47ca:	17 97       	sbiw	r26, 0x07	; 7
-    47cc:	18 96       	adiw	r26, 0x08	; 8
-    47ce:	6d 91       	ld	r22, X+
-    47d0:	7d 91       	ld	r23, X+
-    47d2:	8d 91       	ld	r24, X+
-    47d4:	9c 91       	ld	r25, X
-    47d6:	1b 97       	sbiw	r26, 0x0b	; 11
-    47d8:	f8 01       	movw	r30, r16
-    47da:	20 85       	ldd	r18, Z+8	; 0x08
-    47dc:	31 85       	ldd	r19, Z+9	; 0x09
-    47de:	42 85       	ldd	r20, Z+10	; 0x0a
-    47e0:	53 85       	ldd	r21, Z+11	; 0x0b
-    47e2:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    47e6:	d7 01       	movw	r26, r14
-    47e8:	18 96       	adiw	r26, 0x08	; 8
-    47ea:	6d 93       	st	X+, r22
-    47ec:	7d 93       	st	X+, r23
-    47ee:	8d 93       	st	X+, r24
-    47f0:	9c 93       	st	X, r25
-    47f2:	1b 97       	sbiw	r26, 0x0b	; 11
-    47f4:	ec e0       	ldi	r30, 0x0C	; 12
-    47f6:	f0 e0       	ldi	r31, 0x00	; 0
-    47f8:	ee 0e       	add	r14, r30
-    47fa:	ff 1e       	adc	r15, r31
-    47fc:	04 5f       	subi	r16, 0xF4	; 244
-    47fe:	1f 4f       	sbci	r17, 0xFF	; 255
-    4800:	fb e7       	ldi	r31, 0x7B	; 123
-    4802:	ef 16       	cp	r14, r31
-    4804:	f5 e0       	ldi	r31, 0x05	; 5
-    4806:	ff 06       	cpc	r15, r31
-    4808:	09 f0       	breq	.+2      	; 0x480c <_ZN3IMU13Matrix_updateEv+0x338>
-    480a:	ba cf       	rjmp	.-140    	; 0x4780 <_ZN3IMU13Matrix_updateEv+0x2ac>
-    480c:	0f 90       	pop	r0
-    480e:	0f 90       	pop	r0
-    4810:	0f 90       	pop	r0
-    4812:	0f 90       	pop	r0
-    4814:	cf 91       	pop	r28
-    4816:	df 91       	pop	r29
-    4818:	1f 91       	pop	r17
-    481a:	0f 91       	pop	r16
-    481c:	ff 90       	pop	r15
-    481e:	ef 90       	pop	r14
-    4820:	df 90       	pop	r13
-    4822:	cf 90       	pop	r12
-    4824:	bf 90       	pop	r11
-    4826:	af 90       	pop	r10
-    4828:	9f 90       	pop	r9
-    482a:	8f 90       	pop	r8
-    482c:	7f 90       	pop	r7
-    482e:	6f 90       	pop	r6
-    4830:	5f 90       	pop	r5
-    4832:	4f 90       	pop	r4
-    4834:	3f 90       	pop	r3
-    4836:	2f 90       	pop	r2
-    4838:	08 95       	ret
-
-0000483a <_ZN3IMU9updateIMUEv>:
-    483a:	ef 92       	push	r14
-    483c:	ff 92       	push	r15
-    483e:	0f 93       	push	r16
-    4840:	1f 93       	push	r17
-    4842:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
-    4846:	20 91 b3 06 	lds	r18, 0x06B3
-    484a:	30 91 b4 06 	lds	r19, 0x06B4
-    484e:	40 91 b5 06 	lds	r20, 0x06B5
-    4852:	50 91 b6 06 	lds	r21, 0x06B6
-    4856:	62 1b       	sub	r22, r18
-    4858:	73 0b       	sbc	r23, r19
-    485a:	84 0b       	sbc	r24, r20
-    485c:	95 0b       	sbc	r25, r21
-    485e:	64 31       	cpi	r22, 0x14	; 20
-    4860:	71 05       	cpc	r23, r1
-    4862:	81 05       	cpc	r24, r1
-    4864:	91 05       	cpc	r25, r1
-    4866:	08 f4       	brcc	.+2      	; 0x486a <_ZN3IMU9updateIMUEv+0x30>
-    4868:	6b c0       	rjmp	.+214    	; 0x4940 <_ZN3IMU9updateIMUEv+0x106>
-    486a:	80 91 61 07 	lds	r24, 0x0761
-    486e:	90 91 62 07 	lds	r25, 0x0762
-    4872:	01 96       	adiw	r24, 0x01	; 1
-    4874:	90 93 62 07 	sts	0x0762, r25
-    4878:	80 93 61 07 	sts	0x0761, r24
-    487c:	20 93 b7 06 	sts	0x06B7, r18
-    4880:	30 93 b8 06 	sts	0x06B8, r19
-    4884:	40 93 b9 06 	sts	0x06B9, r20
-    4888:	50 93 ba 06 	sts	0x06BA, r21
-    488c:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
-    4890:	9b 01       	movw	r18, r22
-    4892:	ac 01       	movw	r20, r24
-    4894:	20 93 b3 06 	sts	0x06B3, r18
-    4898:	30 93 b4 06 	sts	0x06B4, r19
-    489c:	40 93 b5 06 	sts	0x06B5, r20
-    48a0:	50 93 b6 06 	sts	0x06B6, r21
-    48a4:	80 91 b7 06 	lds	r24, 0x06B7
-    48a8:	90 91 b8 06 	lds	r25, 0x06B8
-    48ac:	a0 91 b9 06 	lds	r26, 0x06B9
-    48b0:	b0 91 ba 06 	lds	r27, 0x06BA
-    48b4:	82 17       	cp	r24, r18
-    48b6:	93 07       	cpc	r25, r19
-    48b8:	a4 07       	cpc	r26, r20
-    48ba:	b5 07       	cpc	r27, r21
-    48bc:	cc f4       	brge	.+50     	; 0x48f0 <_ZN3IMU9updateIMUEv+0xb6>
-    48be:	79 01       	movw	r14, r18
-    48c0:	8a 01       	movw	r16, r20
-    48c2:	e8 1a       	sub	r14, r24
-    48c4:	f9 0a       	sbc	r15, r25
-    48c6:	0a 0b       	sbc	r16, r26
-    48c8:	1b 0b       	sbc	r17, r27
-    48ca:	c8 01       	movw	r24, r16
-    48cc:	b7 01       	movw	r22, r14
-    48ce:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
+    4018:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    401c:	f6 2e       	mov	r15, r22
+    401e:	07 2f       	mov	r16, r23
+    4020:	18 2f       	mov	r17, r24
+    4022:	e9 2e       	mov	r14, r25
+    4024:	0a c0       	rjmp	.+20     	; 0x403a <_ZN3IMU16Drift_correctionEv+0x1f0>
+    4026:	ff 24       	eor	r15, r15
+    4028:	00 e0       	ldi	r16, 0x00	; 0
+    402a:	10 e0       	ldi	r17, 0x00	; 0
+    402c:	ee 24       	eor	r14, r14
+    402e:	05 c0       	rjmp	.+10     	; 0x403a <_ZN3IMU16Drift_correctionEv+0x1f0>
+    4030:	ff 24       	eor	r15, r15
+    4032:	00 e0       	ldi	r16, 0x00	; 0
+    4034:	10 e8       	ldi	r17, 0x80	; 128
+    4036:	3f e3       	ldi	r19, 0x3F	; 63
+    4038:	e3 2e       	mov	r14, r19
+    403a:	89 e4       	ldi	r24, 0x49	; 73
+    403c:	97 e0       	ldi	r25, 0x07	; 7
+    403e:	65 ef       	ldi	r22, 0xF5	; 245
+    4040:	76 e0       	ldi	r23, 0x06	; 6
+    4042:	40 e7       	ldi	r20, 0x70	; 112
+    4044:	55 e0       	ldi	r21, 0x05	; 5
+    4046:	0e 94 39 1e 	call	0x3c72	; 0x3c72 <_ZN3IMU18vectorCrossProductEPfS0_S0_>
+    404a:	6f 2d       	mov	r22, r15
+    404c:	70 2f       	mov	r23, r16
+    404e:	81 2f       	mov	r24, r17
+    4050:	9e 2d       	mov	r25, r14
+    4052:	2a e0       	ldi	r18, 0x0A	; 10
+    4054:	37 ed       	ldi	r19, 0xD7	; 215
+    4056:	43 ea       	ldi	r20, 0xA3	; 163
+    4058:	5c e3       	ldi	r21, 0x3C	; 60
+    405a:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    405e:	9b 01       	movw	r18, r22
+    4060:	ac 01       	movw	r20, r24
+    4062:	89 e1       	ldi	r24, 0x19	; 25
+    4064:	97 e0       	ldi	r25, 0x07	; 7
+    4066:	69 e4       	ldi	r22, 0x49	; 73
+    4068:	77 e0       	ldi	r23, 0x07	; 7
+    406a:	0e 94 ba 1e 	call	0x3d74	; 0x3d74 <_ZN3IMU11vectorScaleEPfS0_f>
+    406e:	6f 2d       	mov	r22, r15
+    4070:	70 2f       	mov	r23, r16
+    4072:	81 2f       	mov	r24, r17
+    4074:	9e 2d       	mov	r25, r14
+    4076:	2c ea       	ldi	r18, 0xAC	; 172
+    4078:	35 ec       	ldi	r19, 0xC5	; 197
+    407a:	47 ea       	ldi	r20, 0xA7	; 167
+    407c:	57 e3       	ldi	r21, 0x37	; 55
+    407e:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4082:	9b 01       	movw	r18, r22
+    4084:	ac 01       	movw	r20, r24
+    4086:	8c ee       	ldi	r24, 0xEC	; 236
+    4088:	9d e0       	ldi	r25, 0x0D	; 13
+    408a:	69 e4       	ldi	r22, 0x49	; 73
+    408c:	77 e0       	ldi	r23, 0x07	; 7
+    408e:	0e 94 ba 1e 	call	0x3d74	; 0x3d74 <_ZN3IMU11vectorScaleEPfS0_f>
+    4092:	85 e2       	ldi	r24, 0x25	; 37
+    4094:	97 e0       	ldi	r25, 0x07	; 7
+    4096:	bc 01       	movw	r22, r24
+    4098:	4c ee       	ldi	r20, 0xEC	; 236
+    409a:	5d e0       	ldi	r21, 0x0D	; 13
+    409c:	0e 94 f4 1e 	call	0x3de8	; 0x3de8 <_ZN3IMU9vectorAddEPfS0_S0_>
+    40a0:	e0 90 f1 06 	lds	r14, 0x06F1
+    40a4:	f0 90 f2 06 	lds	r15, 0x06F2
+    40a8:	00 91 f3 06 	lds	r16, 0x06F3
+    40ac:	10 91 f4 06 	lds	r17, 0x06F4
+    40b0:	c8 01       	movw	r24, r16
+    40b2:	b7 01       	movw	r22, r14
+    40b4:	0e 94 78 3e 	call	0x7cf0	; 0x7cf0 <cos>
+    40b8:	5b 01       	movw	r10, r22
+    40ba:	6c 01       	movw	r12, r24
+    40bc:	c8 01       	movw	r24, r16
+    40be:	b7 01       	movw	r22, r14
+    40c0:	0e 94 be 40 	call	0x817c	; 0x817c <sin>
+    40c4:	20 91 58 05 	lds	r18, 0x0558
+    40c8:	30 91 59 05 	lds	r19, 0x0559
+    40cc:	40 91 5a 05 	lds	r20, 0x055A
+    40d0:	50 91 5b 05 	lds	r21, 0x055B
+    40d4:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    40d8:	7b 01       	movw	r14, r22
+    40da:	8c 01       	movw	r16, r24
+    40dc:	c6 01       	movw	r24, r12
+    40de:	b5 01       	movw	r22, r10
+    40e0:	20 91 64 05 	lds	r18, 0x0564
+    40e4:	30 91 65 05 	lds	r19, 0x0565
+    40e8:	40 91 66 05 	lds	r20, 0x0566
+    40ec:	50 91 67 05 	lds	r21, 0x0567
+    40f0:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    40f4:	9b 01       	movw	r18, r22
+    40f6:	ac 01       	movw	r20, r24
+    40f8:	c8 01       	movw	r24, r16
+    40fa:	b7 01       	movw	r22, r14
+    40fc:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    4100:	9b 01       	movw	r18, r22
+    4102:	ac 01       	movw	r20, r24
+    4104:	85 e5       	ldi	r24, 0x55	; 85
+    4106:	97 e0       	ldi	r25, 0x07	; 7
+    4108:	60 e7       	ldi	r22, 0x70	; 112
+    410a:	75 e0       	ldi	r23, 0x05	; 5
+    410c:	0e 94 ba 1e 	call	0x3d74	; 0x3d74 <_ZN3IMU11vectorScaleEPfS0_f>
+    4110:	88 ef       	ldi	r24, 0xF8	; 248
+    4112:	9d e0       	ldi	r25, 0x0D	; 13
+    4114:	65 e5       	ldi	r22, 0x55	; 85
+    4116:	77 e0       	ldi	r23, 0x07	; 7
+    4118:	2a e9       	ldi	r18, 0x9A	; 154
+    411a:	39 e9       	ldi	r19, 0x99	; 153
+    411c:	49 e9       	ldi	r20, 0x99	; 153
+    411e:	5f e3       	ldi	r21, 0x3F	; 63
+    4120:	0e 94 ba 1e 	call	0x3d74	; 0x3d74 <_ZN3IMU11vectorScaleEPfS0_f>
+    4124:	89 e1       	ldi	r24, 0x19	; 25
+    4126:	97 e0       	ldi	r25, 0x07	; 7
+    4128:	bc 01       	movw	r22, r24
+    412a:	48 ef       	ldi	r20, 0xF8	; 248
+    412c:	5d e0       	ldi	r21, 0x0D	; 13
+    412e:	0e 94 f4 1e 	call	0x3de8	; 0x3de8 <_ZN3IMU9vectorAddEPfS0_S0_>
+    4132:	8c ee       	ldi	r24, 0xEC	; 236
+    4134:	9d e0       	ldi	r25, 0x0D	; 13
+    4136:	65 e5       	ldi	r22, 0x55	; 85
+    4138:	77 e0       	ldi	r23, 0x07	; 7
+    413a:	2c ea       	ldi	r18, 0xAC	; 172
+    413c:	35 ec       	ldi	r19, 0xC5	; 197
+    413e:	47 ea       	ldi	r20, 0xA7	; 167
+    4140:	57 e3       	ldi	r21, 0x37	; 55
+    4142:	0e 94 ba 1e 	call	0x3d74	; 0x3d74 <_ZN3IMU11vectorScaleEPfS0_f>
+    4146:	85 e2       	ldi	r24, 0x25	; 37
+    4148:	97 e0       	ldi	r25, 0x07	; 7
+    414a:	bc 01       	movw	r22, r24
+    414c:	4c ee       	ldi	r20, 0xEC	; 236
+    414e:	5d e0       	ldi	r21, 0x0D	; 13
+    4150:	0e 94 f4 1e 	call	0x3de8	; 0x3de8 <_ZN3IMU9vectorAddEPfS0_S0_>
+    4154:	1f 91       	pop	r17
+    4156:	0f 91       	pop	r16
+    4158:	ff 90       	pop	r15
+    415a:	ef 90       	pop	r14
+    415c:	df 90       	pop	r13
+    415e:	cf 90       	pop	r12
+    4160:	bf 90       	pop	r11
+    4162:	af 90       	pop	r10
+    4164:	9f 90       	pop	r9
+    4166:	8f 90       	pop	r8
+    4168:	7f 90       	pop	r7
+    416a:	6f 90       	pop	r6
+    416c:	08 95       	ret
+
+0000416e <_ZN3IMU9NormalizeEv>:
+    416e:	6f 92       	push	r6
+    4170:	7f 92       	push	r7
+    4172:	8f 92       	push	r8
+    4174:	9f 92       	push	r9
+    4176:	af 92       	push	r10
+    4178:	bf 92       	push	r11
+    417a:	cf 92       	push	r12
+    417c:	df 92       	push	r13
+    417e:	ef 92       	push	r14
+    4180:	ff 92       	push	r15
+    4182:	0f 93       	push	r16
+    4184:	1f 93       	push	r17
+    4186:	df 93       	push	r29
+    4188:	cf 93       	push	r28
+    418a:	cd b7       	in	r28, 0x3d	; 61
+    418c:	de b7       	in	r29, 0x3e	; 62
+    418e:	a4 97       	sbiw	r28, 0x24	; 36
+    4190:	0f b6       	in	r0, 0x3f	; 63
+    4192:	f8 94       	cli
+    4194:	de bf       	out	0x3e, r29	; 62
+    4196:	0f be       	out	0x3f, r0	; 63
+    4198:	cd bf       	out	0x3d, r28	; 61
+    419a:	78 e5       	ldi	r23, 0x58	; 88
+    419c:	c7 2e       	mov	r12, r23
+    419e:	75 e0       	ldi	r23, 0x05	; 5
+    41a0:	d7 2e       	mov	r13, r23
+    41a2:	6c e0       	ldi	r22, 0x0C	; 12
+    41a4:	66 2e       	mov	r6, r22
+    41a6:	71 2c       	mov	r7, r1
+    41a8:	6c 0c       	add	r6, r12
+    41aa:	7d 1c       	adc	r7, r13
+    41ac:	c6 01       	movw	r24, r12
+    41ae:	b3 01       	movw	r22, r6
+    41b0:	0e 94 f6 1d 	call	0x3bec	; 0x3bec <_ZN3IMU16vectorDotProductEPfS0_>
+    41b4:	90 58       	subi	r25, 0x80	; 128
+    41b6:	20 e0       	ldi	r18, 0x00	; 0
+    41b8:	30 e0       	ldi	r19, 0x00	; 0
+    41ba:	40 e0       	ldi	r20, 0x00	; 0
+    41bc:	5f e3       	ldi	r21, 0x3F	; 63
+    41be:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    41c2:	5b 01       	movw	r10, r22
+    41c4:	98 2e       	mov	r9, r24
+    41c6:	89 2e       	mov	r8, r25
+    41c8:	8e 01       	movw	r16, r28
+    41ca:	0f 5f       	subi	r16, 0xFF	; 255
+    41cc:	1f 4f       	sbci	r17, 0xFF	; 255
+    41ce:	c8 01       	movw	r24, r16
+    41d0:	b3 01       	movw	r22, r6
+    41d2:	f4 01       	movw	r30, r8
+    41d4:	2a 2d       	mov	r18, r10
+    41d6:	3b 2d       	mov	r19, r11
+    41d8:	4f 2f       	mov	r20, r31
+    41da:	5e 2f       	mov	r21, r30
+    41dc:	0e 94 ba 1e 	call	0x3d74	; 0x3d74 <_ZN3IMU11vectorScaleEPfS0_f>
+    41e0:	5d e0       	ldi	r21, 0x0D	; 13
+    41e2:	e5 2e       	mov	r14, r21
+    41e4:	f1 2c       	mov	r15, r1
+    41e6:	ec 0e       	add	r14, r28
+    41e8:	fd 1e       	adc	r15, r29
+    41ea:	c7 01       	movw	r24, r14
+    41ec:	b6 01       	movw	r22, r12
+    41ee:	f4 01       	movw	r30, r8
+    41f0:	2a 2d       	mov	r18, r10
+    41f2:	3b 2d       	mov	r19, r11
+    41f4:	4f 2f       	mov	r20, r31
+    41f6:	5e 2f       	mov	r21, r30
+    41f8:	0e 94 ba 1e 	call	0x3d74	; 0x3d74 <_ZN3IMU11vectorScaleEPfS0_f>
+    41fc:	c8 01       	movw	r24, r16
+    41fe:	b8 01       	movw	r22, r16
+    4200:	a6 01       	movw	r20, r12
+    4202:	0e 94 f4 1e 	call	0x3de8	; 0x3de8 <_ZN3IMU9vectorAddEPfS0_S0_>
+    4206:	c7 01       	movw	r24, r14
+    4208:	b7 01       	movw	r22, r14
+    420a:	a3 01       	movw	r20, r6
+    420c:	0e 94 f4 1e 	call	0x3de8	; 0x3de8 <_ZN3IMU9vectorAddEPfS0_S0_>
+    4210:	49 e1       	ldi	r20, 0x19	; 25
+    4212:	a4 2e       	mov	r10, r20
+    4214:	b1 2c       	mov	r11, r1
+    4216:	ac 0e       	add	r10, r28
+    4218:	bd 1e       	adc	r11, r29
+    421a:	c5 01       	movw	r24, r10
+    421c:	b8 01       	movw	r22, r16
+    421e:	a7 01       	movw	r20, r14
+    4220:	0e 94 39 1e 	call	0x3c72	; 0x3c72 <_ZN3IMU18vectorCrossProductEPfS0_S0_>
+    4224:	c8 01       	movw	r24, r16
+    4226:	b8 01       	movw	r22, r16
+    4228:	0e 94 f6 1d 	call	0x3bec	; 0x3bec <_ZN3IMU16vectorDotProductEPfS0_>
+    422c:	9b 01       	movw	r18, r22
+    422e:	ac 01       	movw	r20, r24
+    4230:	60 e0       	ldi	r22, 0x00	; 0
+    4232:	70 e0       	ldi	r23, 0x00	; 0
+    4234:	80 e4       	ldi	r24, 0x40	; 64
+    4236:	90 e4       	ldi	r25, 0x40	; 64
+    4238:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    423c:	20 e0       	ldi	r18, 0x00	; 0
+    423e:	30 e0       	ldi	r19, 0x00	; 0
+    4240:	40 e0       	ldi	r20, 0x00	; 0
+    4242:	5f e3       	ldi	r21, 0x3F	; 63
+    4244:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4248:	9b 01       	movw	r18, r22
+    424a:	ac 01       	movw	r20, r24
+    424c:	c6 01       	movw	r24, r12
+    424e:	b8 01       	movw	r22, r16
+    4250:	0e 94 ba 1e 	call	0x3d74	; 0x3d74 <_ZN3IMU11vectorScaleEPfS0_f>
+    4254:	c7 01       	movw	r24, r14
+    4256:	b7 01       	movw	r22, r14
+    4258:	0e 94 f6 1d 	call	0x3bec	; 0x3bec <_ZN3IMU16vectorDotProductEPfS0_>
+    425c:	9b 01       	movw	r18, r22
+    425e:	ac 01       	movw	r20, r24
+    4260:	60 e0       	ldi	r22, 0x00	; 0
+    4262:	70 e0       	ldi	r23, 0x00	; 0
+    4264:	80 e4       	ldi	r24, 0x40	; 64
+    4266:	90 e4       	ldi	r25, 0x40	; 64
+    4268:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    426c:	20 e0       	ldi	r18, 0x00	; 0
+    426e:	30 e0       	ldi	r19, 0x00	; 0
+    4270:	40 e0       	ldi	r20, 0x00	; 0
+    4272:	5f e3       	ldi	r21, 0x3F	; 63
+    4274:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4278:	9b 01       	movw	r18, r22
+    427a:	ac 01       	movw	r20, r24
+    427c:	c3 01       	movw	r24, r6
+    427e:	b7 01       	movw	r22, r14
+    4280:	0e 94 ba 1e 	call	0x3d74	; 0x3d74 <_ZN3IMU11vectorScaleEPfS0_f>
+    4284:	c5 01       	movw	r24, r10
+    4286:	b5 01       	movw	r22, r10
+    4288:	0e 94 f6 1d 	call	0x3bec	; 0x3bec <_ZN3IMU16vectorDotProductEPfS0_>
+    428c:	9b 01       	movw	r18, r22
+    428e:	ac 01       	movw	r20, r24
+    4290:	60 e0       	ldi	r22, 0x00	; 0
+    4292:	70 e0       	ldi	r23, 0x00	; 0
+    4294:	80 e4       	ldi	r24, 0x40	; 64
+    4296:	90 e4       	ldi	r25, 0x40	; 64
+    4298:	0e 94 96 3d 	call	0x7b2c	; 0x7b2c <__subsf3>
+    429c:	20 e0       	ldi	r18, 0x00	; 0
+    429e:	30 e0       	ldi	r19, 0x00	; 0
+    42a0:	40 e0       	ldi	r20, 0x00	; 0
+    42a2:	5f e3       	ldi	r21, 0x3F	; 63
+    42a4:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    42a8:	9b 01       	movw	r18, r22
+    42aa:	ac 01       	movw	r20, r24
+    42ac:	80 e7       	ldi	r24, 0x70	; 112
+    42ae:	95 e0       	ldi	r25, 0x05	; 5
+    42b0:	b5 01       	movw	r22, r10
+    42b2:	0e 94 ba 1e 	call	0x3d74	; 0x3d74 <_ZN3IMU11vectorScaleEPfS0_f>
+    42b6:	a4 96       	adiw	r28, 0x24	; 36
+    42b8:	0f b6       	in	r0, 0x3f	; 63
+    42ba:	f8 94       	cli
+    42bc:	de bf       	out	0x3e, r29	; 62
+    42be:	0f be       	out	0x3f, r0	; 63
+    42c0:	cd bf       	out	0x3d, r28	; 61
+    42c2:	cf 91       	pop	r28
+    42c4:	df 91       	pop	r29
+    42c6:	1f 91       	pop	r17
+    42c8:	0f 91       	pop	r16
+    42ca:	ff 90       	pop	r15
+    42cc:	ef 90       	pop	r14
+    42ce:	df 90       	pop	r13
+    42d0:	cf 90       	pop	r12
+    42d2:	bf 90       	pop	r11
+    42d4:	af 90       	pop	r10
+    42d6:	9f 90       	pop	r9
+    42d8:	8f 90       	pop	r8
+    42da:	7f 90       	pop	r7
+    42dc:	6f 90       	pop	r6
+    42de:	08 95       	ret
+
+000042e0 <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_>:
+    42e0:	2f 92       	push	r2
+    42e2:	3f 92       	push	r3
+    42e4:	4f 92       	push	r4
+    42e6:	5f 92       	push	r5
+    42e8:	6f 92       	push	r6
+    42ea:	7f 92       	push	r7
+    42ec:	8f 92       	push	r8
+    42ee:	9f 92       	push	r9
+    42f0:	af 92       	push	r10
+    42f2:	bf 92       	push	r11
+    42f4:	cf 92       	push	r12
+    42f6:	df 92       	push	r13
+    42f8:	ef 92       	push	r14
+    42fa:	ff 92       	push	r15
+    42fc:	0f 93       	push	r16
+    42fe:	1f 93       	push	r17
+    4300:	df 93       	push	r29
+    4302:	cf 93       	push	r28
+    4304:	cd b7       	in	r28, 0x3d	; 61
+    4306:	de b7       	in	r29, 0x3e	; 62
+    4308:	2e 97       	sbiw	r28, 0x0e	; 14
+    430a:	0f b6       	in	r0, 0x3f	; 63
+    430c:	f8 94       	cli
+    430e:	de bf       	out	0x3e, r29	; 62
+    4310:	0f be       	out	0x3f, r0	; 63
+    4312:	cd bf       	out	0x3d, r28	; 61
+    4314:	6d 87       	std	Y+13, r22	; 0x0d
+    4316:	7e 87       	std	Y+14, r23	; 0x0e
+    4318:	c4 2e       	mov	r12, r20
+    431a:	d5 2e       	mov	r13, r21
+    431c:	e8 2e       	mov	r14, r24
+    431e:	f9 2e       	mov	r15, r25
+    4320:	f4 e2       	ldi	r31, 0x24	; 36
+    4322:	2f 2e       	mov	r2, r31
+    4324:	31 2c       	mov	r3, r1
+    4326:	2c 0c       	add	r2, r12
+    4328:	3d 1c       	adc	r3, r13
+    432a:	50 c0       	rjmp	.+160    	; 0x43cc <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_+0xec>
+    432c:	f8 01       	movw	r30, r16
+    432e:	21 91       	ld	r18, Z+
+    4330:	31 91       	ld	r19, Z+
+    4332:	41 91       	ld	r20, Z+
+    4334:	51 91       	ld	r21, Z+
+    4336:	8f 01       	movw	r16, r30
+    4338:	f7 01       	movw	r30, r14
+    433a:	60 81       	ld	r22, Z
+    433c:	71 81       	ldd	r23, Z+1	; 0x01
+    433e:	82 81       	ldd	r24, Z+2	; 0x02
+    4340:	93 81       	ldd	r25, Z+3	; 0x03
+    4342:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4346:	4b 01       	movw	r8, r22
+    4348:	5c 01       	movw	r10, r24
+    434a:	69 83       	std	Y+1, r22	; 0x01
+    434c:	7a 83       	std	Y+2, r23	; 0x02
+    434e:	8b 83       	std	Y+3, r24	; 0x03
+    4350:	9c 83       	std	Y+4, r25	; 0x04
+    4352:	f7 01       	movw	r30, r14
+    4354:	64 81       	ldd	r22, Z+4	; 0x04
+    4356:	75 81       	ldd	r23, Z+5	; 0x05
+    4358:	86 81       	ldd	r24, Z+6	; 0x06
+    435a:	97 81       	ldd	r25, Z+7	; 0x07
+    435c:	f8 01       	movw	r30, r16
+    435e:	20 85       	ldd	r18, Z+8	; 0x08
+    4360:	31 85       	ldd	r19, Z+9	; 0x09
+    4362:	42 85       	ldd	r20, Z+10	; 0x0a
+    4364:	53 85       	ldd	r21, Z+11	; 0x0b
+    4366:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    436a:	9b 01       	movw	r18, r22
+    436c:	ac 01       	movw	r20, r24
+    436e:	6d 83       	std	Y+5, r22	; 0x05
+    4370:	7e 83       	std	Y+6, r23	; 0x06
+    4372:	8f 83       	std	Y+7, r24	; 0x07
+    4374:	98 87       	std	Y+8, r25	; 0x08
+    4376:	c5 01       	movw	r24, r10
+    4378:	b4 01       	movw	r22, r8
+    437a:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    437e:	4b 01       	movw	r8, r22
+    4380:	5c 01       	movw	r10, r24
+    4382:	f7 01       	movw	r30, r14
+    4384:	60 85       	ldd	r22, Z+8	; 0x08
+    4386:	71 85       	ldd	r23, Z+9	; 0x09
+    4388:	82 85       	ldd	r24, Z+10	; 0x0a
+    438a:	93 85       	ldd	r25, Z+11	; 0x0b
+    438c:	f8 01       	movw	r30, r16
+    438e:	24 89       	ldd	r18, Z+20	; 0x14
+    4390:	35 89       	ldd	r19, Z+21	; 0x15
+    4392:	46 89       	ldd	r20, Z+22	; 0x16
+    4394:	57 89       	ldd	r21, Z+23	; 0x17
+    4396:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    439a:	9b 01       	movw	r18, r22
+    439c:	ac 01       	movw	r20, r24
+    439e:	c5 01       	movw	r24, r10
+    43a0:	b4 01       	movw	r22, r8
+    43a2:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    43a6:	f3 01       	movw	r30, r6
+    43a8:	61 93       	st	Z+, r22
+    43aa:	71 93       	st	Z+, r23
+    43ac:	81 93       	st	Z+, r24
+    43ae:	91 93       	st	Z+, r25
+    43b0:	3f 01       	movw	r6, r30
+    43b2:	04 15       	cp	r16, r4
+    43b4:	15 05       	cpc	r17, r5
+    43b6:	09 f0       	breq	.+2      	; 0x43ba <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_+0xda>
+    43b8:	b9 cf       	rjmp	.-142    	; 0x432c <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_+0x4c>
+    43ba:	8c e0       	ldi	r24, 0x0C	; 12
+    43bc:	90 e0       	ldi	r25, 0x00	; 0
+    43be:	c8 0e       	add	r12, r24
+    43c0:	d9 1e       	adc	r13, r25
+    43c2:	e8 0e       	add	r14, r24
+    43c4:	f9 1e       	adc	r15, r25
+    43c6:	c2 14       	cp	r12, r2
+    43c8:	d3 04       	cpc	r13, r3
+    43ca:	59 f0       	breq	.+22     	; 0x43e2 <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_+0x102>
+    43cc:	9d 85       	ldd	r25, Y+13	; 0x0d
+    43ce:	8e 85       	ldd	r24, Y+14	; 0x0e
+    43d0:	09 2f       	mov	r16, r25
+    43d2:	18 2f       	mov	r17, r24
+    43d4:	ec e0       	ldi	r30, 0x0C	; 12
+    43d6:	4e 2e       	mov	r4, r30
+    43d8:	51 2c       	mov	r5, r1
+    43da:	40 0e       	add	r4, r16
+    43dc:	51 1e       	adc	r5, r17
+    43de:	36 01       	movw	r6, r12
+    43e0:	a5 cf       	rjmp	.-182    	; 0x432c <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_+0x4c>
+    43e2:	2e 96       	adiw	r28, 0x0e	; 14
+    43e4:	0f b6       	in	r0, 0x3f	; 63
+    43e6:	f8 94       	cli
+    43e8:	de bf       	out	0x3e, r29	; 62
+    43ea:	0f be       	out	0x3f, r0	; 63
+    43ec:	cd bf       	out	0x3d, r28	; 61
+    43ee:	cf 91       	pop	r28
+    43f0:	df 91       	pop	r29
+    43f2:	1f 91       	pop	r17
+    43f4:	0f 91       	pop	r16
+    43f6:	ff 90       	pop	r15
+    43f8:	ef 90       	pop	r14
+    43fa:	df 90       	pop	r13
+    43fc:	cf 90       	pop	r12
+    43fe:	bf 90       	pop	r11
+    4400:	af 90       	pop	r10
+    4402:	9f 90       	pop	r9
+    4404:	8f 90       	pop	r8
+    4406:	7f 90       	pop	r7
+    4408:	6f 90       	pop	r6
+    440a:	5f 90       	pop	r5
+    440c:	4f 90       	pop	r4
+    440e:	3f 90       	pop	r3
+    4410:	2f 90       	pop	r2
+    4412:	08 95       	ret
+
+00004414 <_ZN3IMU13Matrix_updateEv>:
+    4414:	2f 92       	push	r2
+    4416:	3f 92       	push	r3
+    4418:	4f 92       	push	r4
+    441a:	5f 92       	push	r5
+    441c:	6f 92       	push	r6
+    441e:	7f 92       	push	r7
+    4420:	8f 92       	push	r8
+    4422:	9f 92       	push	r9
+    4424:	af 92       	push	r10
+    4426:	bf 92       	push	r11
+    4428:	cf 92       	push	r12
+    442a:	df 92       	push	r13
+    442c:	ef 92       	push	r14
+    442e:	ff 92       	push	r15
+    4430:	0f 93       	push	r16
+    4432:	1f 93       	push	r17
+    4434:	df 93       	push	r29
+    4436:	cf 93       	push	r28
+    4438:	00 d0       	rcall	.+0      	; 0x443a <_ZN3IMU13Matrix_updateEv+0x26>
+    443a:	0f 92       	push	r0
+    443c:	cd b7       	in	r28, 0x3d	; 61
+    443e:	de b7       	in	r29, 0x3e	; 62
+    4440:	60 91 d3 06 	lds	r22, 0x06D3
+    4444:	70 91 d4 06 	lds	r23, 0x06D4
+    4448:	88 27       	eor	r24, r24
+    444a:	77 fd       	sbrc	r23, 7
+    444c:	80 95       	com	r24
+    444e:	98 2f       	mov	r25, r24
+    4450:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    4454:	29 e7       	ldi	r18, 0x79	; 121
+    4456:	32 e2       	ldi	r19, 0x22	; 34
+    4458:	40 ea       	ldi	r20, 0xA0	; 160
+    445a:	5a e3       	ldi	r21, 0x3A	; 58
+    445c:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4460:	60 93 01 07 	sts	0x0701, r22
+    4464:	70 93 02 07 	sts	0x0702, r23
+    4468:	80 93 03 07 	sts	0x0703, r24
+    446c:	90 93 04 07 	sts	0x0704, r25
+    4470:	60 91 d5 06 	lds	r22, 0x06D5
+    4474:	70 91 d6 06 	lds	r23, 0x06D6
+    4478:	88 27       	eor	r24, r24
+    447a:	77 fd       	sbrc	r23, 7
+    447c:	80 95       	com	r24
+    447e:	98 2f       	mov	r25, r24
+    4480:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    4484:	29 e7       	ldi	r18, 0x79	; 121
+    4486:	32 e2       	ldi	r19, 0x22	; 34
+    4488:	40 ea       	ldi	r20, 0xA0	; 160
+    448a:	5a e3       	ldi	r21, 0x3A	; 58
+    448c:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4490:	60 93 05 07 	sts	0x0705, r22
+    4494:	70 93 06 07 	sts	0x0706, r23
+    4498:	80 93 07 07 	sts	0x0707, r24
+    449c:	90 93 08 07 	sts	0x0708, r25
+    44a0:	60 91 d7 06 	lds	r22, 0x06D7
+    44a4:	70 91 d8 06 	lds	r23, 0x06D8
+    44a8:	88 27       	eor	r24, r24
+    44aa:	77 fd       	sbrc	r23, 7
+    44ac:	80 95       	com	r24
+    44ae:	98 2f       	mov	r25, r24
+    44b0:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    44b4:	29 e7       	ldi	r18, 0x79	; 121
+    44b6:	32 e2       	ldi	r19, 0x22	; 34
+    44b8:	40 ea       	ldi	r20, 0xA0	; 160
+    44ba:	5a e3       	ldi	r21, 0x3A	; 58
+    44bc:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    44c0:	60 93 09 07 	sts	0x0709, r22
+    44c4:	70 93 0a 07 	sts	0x070A, r23
+    44c8:	80 93 0b 07 	sts	0x070B, r24
+    44cc:	90 93 0c 07 	sts	0x070C, r25
+    44d0:	60 91 d9 06 	lds	r22, 0x06D9
+    44d4:	70 91 da 06 	lds	r23, 0x06DA
+    44d8:	88 27       	eor	r24, r24
+    44da:	77 fd       	sbrc	r23, 7
+    44dc:	80 95       	com	r24
+    44de:	98 2f       	mov	r25, r24
+    44e0:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    44e4:	60 93 f5 06 	sts	0x06F5, r22
+    44e8:	70 93 f6 06 	sts	0x06F6, r23
+    44ec:	80 93 f7 06 	sts	0x06F7, r24
+    44f0:	90 93 f8 06 	sts	0x06F8, r25
+    44f4:	60 91 db 06 	lds	r22, 0x06DB
+    44f8:	70 91 dc 06 	lds	r23, 0x06DC
+    44fc:	88 27       	eor	r24, r24
+    44fe:	77 fd       	sbrc	r23, 7
+    4500:	80 95       	com	r24
+    4502:	98 2f       	mov	r25, r24
+    4504:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    4508:	60 93 f9 06 	sts	0x06F9, r22
+    450c:	70 93 fa 06 	sts	0x06FA, r23
+    4510:	80 93 fb 06 	sts	0x06FB, r24
+    4514:	90 93 fc 06 	sts	0x06FC, r25
+    4518:	60 91 dd 06 	lds	r22, 0x06DD
+    451c:	70 91 de 06 	lds	r23, 0x06DE
+    4520:	88 27       	eor	r24, r24
+    4522:	77 fd       	sbrc	r23, 7
+    4524:	80 95       	com	r24
+    4526:	98 2f       	mov	r25, r24
+    4528:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    452c:	60 93 fd 06 	sts	0x06FD, r22
+    4530:	70 93 fe 06 	sts	0x06FE, r23
+    4534:	80 93 ff 06 	sts	0x06FF, r24
+    4538:	90 93 00 07 	sts	0x0700, r25
+    453c:	81 e3       	ldi	r24, 0x31	; 49
+    453e:	97 e0       	ldi	r25, 0x07	; 7
+    4540:	61 e0       	ldi	r22, 0x01	; 1
+    4542:	77 e0       	ldi	r23, 0x07	; 7
+    4544:	45 e2       	ldi	r20, 0x25	; 37
+    4546:	57 e0       	ldi	r21, 0x07	; 7
+    4548:	0e 94 f4 1e 	call	0x3de8	; 0x3de8 <_ZN3IMU9vectorAddEPfS0_S0_>
+    454c:	8d e0       	ldi	r24, 0x0D	; 13
+    454e:	97 e0       	ldi	r25, 0x07	; 7
+    4550:	61 e3       	ldi	r22, 0x31	; 49
+    4552:	77 e0       	ldi	r23, 0x07	; 7
+    4554:	49 e1       	ldi	r20, 0x19	; 25
+    4556:	57 e0       	ldi	r21, 0x07	; 7
+    4558:	0e 94 f4 1e 	call	0x3de8	; 0x3de8 <_ZN3IMU9vectorAddEPfS0_S0_>
+    455c:	0f 2e       	mov	r0, r31
+    455e:	f0 e0       	ldi	r31, 0x00	; 0
+    4560:	2f 2e       	mov	r2, r31
+    4562:	f0 e0       	ldi	r31, 0x00	; 0
+    4564:	3f 2e       	mov	r3, r31
+    4566:	f0 e0       	ldi	r31, 0x00	; 0
+    4568:	4f 2e       	mov	r4, r31
+    456a:	f0 e0       	ldi	r31, 0x00	; 0
+    456c:	5f 2e       	mov	r5, r31
+    456e:	f0 2d       	mov	r31, r0
+    4570:	20 92 7c 05 	sts	0x057C, r2
+    4574:	30 92 7d 05 	sts	0x057D, r3
+    4578:	40 92 7e 05 	sts	0x057E, r4
+    457c:	50 92 7f 05 	sts	0x057F, r5
+    4580:	e0 90 54 05 	lds	r14, 0x0554
+    4584:	f0 90 55 05 	lds	r15, 0x0555
+    4588:	00 91 56 05 	lds	r16, 0x0556
+    458c:	10 91 57 05 	lds	r17, 0x0557
+    4590:	57 01       	movw	r10, r14
+    4592:	68 01       	movw	r12, r16
+    4594:	d7 fa       	bst	r13, 7
+    4596:	d0 94       	com	r13
+    4598:	d7 f8       	bld	r13, 7
+    459a:	d0 94       	com	r13
+    459c:	60 90 15 07 	lds	r6, 0x0715
+    45a0:	70 90 16 07 	lds	r7, 0x0716
+    45a4:	80 90 17 07 	lds	r8, 0x0717
+    45a8:	90 90 18 07 	lds	r9, 0x0718
+    45ac:	c6 01       	movw	r24, r12
+    45ae:	b5 01       	movw	r22, r10
+    45b0:	a4 01       	movw	r20, r8
+    45b2:	93 01       	movw	r18, r6
+    45b4:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    45b8:	60 93 80 05 	sts	0x0580, r22
+    45bc:	70 93 81 05 	sts	0x0581, r23
+    45c0:	80 93 82 05 	sts	0x0582, r24
+    45c4:	90 93 83 05 	sts	0x0583, r25
+    45c8:	80 91 11 07 	lds	r24, 0x0711
+    45cc:	90 91 12 07 	lds	r25, 0x0712
+    45d0:	a0 91 13 07 	lds	r26, 0x0713
+    45d4:	b0 91 14 07 	lds	r27, 0x0714
+    45d8:	89 83       	std	Y+1, r24	; 0x01
+    45da:	9a 83       	std	Y+2, r25	; 0x02
+    45dc:	ab 83       	std	Y+3, r26	; 0x03
+    45de:	bc 83       	std	Y+4, r27	; 0x04
+    45e0:	c8 01       	movw	r24, r16
+    45e2:	b7 01       	movw	r22, r14
+    45e4:	29 81       	ldd	r18, Y+1	; 0x01
+    45e6:	3a 81       	ldd	r19, Y+2	; 0x02
+    45e8:	4b 81       	ldd	r20, Y+3	; 0x03
+    45ea:	5c 81       	ldd	r21, Y+4	; 0x04
+    45ec:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    45f0:	60 93 84 05 	sts	0x0584, r22
+    45f4:	70 93 85 05 	sts	0x0585, r23
+    45f8:	80 93 86 05 	sts	0x0586, r24
+    45fc:	90 93 87 05 	sts	0x0587, r25
+    4600:	c8 01       	movw	r24, r16
+    4602:	b7 01       	movw	r22, r14
+    4604:	a4 01       	movw	r20, r8
+    4606:	93 01       	movw	r18, r6
+    4608:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    460c:	60 93 88 05 	sts	0x0588, r22
+    4610:	70 93 89 05 	sts	0x0589, r23
+    4614:	80 93 8a 05 	sts	0x058A, r24
+    4618:	90 93 8b 05 	sts	0x058B, r25
+    461c:	20 92 8c 05 	sts	0x058C, r2
+    4620:	30 92 8d 05 	sts	0x058D, r3
+    4624:	40 92 8e 05 	sts	0x058E, r4
+    4628:	50 92 8f 05 	sts	0x058F, r5
+    462c:	60 90 0d 07 	lds	r6, 0x070D
+    4630:	70 90 0e 07 	lds	r7, 0x070E
+    4634:	80 90 0f 07 	lds	r8, 0x070F
+    4638:	90 90 10 07 	lds	r9, 0x0710
+    463c:	c6 01       	movw	r24, r12
+    463e:	b5 01       	movw	r22, r10
+    4640:	a4 01       	movw	r20, r8
+    4642:	93 01       	movw	r18, r6
+    4644:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4648:	60 93 90 05 	sts	0x0590, r22
+    464c:	70 93 91 05 	sts	0x0591, r23
+    4650:	80 93 92 05 	sts	0x0592, r24
+    4654:	90 93 93 05 	sts	0x0593, r25
+    4658:	c6 01       	movw	r24, r12
+    465a:	b5 01       	movw	r22, r10
+    465c:	29 81       	ldd	r18, Y+1	; 0x01
+    465e:	3a 81       	ldd	r19, Y+2	; 0x02
+    4660:	4b 81       	ldd	r20, Y+3	; 0x03
+    4662:	5c 81       	ldd	r21, Y+4	; 0x04
+    4664:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4668:	60 93 94 05 	sts	0x0594, r22
+    466c:	70 93 95 05 	sts	0x0595, r23
+    4670:	80 93 96 05 	sts	0x0596, r24
+    4674:	90 93 97 05 	sts	0x0597, r25
+    4678:	c8 01       	movw	r24, r16
+    467a:	b7 01       	movw	r22, r14
+    467c:	a4 01       	movw	r20, r8
+    467e:	93 01       	movw	r18, r6
+    4680:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4684:	60 93 98 05 	sts	0x0598, r22
+    4688:	70 93 99 05 	sts	0x0599, r23
+    468c:	80 93 9a 05 	sts	0x059A, r24
+    4690:	90 93 9b 05 	sts	0x059B, r25
+    4694:	20 92 9c 05 	sts	0x059C, r2
+    4698:	30 92 9d 05 	sts	0x059D, r3
+    469c:	40 92 9e 05 	sts	0x059E, r4
+    46a0:	50 92 9f 05 	sts	0x059F, r5
+    46a4:	88 e5       	ldi	r24, 0x58	; 88
+    46a6:	95 e0       	ldi	r25, 0x05	; 5
+    46a8:	6c e7       	ldi	r22, 0x7C	; 124
+    46aa:	75 e0       	ldi	r23, 0x05	; 5
+    46ac:	43 e6       	ldi	r20, 0x63	; 99
+    46ae:	57 e0       	ldi	r21, 0x07	; 7
+    46b0:	0e 94 70 21 	call	0x42e0	; 0x42e0 <_ZN3IMU14matrixMultiplyEPA3_fS1_S1_>
+    46b4:	a8 e5       	ldi	r26, 0x58	; 88
+    46b6:	ea 2e       	mov	r14, r26
+    46b8:	a5 e0       	ldi	r26, 0x05	; 5
+    46ba:	fa 2e       	mov	r15, r26
+    46bc:	03 e6       	ldi	r16, 0x63	; 99
+    46be:	17 e0       	ldi	r17, 0x07	; 7
+    46c0:	d7 01       	movw	r26, r14
+    46c2:	6d 91       	ld	r22, X+
+    46c4:	7d 91       	ld	r23, X+
+    46c6:	8d 91       	ld	r24, X+
+    46c8:	9c 91       	ld	r25, X
+    46ca:	f8 01       	movw	r30, r16
+    46cc:	20 81       	ld	r18, Z
+    46ce:	31 81       	ldd	r19, Z+1	; 0x01
+    46d0:	42 81       	ldd	r20, Z+2	; 0x02
+    46d2:	53 81       	ldd	r21, Z+3	; 0x03
+    46d4:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    46d8:	d7 01       	movw	r26, r14
+    46da:	6d 93       	st	X+, r22
+    46dc:	7d 93       	st	X+, r23
+    46de:	8d 93       	st	X+, r24
+    46e0:	9c 93       	st	X, r25
+    46e2:	13 97       	sbiw	r26, 0x03	; 3
+    46e4:	14 96       	adiw	r26, 0x04	; 4
+    46e6:	6d 91       	ld	r22, X+
+    46e8:	7d 91       	ld	r23, X+
+    46ea:	8d 91       	ld	r24, X+
+    46ec:	9c 91       	ld	r25, X
+    46ee:	17 97       	sbiw	r26, 0x07	; 7
+    46f0:	f8 01       	movw	r30, r16
+    46f2:	24 81       	ldd	r18, Z+4	; 0x04
+    46f4:	35 81       	ldd	r19, Z+5	; 0x05
+    46f6:	46 81       	ldd	r20, Z+6	; 0x06
+    46f8:	57 81       	ldd	r21, Z+7	; 0x07
+    46fa:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    46fe:	d7 01       	movw	r26, r14
+    4700:	14 96       	adiw	r26, 0x04	; 4
+    4702:	6d 93       	st	X+, r22
+    4704:	7d 93       	st	X+, r23
+    4706:	8d 93       	st	X+, r24
+    4708:	9c 93       	st	X, r25
+    470a:	17 97       	sbiw	r26, 0x07	; 7
+    470c:	18 96       	adiw	r26, 0x08	; 8
+    470e:	6d 91       	ld	r22, X+
+    4710:	7d 91       	ld	r23, X+
+    4712:	8d 91       	ld	r24, X+
+    4714:	9c 91       	ld	r25, X
+    4716:	1b 97       	sbiw	r26, 0x0b	; 11
+    4718:	f8 01       	movw	r30, r16
+    471a:	20 85       	ldd	r18, Z+8	; 0x08
+    471c:	31 85       	ldd	r19, Z+9	; 0x09
+    471e:	42 85       	ldd	r20, Z+10	; 0x0a
+    4720:	53 85       	ldd	r21, Z+11	; 0x0b
+    4722:	0e 94 97 3d 	call	0x7b2e	; 0x7b2e <__addsf3>
+    4726:	d7 01       	movw	r26, r14
+    4728:	18 96       	adiw	r26, 0x08	; 8
+    472a:	6d 93       	st	X+, r22
+    472c:	7d 93       	st	X+, r23
+    472e:	8d 93       	st	X+, r24
+    4730:	9c 93       	st	X, r25
+    4732:	1b 97       	sbiw	r26, 0x0b	; 11
+    4734:	ec e0       	ldi	r30, 0x0C	; 12
+    4736:	f0 e0       	ldi	r31, 0x00	; 0
+    4738:	ee 0e       	add	r14, r30
+    473a:	ff 1e       	adc	r15, r31
+    473c:	04 5f       	subi	r16, 0xF4	; 244
+    473e:	1f 4f       	sbci	r17, 0xFF	; 255
+    4740:	fc e7       	ldi	r31, 0x7C	; 124
+    4742:	ef 16       	cp	r14, r31
+    4744:	f5 e0       	ldi	r31, 0x05	; 5
+    4746:	ff 06       	cpc	r15, r31
+    4748:	09 f0       	breq	.+2      	; 0x474c <_ZN3IMU13Matrix_updateEv+0x338>
+    474a:	ba cf       	rjmp	.-140    	; 0x46c0 <_ZN3IMU13Matrix_updateEv+0x2ac>
+    474c:	0f 90       	pop	r0
+    474e:	0f 90       	pop	r0
+    4750:	0f 90       	pop	r0
+    4752:	0f 90       	pop	r0
+    4754:	cf 91       	pop	r28
+    4756:	df 91       	pop	r29
+    4758:	1f 91       	pop	r17
+    475a:	0f 91       	pop	r16
+    475c:	ff 90       	pop	r15
+    475e:	ef 90       	pop	r14
+    4760:	df 90       	pop	r13
+    4762:	cf 90       	pop	r12
+    4764:	bf 90       	pop	r11
+    4766:	af 90       	pop	r10
+    4768:	9f 90       	pop	r9
+    476a:	8f 90       	pop	r8
+    476c:	7f 90       	pop	r7
+    476e:	6f 90       	pop	r6
+    4770:	5f 90       	pop	r5
+    4772:	4f 90       	pop	r4
+    4774:	3f 90       	pop	r3
+    4776:	2f 90       	pop	r2
+    4778:	08 95       	ret
+
+0000477a <_ZN3IMU9updateIMUEv>:
+    477a:	ef 92       	push	r14
+    477c:	ff 92       	push	r15
+    477e:	0f 93       	push	r16
+    4780:	1f 93       	push	r17
+    4782:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
+    4786:	20 91 b3 06 	lds	r18, 0x06B3
+    478a:	30 91 b4 06 	lds	r19, 0x06B4
+    478e:	40 91 b5 06 	lds	r20, 0x06B5
+    4792:	50 91 b6 06 	lds	r21, 0x06B6
+    4796:	62 1b       	sub	r22, r18
+    4798:	73 0b       	sbc	r23, r19
+    479a:	84 0b       	sbc	r24, r20
+    479c:	95 0b       	sbc	r25, r21
+    479e:	64 31       	cpi	r22, 0x14	; 20
+    47a0:	71 05       	cpc	r23, r1
+    47a2:	81 05       	cpc	r24, r1
+    47a4:	91 05       	cpc	r25, r1
+    47a6:	08 f4       	brcc	.+2      	; 0x47aa <_ZN3IMU9updateIMUEv+0x30>
+    47a8:	6b c0       	rjmp	.+214    	; 0x4880 <_ZN3IMU9updateIMUEv+0x106>
+    47aa:	80 91 61 07 	lds	r24, 0x0761
+    47ae:	90 91 62 07 	lds	r25, 0x0762
+    47b2:	01 96       	adiw	r24, 0x01	; 1
+    47b4:	90 93 62 07 	sts	0x0762, r25
+    47b8:	80 93 61 07 	sts	0x0761, r24
+    47bc:	20 93 b7 06 	sts	0x06B7, r18
+    47c0:	30 93 b8 06 	sts	0x06B8, r19
+    47c4:	40 93 b9 06 	sts	0x06B9, r20
+    47c8:	50 93 ba 06 	sts	0x06BA, r21
+    47cc:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
+    47d0:	9b 01       	movw	r18, r22
+    47d2:	ac 01       	movw	r20, r24
+    47d4:	20 93 b3 06 	sts	0x06B3, r18
+    47d8:	30 93 b4 06 	sts	0x06B4, r19
+    47dc:	40 93 b5 06 	sts	0x06B5, r20
+    47e0:	50 93 b6 06 	sts	0x06B6, r21
+    47e4:	80 91 b7 06 	lds	r24, 0x06B7
+    47e8:	90 91 b8 06 	lds	r25, 0x06B8
+    47ec:	a0 91 b9 06 	lds	r26, 0x06B9
+    47f0:	b0 91 ba 06 	lds	r27, 0x06BA
+    47f4:	82 17       	cp	r24, r18
+    47f6:	93 07       	cpc	r25, r19
+    47f8:	a4 07       	cpc	r26, r20
+    47fa:	b5 07       	cpc	r27, r21
+    47fc:	cc f4       	brge	.+50     	; 0x4830 <_ZN3IMU9updateIMUEv+0xb6>
+    47fe:	79 01       	movw	r14, r18
+    4800:	8a 01       	movw	r16, r20
+    4802:	e8 1a       	sub	r14, r24
+    4804:	f9 0a       	sbc	r15, r25
+    4806:	0a 0b       	sbc	r16, r26
+    4808:	1b 0b       	sbc	r17, r27
+    480a:	c8 01       	movw	r24, r16
+    480c:	b7 01       	movw	r22, r14
+    480e:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    4812:	20 e0       	ldi	r18, 0x00	; 0
+    4814:	30 e0       	ldi	r19, 0x00	; 0
+    4816:	4a e7       	ldi	r20, 0x7A	; 122
+    4818:	54 e4       	ldi	r21, 0x44	; 68
+    481a:	0e 94 7b 3e 	call	0x7cf6	; 0x7cf6 <__divsf3>
+    481e:	60 93 54 05 	sts	0x0554, r22
+    4822:	70 93 55 05 	sts	0x0555, r23
+    4826:	80 93 56 05 	sts	0x0556, r24
+    482a:	90 93 57 05 	sts	0x0557, r25
+    482e:	0b c0       	rjmp	.+22     	; 0x4846 <_ZN3IMU9updateIMUEv+0xcc>
+    4830:	80 e0       	ldi	r24, 0x00	; 0
+    4832:	90 e0       	ldi	r25, 0x00	; 0
+    4834:	dc 01       	movw	r26, r24
+    4836:	80 93 54 05 	sts	0x0554, r24
+    483a:	90 93 55 05 	sts	0x0555, r25
+    483e:	a0 93 56 05 	sts	0x0556, r26
+    4842:	b0 93 57 05 	sts	0x0557, r27
+    4846:	0e 94 ec 1b 	call	0x37d8	; 0x37d8 <_ZN3IMU8readGyroEv>
+    484a:	0e 94 76 1c 	call	0x38ec	; 0x38ec <_ZN3IMU9readAccelEv>
+    484e:	80 91 61 07 	lds	r24, 0x0761
+    4852:	90 91 62 07 	lds	r25, 0x0762
+    4856:	86 30       	cpi	r24, 0x06	; 6
+    4858:	91 05       	cpc	r25, r1
+    485a:	40 f0       	brcs	.+16     	; 0x486c <_ZN3IMU9updateIMUEv+0xf2>
+    485c:	10 92 62 07 	sts	0x0762, r1
+    4860:	10 92 61 07 	sts	0x0761, r1
+    4864:	0e 94 a3 1d 	call	0x3b46	; 0x3b46 <_ZN3IMU11readCompassEv>
+    4868:	0e 94 ea 19 	call	0x33d4	; 0x33d4 <_ZN3IMU15Compass_HeadingEv>
+    486c:	0e 94 0a 22 	call	0x4414	; 0x4414 <_ZN3IMU13Matrix_updateEv>
+    4870:	0e 94 b7 20 	call	0x416e	; 0x416e <_ZN3IMU9NormalizeEv>
+    4874:	0e 94 25 1f 	call	0x3e4a	; 0x3e4a <_ZN3IMU16Drift_correctionEv>
+    4878:	0e 94 8e 1b 	call	0x371c	; 0x371c <_ZN3IMU12Euler_anglesEv>
+    487c:	81 e0       	ldi	r24, 0x01	; 1
+    487e:	01 c0       	rjmp	.+2      	; 0x4882 <_ZN3IMU9updateIMUEv+0x108>
+    4880:	80 e0       	ldi	r24, 0x00	; 0
+    4882:	1f 91       	pop	r17
+    4884:	0f 91       	pop	r16
+    4886:	ff 90       	pop	r15
+    4888:	ef 90       	pop	r14
+    488a:	08 95       	ret
+
+0000488c <_ZN12control_dataC1Ev>:
+    488c:	cf 93       	push	r28
+    488e:	df 93       	push	r29
+    4890:	ec 01       	movw	r28, r24
+    4892:	0e 94 3b 05 	call	0xa76	; 0xa76 <_ZN7BatteryC1Ev>
+    4896:	ce 01       	movw	r24, r28
+    4898:	05 96       	adiw	r24, 0x05	; 5
+    489a:	0e 94 2e 38 	call	0x705c	; 0x705c <_ZN5ServoC1Ev>
+    489e:	ce 01       	movw	r24, r28
+    48a0:	08 96       	adiw	r24, 0x08	; 8
+    48a2:	0e 94 2e 38 	call	0x705c	; 0x705c <_ZN5ServoC1Ev>
+    48a6:	df 91       	pop	r29
+    48a8:	cf 91       	pop	r28
+    48aa:	08 95       	ret
+
+000048ac <_Z41__static_initialization_and_destruction_0ii.clone.11>:
+    48ac:	cf 93       	push	r28
+    48ae:	df 93       	push	r29
+    48b0:	ec 01       	movw	r28, r24
+    48b2:	81 30       	cpi	r24, 0x01	; 1
+    48b4:	91 05       	cpc	r25, r1
+    48b6:	09 f0       	breq	.+2      	; 0x48ba <_Z41__static_initialization_and_destruction_0ii.clone.11+0xe>
+    48b8:	5d c1       	rjmp	.+698    	; 0x4b74 <_Z41__static_initialization_and_destruction_0ii.clone.11+0x2c8>
+    48ba:	83 e9       	ldi	r24, 0x93	; 147
+    48bc:	97 e0       	ldi	r25, 0x07	; 7
+    48be:	0e 94 b9 02 	call	0x572	; 0x572 <_ZN6LSM303C1Ev>
+    48c2:	8d ec       	ldi	r24, 0xCD	; 205
+    48c4:	97 e0       	ldi	r25, 0x07	; 7
+    48c6:	0e 94 46 24 	call	0x488c	; 0x488c <_ZN12control_dataC1Ev>
+    48ca:	89 e0       	ldi	r24, 0x09	; 9
+    48cc:	98 e0       	ldi	r25, 0x08	; 8
+    48ce:	67 e2       	ldi	r22, 0x27	; 39
+    48d0:	70 e1       	ldi	r23, 0x10	; 16
     48d2:	20 e0       	ldi	r18, 0x00	; 0
-    48d4:	30 e0       	ldi	r19, 0x00	; 0
-    48d6:	4a e7       	ldi	r20, 0x7A	; 122
-    48d8:	54 e4       	ldi	r21, 0x44	; 68
-    48da:	0e 94 7e 3f 	call	0x7efc	; 0x7efc <__divsf3>
-    48de:	60 93 53 05 	sts	0x0553, r22
-    48e2:	70 93 54 05 	sts	0x0554, r23
-    48e6:	80 93 55 05 	sts	0x0555, r24
-    48ea:	90 93 56 05 	sts	0x0556, r25
-    48ee:	0b c0       	rjmp	.+22     	; 0x4906 <_ZN3IMU9updateIMUEv+0xcc>
-    48f0:	80 e0       	ldi	r24, 0x00	; 0
-    48f2:	90 e0       	ldi	r25, 0x00	; 0
-    48f4:	dc 01       	movw	r26, r24
-    48f6:	80 93 53 05 	sts	0x0553, r24
-    48fa:	90 93 54 05 	sts	0x0554, r25
-    48fe:	a0 93 55 05 	sts	0x0555, r26
-    4902:	b0 93 56 05 	sts	0x0556, r27
-    4906:	0e 94 eb 1b 	call	0x37d6	; 0x37d6 <_ZN3IMU8readGyroEv>
-    490a:	0e 94 75 1c 	call	0x38ea	; 0x38ea <_ZN3IMU9readAccelEv>
-    490e:	80 91 61 07 	lds	r24, 0x0761
-    4912:	90 91 62 07 	lds	r25, 0x0762
-    4916:	86 30       	cpi	r24, 0x06	; 6
-    4918:	91 05       	cpc	r25, r1
-    491a:	40 f0       	brcs	.+16     	; 0x492c <_ZN3IMU9updateIMUEv+0xf2>
-    491c:	10 92 62 07 	sts	0x0762, r1
-    4920:	10 92 61 07 	sts	0x0761, r1
-    4924:	0e 94 a2 1d 	call	0x3b44	; 0x3b44 <_ZN3IMU11readCompassEv>
-    4928:	0e 94 e9 19 	call	0x33d2	; 0x33d2 <_ZN3IMU15Compass_HeadingEv>
-    492c:	0e 94 6a 22 	call	0x44d4	; 0x44d4 <_ZN3IMU13Matrix_updateEv>
-    4930:	0e 94 17 21 	call	0x422e	; 0x422e <_ZN3IMU9NormalizeEv>
-    4934:	0e 94 85 1f 	call	0x3f0a	; 0x3f0a <_ZN3IMU16Drift_correctionEv>
-    4938:	0e 94 8d 1b 	call	0x371a	; 0x371a <_ZN3IMU12Euler_anglesEv>
-    493c:	81 e0       	ldi	r24, 0x01	; 1
-    493e:	01 c0       	rjmp	.+2      	; 0x4942 <_ZN3IMU9updateIMUEv+0x108>
-    4940:	80 e0       	ldi	r24, 0x00	; 0
-    4942:	1f 91       	pop	r17
-    4944:	0f 91       	pop	r16
-    4946:	ff 90       	pop	r15
-    4948:	ef 90       	pop	r14
-    494a:	08 95       	ret
-
-0000494c <_ZN12control_dataC1Ev>:
-    494c:	cf 93       	push	r28
-    494e:	df 93       	push	r29
-    4950:	ec 01       	movw	r28, r24
-    4952:	0e 94 3b 05 	call	0xa76	; 0xa76 <_ZN7BatteryC1Ev>
-    4956:	ce 01       	movw	r24, r28
-    4958:	05 96       	adiw	r24, 0x05	; 5
-    495a:	0e 94 31 39 	call	0x7262	; 0x7262 <_ZN5ServoC1Ev>
-    495e:	ce 01       	movw	r24, r28
-    4960:	08 96       	adiw	r24, 0x08	; 8
-    4962:	0e 94 31 39 	call	0x7262	; 0x7262 <_ZN5ServoC1Ev>
-    4966:	df 91       	pop	r29
-    4968:	cf 91       	pop	r28
-    496a:	08 95       	ret
-
-0000496c <_Z41__static_initialization_and_destruction_0ii.clone.11>:
-    496c:	cf 93       	push	r28
-    496e:	df 93       	push	r29
-    4970:	ec 01       	movw	r28, r24
-    4972:	81 30       	cpi	r24, 0x01	; 1
-    4974:	91 05       	cpc	r25, r1
-    4976:	09 f0       	breq	.+2      	; 0x497a <_Z41__static_initialization_and_destruction_0ii.clone.11+0xe>
-    4978:	5d c1       	rjmp	.+698    	; 0x4c34 <_Z41__static_initialization_and_destruction_0ii.clone.11+0x2c8>
-    497a:	83 e9       	ldi	r24, 0x93	; 147
-    497c:	97 e0       	ldi	r25, 0x07	; 7
-    497e:	0e 94 b9 02 	call	0x572	; 0x572 <_ZN6LSM303C1Ev>
-    4982:	8d ec       	ldi	r24, 0xCD	; 205
-    4984:	97 e0       	ldi	r25, 0x07	; 7
-    4986:	0e 94 a6 24 	call	0x494c	; 0x494c <_ZN12control_dataC1Ev>
-    498a:	89 e0       	ldi	r24, 0x09	; 9
-    498c:	98 e0       	ldi	r25, 0x08	; 8
-    498e:	67 e2       	ldi	r22, 0x27	; 39
-    4990:	70 e1       	ldi	r23, 0x10	; 16
-    4992:	20 e0       	ldi	r18, 0x00	; 0
-    4994:	36 e9       	ldi	r19, 0x96	; 150
-    4996:	40 e0       	ldi	r20, 0x00	; 0
-    4998:	50 e0       	ldi	r21, 0x00	; 0
-    499a:	0e 94 86 05 	call	0xb0c	; 0xb0c <_ZN8RoboClawC1EP14HardwareSerialm>
-    499e:	8b e0       	ldi	r24, 0x0B	; 11
-    49a0:	98 e0       	ldi	r25, 0x08	; 8
-    49a2:	6a e2       	ldi	r22, 0x2A	; 42
-    49a4:	40 e0       	ldi	r20, 0x00	; 0
-    49a6:	0e 94 b7 08 	call	0x116e	; 0x116e <_ZN17StrongDriveOutputC1Ehb>
-    49aa:	83 eb       	ldi	r24, 0xB3	; 179
-    49ac:	95 e0       	ldi	r25, 0x05	; 5
-    49ae:	90 93 11 08 	sts	0x0811, r25
-    49b2:	80 93 10 08 	sts	0x0810, r24
-    49b6:	84 e1       	ldi	r24, 0x14	; 20
-    49b8:	90 e1       	ldi	r25, 0x10	; 16
-    49ba:	90 93 13 08 	sts	0x0813, r25
-    49be:	80 93 12 08 	sts	0x0812, r24
-    49c2:	80 e0       	ldi	r24, 0x00	; 0
-    49c4:	91 ee       	ldi	r25, 0xE1	; 225
-    49c6:	a0 e0       	ldi	r26, 0x00	; 0
-    49c8:	b0 e0       	ldi	r27, 0x00	; 0
-    49ca:	80 93 14 08 	sts	0x0814, r24
-    49ce:	90 93 15 08 	sts	0x0815, r25
-    49d2:	a0 93 16 08 	sts	0x0816, r26
-    49d6:	b0 93 17 08 	sts	0x0817, r27
-    49da:	10 92 92 0c 	sts	0x0C92, r1
-    49de:	81 ee       	ldi	r24, 0xE1	; 225
-    49e0:	95 e0       	ldi	r25, 0x05	; 5
-    49e2:	90 93 a1 0c 	sts	0x0CA1, r25
-    49e6:	80 93 a0 0c 	sts	0x0CA0, r24
-    49ea:	e9 e0       	ldi	r30, 0x09	; 9
-    49ec:	f6 e0       	ldi	r31, 0x06	; 6
-    49ee:	f0 93 b6 0c 	sts	0x0CB6, r31
-    49f2:	e0 93 b5 0c 	sts	0x0CB5, r30
-    49f6:	89 eb       	ldi	r24, 0xB9	; 185
-    49f8:	94 e0       	ldi	r25, 0x04	; 4
-    49fa:	90 93 ba 0c 	sts	0x0CBA, r25
-    49fe:	80 93 b9 0c 	sts	0x0CB9, r24
-    4a02:	85 eb       	ldi	r24, 0xB5	; 181
-    4a04:	9c e0       	ldi	r25, 0x0C	; 12
-    4a06:	90 93 bc 0c 	sts	0x0CBC, r25
-    4a0a:	80 93 bb 0c 	sts	0x0CBB, r24
-    4a0e:	10 92 c2 0c 	sts	0x0CC2, r1
-    4a12:	10 92 c1 0c 	sts	0x0CC1, r1
-    4a16:	85 e1       	ldi	r24, 0x15	; 21
-    4a18:	96 e0       	ldi	r25, 0x06	; 6
-    4a1a:	90 93 c4 0c 	sts	0x0CC4, r25
-    4a1e:	80 93 c3 0c 	sts	0x0CC3, r24
-    4a22:	81 e2       	ldi	r24, 0x21	; 33
-    4a24:	96 e0       	ldi	r25, 0x06	; 6
-    4a26:	90 93 c6 0c 	sts	0x0CC6, r25
-    4a2a:	80 93 c5 0c 	sts	0x0CC5, r24
-    4a2e:	10 92 cb 0c 	sts	0x0CCB, r1
-    4a32:	10 92 cc 0c 	sts	0x0CCC, r1
-    4a36:	10 92 cd 0c 	sts	0x0CCD, r1
-    4a3a:	10 92 ce 0c 	sts	0x0CCE, r1
-    4a3e:	10 92 cf 0c 	sts	0x0CCF, r1
-    4a42:	10 92 d0 0c 	sts	0x0CD0, r1
-    4a46:	10 92 d1 0c 	sts	0x0CD1, r1
-    4a4a:	10 92 d2 0c 	sts	0x0CD2, r1
-    4a4e:	21 ec       	ldi	r18, 0xC1	; 193
-    4a50:	34 e0       	ldi	r19, 0x04	; 4
-    4a52:	30 93 f6 0c 	sts	0x0CF6, r19
-    4a56:	20 93 f5 0c 	sts	0x0CF5, r18
-    4a5a:	23 ec       	ldi	r18, 0xC3	; 195
-    4a5c:	3c e0       	ldi	r19, 0x0C	; 12
-    4a5e:	30 93 f8 0c 	sts	0x0CF8, r19
-    4a62:	20 93 f7 0c 	sts	0x0CF7, r18
-    4a66:	10 92 fe 0c 	sts	0x0CFE, r1
-    4a6a:	10 92 fd 0c 	sts	0x0CFD, r1
-    4a6e:	2d e2       	ldi	r18, 0x2D	; 45
+    48d4:	36 e9       	ldi	r19, 0x96	; 150
+    48d6:	40 e0       	ldi	r20, 0x00	; 0
+    48d8:	50 e0       	ldi	r21, 0x00	; 0
+    48da:	0e 94 86 05 	call	0xb0c	; 0xb0c <_ZN8RoboClawC1EP14HardwareSerialm>
+    48de:	8b e0       	ldi	r24, 0x0B	; 11
+    48e0:	98 e0       	ldi	r25, 0x08	; 8
+    48e2:	6a e2       	ldi	r22, 0x2A	; 42
+    48e4:	40 e0       	ldi	r20, 0x00	; 0
+    48e6:	0e 94 b7 08 	call	0x116e	; 0x116e <_ZN17StrongDriveOutputC1Ehb>
+    48ea:	84 eb       	ldi	r24, 0xB4	; 180
+    48ec:	95 e0       	ldi	r25, 0x05	; 5
+    48ee:	90 93 11 08 	sts	0x0811, r25
+    48f2:	80 93 10 08 	sts	0x0810, r24
+    48f6:	84 e1       	ldi	r24, 0x14	; 20
+    48f8:	90 e1       	ldi	r25, 0x10	; 16
+    48fa:	90 93 13 08 	sts	0x0813, r25
+    48fe:	80 93 12 08 	sts	0x0812, r24
+    4902:	80 e0       	ldi	r24, 0x00	; 0
+    4904:	91 ee       	ldi	r25, 0xE1	; 225
+    4906:	a0 e0       	ldi	r26, 0x00	; 0
+    4908:	b0 e0       	ldi	r27, 0x00	; 0
+    490a:	80 93 14 08 	sts	0x0814, r24
+    490e:	90 93 15 08 	sts	0x0815, r25
+    4912:	a0 93 16 08 	sts	0x0816, r26
+    4916:	b0 93 17 08 	sts	0x0817, r27
+    491a:	10 92 92 0c 	sts	0x0C92, r1
+    491e:	82 ee       	ldi	r24, 0xE2	; 226
+    4920:	95 e0       	ldi	r25, 0x05	; 5
+    4922:	90 93 a1 0c 	sts	0x0CA1, r25
+    4926:	80 93 a0 0c 	sts	0x0CA0, r24
+    492a:	ea e0       	ldi	r30, 0x0A	; 10
+    492c:	f6 e0       	ldi	r31, 0x06	; 6
+    492e:	f0 93 b6 0c 	sts	0x0CB6, r31
+    4932:	e0 93 b5 0c 	sts	0x0CB5, r30
+    4936:	8c eb       	ldi	r24, 0xBC	; 188
+    4938:	94 e0       	ldi	r25, 0x04	; 4
+    493a:	90 93 ba 0c 	sts	0x0CBA, r25
+    493e:	80 93 b9 0c 	sts	0x0CB9, r24
+    4942:	85 eb       	ldi	r24, 0xB5	; 181
+    4944:	9c e0       	ldi	r25, 0x0C	; 12
+    4946:	90 93 bc 0c 	sts	0x0CBC, r25
+    494a:	80 93 bb 0c 	sts	0x0CBB, r24
+    494e:	10 92 c2 0c 	sts	0x0CC2, r1
+    4952:	10 92 c1 0c 	sts	0x0CC1, r1
+    4956:	86 e1       	ldi	r24, 0x16	; 22
+    4958:	96 e0       	ldi	r25, 0x06	; 6
+    495a:	90 93 c4 0c 	sts	0x0CC4, r25
+    495e:	80 93 c3 0c 	sts	0x0CC3, r24
+    4962:	82 e2       	ldi	r24, 0x22	; 34
+    4964:	96 e0       	ldi	r25, 0x06	; 6
+    4966:	90 93 c6 0c 	sts	0x0CC6, r25
+    496a:	80 93 c5 0c 	sts	0x0CC5, r24
+    496e:	10 92 cb 0c 	sts	0x0CCB, r1
+    4972:	10 92 cc 0c 	sts	0x0CCC, r1
+    4976:	10 92 cd 0c 	sts	0x0CCD, r1
+    497a:	10 92 ce 0c 	sts	0x0CCE, r1
+    497e:	10 92 cf 0c 	sts	0x0CCF, r1
+    4982:	10 92 d0 0c 	sts	0x0CD0, r1
+    4986:	10 92 d1 0c 	sts	0x0CD1, r1
+    498a:	10 92 d2 0c 	sts	0x0CD2, r1
+    498e:	24 ec       	ldi	r18, 0xC4	; 196
+    4990:	34 e0       	ldi	r19, 0x04	; 4
+    4992:	30 93 f6 0c 	sts	0x0CF6, r19
+    4996:	20 93 f5 0c 	sts	0x0CF5, r18
+    499a:	23 ec       	ldi	r18, 0xC3	; 195
+    499c:	3c e0       	ldi	r19, 0x0C	; 12
+    499e:	30 93 f8 0c 	sts	0x0CF8, r19
+    49a2:	20 93 f7 0c 	sts	0x0CF7, r18
+    49a6:	10 92 fe 0c 	sts	0x0CFE, r1
+    49aa:	10 92 fd 0c 	sts	0x0CFD, r1
+    49ae:	2e e2       	ldi	r18, 0x2E	; 46
+    49b0:	36 e0       	ldi	r19, 0x06	; 6
+    49b2:	30 93 00 0d 	sts	0x0D00, r19
+    49b6:	20 93 ff 0c 	sts	0x0CFF, r18
+    49ba:	90 93 02 0d 	sts	0x0D02, r25
+    49be:	80 93 01 0d 	sts	0x0D01, r24
+    49c2:	10 92 07 0d 	sts	0x0D07, r1
+    49c6:	10 92 08 0d 	sts	0x0D08, r1
+    49ca:	10 92 09 0d 	sts	0x0D09, r1
+    49ce:	10 92 0a 0d 	sts	0x0D0A, r1
+    49d2:	10 92 0b 0d 	sts	0x0D0B, r1
+    49d6:	10 92 0c 0d 	sts	0x0D0C, r1
+    49da:	10 92 0d 0d 	sts	0x0D0D, r1
+    49de:	10 92 0e 0d 	sts	0x0D0E, r1
+    49e2:	2d ec       	ldi	r18, 0xCD	; 205
+    49e4:	34 e0       	ldi	r19, 0x04	; 4
+    49e6:	30 93 1a 0d 	sts	0x0D1A, r19
+    49ea:	20 93 19 0d 	sts	0x0D19, r18
+    49ee:	2f ef       	ldi	r18, 0xFF	; 255
+    49f0:	3c e0       	ldi	r19, 0x0C	; 12
+    49f2:	30 93 1c 0d 	sts	0x0D1C, r19
+    49f6:	20 93 1b 0d 	sts	0x0D1B, r18
+    49fa:	10 92 22 0d 	sts	0x0D22, r1
+    49fe:	10 92 21 0d 	sts	0x0D21, r1
+    4a02:	2a e3       	ldi	r18, 0x3A	; 58
+    4a04:	36 e0       	ldi	r19, 0x06	; 6
+    4a06:	30 93 24 0d 	sts	0x0D24, r19
+    4a0a:	20 93 23 0d 	sts	0x0D23, r18
+    4a0e:	90 93 26 0d 	sts	0x0D26, r25
+    4a12:	80 93 25 0d 	sts	0x0D25, r24
+    4a16:	10 92 2b 0d 	sts	0x0D2B, r1
+    4a1a:	10 92 2c 0d 	sts	0x0D2C, r1
+    4a1e:	10 92 2d 0d 	sts	0x0D2D, r1
+    4a22:	10 92 2e 0d 	sts	0x0D2E, r1
+    4a26:	10 92 2f 0d 	sts	0x0D2F, r1
+    4a2a:	10 92 30 0d 	sts	0x0D30, r1
+    4a2e:	10 92 31 0d 	sts	0x0D31, r1
+    4a32:	10 92 32 0d 	sts	0x0D32, r1
+    4a36:	2b ed       	ldi	r18, 0xDB	; 219
+    4a38:	34 e0       	ldi	r19, 0x04	; 4
+    4a3a:	30 93 5e 0d 	sts	0x0D5E, r19
+    4a3e:	20 93 5d 0d 	sts	0x0D5D, r18
+    4a42:	23 e2       	ldi	r18, 0x23	; 35
+    4a44:	3d e0       	ldi	r19, 0x0D	; 13
+    4a46:	30 93 60 0d 	sts	0x0D60, r19
+    4a4a:	20 93 5f 0d 	sts	0x0D5F, r18
+    4a4e:	10 92 66 0d 	sts	0x0D66, r1
+    4a52:	10 92 65 0d 	sts	0x0D65, r1
+    4a56:	66 e4       	ldi	r22, 0x46	; 70
+    4a58:	76 e0       	ldi	r23, 0x06	; 6
+    4a5a:	70 93 68 0d 	sts	0x0D68, r23
+    4a5e:	60 93 67 0d 	sts	0x0D67, r22
+    4a62:	42 e5       	ldi	r20, 0x52	; 82
+    4a64:	56 e0       	ldi	r21, 0x06	; 6
+    4a66:	50 93 6a 0d 	sts	0x0D6A, r21
+    4a6a:	40 93 69 0d 	sts	0x0D69, r20
+    4a6e:	2e e5       	ldi	r18, 0x5E	; 94
     4a70:	36 e0       	ldi	r19, 0x06	; 6
-    4a72:	30 93 00 0d 	sts	0x0D00, r19
-    4a76:	20 93 ff 0c 	sts	0x0CFF, r18
-    4a7a:	90 93 02 0d 	sts	0x0D02, r25
-    4a7e:	80 93 01 0d 	sts	0x0D01, r24
-    4a82:	10 92 07 0d 	sts	0x0D07, r1
-    4a86:	10 92 08 0d 	sts	0x0D08, r1
-    4a8a:	10 92 09 0d 	sts	0x0D09, r1
-    4a8e:	10 92 0a 0d 	sts	0x0D0A, r1
-    4a92:	10 92 0b 0d 	sts	0x0D0B, r1
-    4a96:	10 92 0c 0d 	sts	0x0D0C, r1
-    4a9a:	10 92 0d 0d 	sts	0x0D0D, r1
-    4a9e:	10 92 0e 0d 	sts	0x0D0E, r1
-    4aa2:	2a ec       	ldi	r18, 0xCA	; 202
-    4aa4:	34 e0       	ldi	r19, 0x04	; 4
-    4aa6:	30 93 1a 0d 	sts	0x0D1A, r19
-    4aaa:	20 93 19 0d 	sts	0x0D19, r18
-    4aae:	2f ef       	ldi	r18, 0xFF	; 255
-    4ab0:	3c e0       	ldi	r19, 0x0C	; 12
-    4ab2:	30 93 1c 0d 	sts	0x0D1C, r19
-    4ab6:	20 93 1b 0d 	sts	0x0D1B, r18
-    4aba:	10 92 22 0d 	sts	0x0D22, r1
-    4abe:	10 92 21 0d 	sts	0x0D21, r1
-    4ac2:	29 e3       	ldi	r18, 0x39	; 57
-    4ac4:	36 e0       	ldi	r19, 0x06	; 6
-    4ac6:	30 93 24 0d 	sts	0x0D24, r19
-    4aca:	20 93 23 0d 	sts	0x0D23, r18
-    4ace:	90 93 26 0d 	sts	0x0D26, r25
-    4ad2:	80 93 25 0d 	sts	0x0D25, r24
-    4ad6:	10 92 2b 0d 	sts	0x0D2B, r1
-    4ada:	10 92 2c 0d 	sts	0x0D2C, r1
-    4ade:	10 92 2d 0d 	sts	0x0D2D, r1
-    4ae2:	10 92 2e 0d 	sts	0x0D2E, r1
-    4ae6:	10 92 2f 0d 	sts	0x0D2F, r1
-    4aea:	10 92 30 0d 	sts	0x0D30, r1
-    4aee:	10 92 31 0d 	sts	0x0D31, r1
-    4af2:	10 92 32 0d 	sts	0x0D32, r1
-    4af6:	28 ed       	ldi	r18, 0xD8	; 216
-    4af8:	34 e0       	ldi	r19, 0x04	; 4
-    4afa:	30 93 5e 0d 	sts	0x0D5E, r19
-    4afe:	20 93 5d 0d 	sts	0x0D5D, r18
-    4b02:	23 e2       	ldi	r18, 0x23	; 35
-    4b04:	3d e0       	ldi	r19, 0x0D	; 13
-    4b06:	30 93 60 0d 	sts	0x0D60, r19
-    4b0a:	20 93 5f 0d 	sts	0x0D5F, r18
-    4b0e:	10 92 66 0d 	sts	0x0D66, r1
-    4b12:	10 92 65 0d 	sts	0x0D65, r1
-    4b16:	65 e4       	ldi	r22, 0x45	; 69
-    4b18:	76 e0       	ldi	r23, 0x06	; 6
-    4b1a:	70 93 68 0d 	sts	0x0D68, r23
-    4b1e:	60 93 67 0d 	sts	0x0D67, r22
-    4b22:	41 e5       	ldi	r20, 0x51	; 81
-    4b24:	56 e0       	ldi	r21, 0x06	; 6
-    4b26:	50 93 6a 0d 	sts	0x0D6A, r21
-    4b2a:	40 93 69 0d 	sts	0x0D69, r20
-    4b2e:	2d e5       	ldi	r18, 0x5D	; 93
-    4b30:	36 e0       	ldi	r19, 0x06	; 6
-    4b32:	30 93 6d 0d 	sts	0x0D6D, r19
-    4b36:	20 93 6c 0d 	sts	0x0D6C, r18
-    4b3a:	a0 ee       	ldi	r26, 0xE0	; 224
-    4b3c:	b4 e0       	ldi	r27, 0x04	; 4
-    4b3e:	b0 93 83 0d 	sts	0x0D83, r27
-    4b42:	a0 93 82 0d 	sts	0x0D82, r26
-    4b46:	a7 e6       	ldi	r26, 0x67	; 103
-    4b48:	bd e0       	ldi	r27, 0x0D	; 13
-    4b4a:	b0 93 85 0d 	sts	0x0D85, r27
-    4b4e:	a0 93 84 0d 	sts	0x0D84, r26
-    4b52:	10 92 8b 0d 	sts	0x0D8B, r1
-    4b56:	10 92 8a 0d 	sts	0x0D8A, r1
-    4b5a:	a9 e6       	ldi	r26, 0x69	; 105
-    4b5c:	b6 e0       	ldi	r27, 0x06	; 6
-    4b5e:	b0 93 96 0d 	sts	0x0D96, r27
-    4b62:	a0 93 95 0d 	sts	0x0D95, r26
-    4b66:	a5 e7       	ldi	r26, 0x75	; 117
-    4b68:	b6 e0       	ldi	r27, 0x06	; 6
-    4b6a:	b0 93 9c 0d 	sts	0x0D9C, r27
-    4b6e:	a0 93 9b 0d 	sts	0x0D9B, r26
-    4b72:	90 93 9e 0d 	sts	0x0D9E, r25
-    4b76:	80 93 9d 0d 	sts	0x0D9D, r24
-    4b7a:	10 92 a3 0d 	sts	0x0DA3, r1
-    4b7e:	10 92 a4 0d 	sts	0x0DA4, r1
-    4b82:	10 92 a5 0d 	sts	0x0DA5, r1
-    4b86:	10 92 a6 0d 	sts	0x0DA6, r1
-    4b8a:	10 92 a7 0d 	sts	0x0DA7, r1
-    4b8e:	10 92 a8 0d 	sts	0x0DA8, r1
-    4b92:	10 92 a9 0d 	sts	0x0DA9, r1
-    4b96:	10 92 aa 0d 	sts	0x0DAA, r1
-    4b9a:	86 e6       	ldi	r24, 0x66	; 102
-    4b9c:	99 e1       	ldi	r25, 0x19	; 25
-    4b9e:	90 93 b6 0d 	sts	0x0DB6, r25
-    4ba2:	80 93 b5 0d 	sts	0x0DB5, r24
-    4ba6:	d0 93 b8 0d 	sts	0x0DB8, r29
-    4baa:	c0 93 b7 0d 	sts	0x0DB7, r28
-    4bae:	8c ee       	ldi	r24, 0xEC	; 236
-    4bb0:	94 e0       	ldi	r25, 0x04	; 4
-    4bb2:	90 93 9a 0d 	sts	0x0D9A, r25
-    4bb6:	80 93 99 0d 	sts	0x0D99, r24
-    4bba:	81 e8       	ldi	r24, 0x81	; 129
-    4bbc:	96 e0       	ldi	r25, 0x06	; 6
-    4bbe:	90 93 ba 0d 	sts	0x0DBA, r25
-    4bc2:	80 93 b9 0d 	sts	0x0DB9, r24
-    4bc6:	f0 93 c0 0d 	sts	0x0DC0, r31
-    4bca:	e0 93 bf 0d 	sts	0x0DBF, r30
-    4bce:	85 e0       	ldi	r24, 0x05	; 5
-    4bd0:	93 e1       	ldi	r25, 0x13	; 19
-    4bd2:	90 93 c4 0d 	sts	0x0DC4, r25
-    4bd6:	80 93 c3 0d 	sts	0x0DC3, r24
-    4bda:	d0 93 c6 0d 	sts	0x0DC6, r29
-    4bde:	c0 93 c5 0d 	sts	0x0DC5, r28
-    4be2:	82 ef       	ldi	r24, 0xF2	; 242
-    4be4:	94 e0       	ldi	r25, 0x04	; 4
-    4be6:	90 93 be 0d 	sts	0x0DBE, r25
-    4bea:	80 93 bd 0d 	sts	0x0DBD, r24
-    4bee:	8d e8       	ldi	r24, 0x8D	; 141
-    4bf0:	96 e0       	ldi	r25, 0x06	; 6
-    4bf2:	90 93 c8 0d 	sts	0x0DC8, r25
-    4bf6:	80 93 c7 0d 	sts	0x0DC7, r24
-    4bfa:	70 93 ce 0d 	sts	0x0DCE, r23
-    4bfe:	60 93 cd 0d 	sts	0x0DCD, r22
-    4c02:	50 93 d0 0d 	sts	0x0DD0, r21
-    4c06:	40 93 cf 0d 	sts	0x0DCF, r20
-    4c0a:	30 93 d3 0d 	sts	0x0DD3, r19
-    4c0e:	20 93 d2 0d 	sts	0x0DD2, r18
-    4c12:	8e e3       	ldi	r24, 0x3E	; 62
-    4c14:	99 e1       	ldi	r25, 0x19	; 25
-    4c16:	90 93 e9 0d 	sts	0x0DE9, r25
-    4c1a:	80 93 e8 0d 	sts	0x0DE8, r24
-    4c1e:	d0 93 eb 0d 	sts	0x0DEB, r29
-    4c22:	c0 93 ea 0d 	sts	0x0DEA, r28
-    4c26:	89 ef       	ldi	r24, 0xF9	; 249
-    4c28:	94 e0       	ldi	r25, 0x04	; 4
-    4c2a:	90 93 cc 0d 	sts	0x0DCC, r25
-    4c2e:	80 93 cb 0d 	sts	0x0DCB, r24
-    4c32:	06 c0       	rjmp	.+12     	; 0x4c40 <_Z41__static_initialization_and_destruction_0ii.clone.11+0x2d4>
-    4c34:	00 97       	sbiw	r24, 0x00	; 0
-    4c36:	21 f4       	brne	.+8      	; 0x4c40 <_Z41__static_initialization_and_destruction_0ii.clone.11+0x2d4>
-    4c38:	89 e0       	ldi	r24, 0x09	; 9
-    4c3a:	98 e0       	ldi	r25, 0x08	; 8
-    4c3c:	0e 94 8f 05 	call	0xb1e	; 0xb1e <_ZN8RoboClawD1Ev>
-    4c40:	df 91       	pop	r29
-    4c42:	cf 91       	pop	r28
-    4c44:	08 95       	ret
-
-00004c46 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv>:
-    4c46:	cf 92       	push	r12
-    4c48:	df 92       	push	r13
-    4c4a:	ef 92       	push	r14
-    4c4c:	ff 92       	push	r15
-    4c4e:	0f 93       	push	r16
-    4c50:	1f 93       	push	r17
-    4c52:	df 93       	push	r29
-    4c54:	cf 93       	push	r28
-    4c56:	cd b7       	in	r28, 0x3d	; 61
-    4c58:	de b7       	in	r29, 0x3e	; 62
-    4c5a:	60 97       	sbiw	r28, 0x10	; 16
-    4c5c:	0f b6       	in	r0, 0x3f	; 63
-    4c5e:	f8 94       	cli
-    4c60:	de bf       	out	0x3e, r29	; 62
-    4c62:	0f be       	out	0x3f, r0	; 63
-    4c64:	cd bf       	out	0x3d, r28	; 61
-    4c66:	6c 01       	movw	r12, r24
-    4c68:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
-    4c6c:	28 ee       	ldi	r18, 0xE8	; 232
-    4c6e:	33 e0       	ldi	r19, 0x03	; 3
-    4c70:	40 e0       	ldi	r20, 0x00	; 0
-    4c72:	50 e0       	ldi	r21, 0x00	; 0
-    4c74:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
-    4c78:	7b 01       	movw	r14, r22
-    4c7a:	8c 01       	movw	r16, r24
-    4c7c:	f6 01       	movw	r30, r12
-    4c7e:	84 85       	ldd	r24, Z+12	; 0x0c
-    4c80:	95 85       	ldd	r25, Z+13	; 0x0d
-    4c82:	a6 85       	ldd	r26, Z+14	; 0x0e
-    4c84:	b7 85       	ldd	r27, Z+15	; 0x0f
-    4c86:	82 0f       	add	r24, r18
-    4c88:	93 1f       	adc	r25, r19
-    4c8a:	a4 1f       	adc	r26, r20
-    4c8c:	b5 1f       	adc	r27, r21
-    4c8e:	89 83       	std	Y+1, r24	; 0x01
-    4c90:	9a 83       	std	Y+2, r25	; 0x02
-    4c92:	ab 83       	std	Y+3, r26	; 0x03
-    4c94:	bc 83       	std	Y+4, r27	; 0x04
-    4c96:	c8 01       	movw	r24, r16
-    4c98:	b7 01       	movw	r22, r14
-    4c9a:	20 e4       	ldi	r18, 0x40	; 64
-    4c9c:	32 e4       	ldi	r19, 0x42	; 66
-    4c9e:	4f e0       	ldi	r20, 0x0F	; 15
-    4ca0:	50 e0       	ldi	r21, 0x00	; 0
-    4ca2:	0e 94 21 42 	call	0x8442	; 0x8442 <__mulsi3>
-    4ca6:	f6 01       	movw	r30, r12
-    4ca8:	20 89       	ldd	r18, Z+16	; 0x10
-    4caa:	31 89       	ldd	r19, Z+17	; 0x11
-    4cac:	42 89       	ldd	r20, Z+18	; 0x12
-    4cae:	53 89       	ldd	r21, Z+19	; 0x13
-    4cb0:	62 0f       	add	r22, r18
-    4cb2:	73 1f       	adc	r23, r19
-    4cb4:	84 1f       	adc	r24, r20
-    4cb6:	95 1f       	adc	r25, r21
-    4cb8:	6d 83       	std	Y+5, r22	; 0x05
-    4cba:	7e 83       	std	Y+6, r23	; 0x06
-    4cbc:	8f 83       	std	Y+7, r24	; 0x07
-    4cbe:	98 87       	std	Y+8, r25	; 0x08
-    4cc0:	7e 01       	movw	r14, r28
-    4cc2:	08 94       	sec
-    4cc4:	e1 1c       	adc	r14, r1
-    4cc6:	f1 1c       	adc	r15, r1
-    4cc8:	c7 01       	movw	r24, r14
-    4cca:	be 01       	movw	r22, r28
-    4ccc:	6b 5f       	subi	r22, 0xFB	; 251
-    4cce:	7f 4f       	sbci	r23, 0xFF	; 255
-    4cd0:	0e 94 7d 01 	call	0x2fa	; 0x2fa <_ZN3ros16normalizeSecNSecERmS0_>
-    4cd4:	de 01       	movw	r26, r28
-    4cd6:	19 96       	adiw	r26, 0x09	; 9
-    4cd8:	f7 01       	movw	r30, r14
-    4cda:	88 e0       	ldi	r24, 0x08	; 8
-    4cdc:	01 90       	ld	r0, Z+
-    4cde:	0d 92       	st	X+, r0
-    4ce0:	81 50       	subi	r24, 0x01	; 1
-    4ce2:	e1 f7       	brne	.-8      	; 0x4cdc <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv+0x96>
-    4ce4:	29 85       	ldd	r18, Y+9	; 0x09
-    4ce6:	3a 85       	ldd	r19, Y+10	; 0x0a
-    4ce8:	4b 85       	ldd	r20, Y+11	; 0x0b
-    4cea:	5c 85       	ldd	r21, Y+12	; 0x0c
-    4cec:	6d 85       	ldd	r22, Y+13	; 0x0d
-    4cee:	7e 85       	ldd	r23, Y+14	; 0x0e
-    4cf0:	8f 85       	ldd	r24, Y+15	; 0x0f
-    4cf2:	98 89       	ldd	r25, Y+16	; 0x10
-    4cf4:	60 96       	adiw	r28, 0x10	; 16
-    4cf6:	0f b6       	in	r0, 0x3f	; 63
-    4cf8:	f8 94       	cli
-    4cfa:	de bf       	out	0x3e, r29	; 62
-    4cfc:	0f be       	out	0x3f, r0	; 63
-    4cfe:	cd bf       	out	0x3d, r28	; 61
-    4d00:	cf 91       	pop	r28
-    4d02:	df 91       	pop	r29
-    4d04:	1f 91       	pop	r17
-    4d06:	0f 91       	pop	r16
-    4d08:	ff 90       	pop	r15
-    4d0a:	ef 90       	pop	r14
-    4d0c:	df 90       	pop	r13
-    4d0e:	cf 90       	pop	r12
-    4d10:	08 95       	ret
-
-00004d12 <_Z7publishv>:
-    4d12:	ef 92       	push	r14
-    4d14:	ff 92       	push	r15
-    4d16:	0f 93       	push	r16
-    4d18:	1f 93       	push	r17
-    4d1a:	cf 93       	push	r28
-    4d1c:	df 93       	push	r29
-    4d1e:	80 91 8c 0d 	lds	r24, 0x0D8C
-    4d22:	90 91 8d 0d 	lds	r25, 0x0D8D
-    4d26:	a0 91 8e 0d 	lds	r26, 0x0D8E
-    4d2a:	b0 91 8f 0d 	lds	r27, 0x0D8F
-    4d2e:	01 96       	adiw	r24, 0x01	; 1
-    4d30:	a1 1d       	adc	r26, r1
-    4d32:	b1 1d       	adc	r27, r1
-    4d34:	80 93 8c 0d 	sts	0x0D8C, r24
-    4d38:	90 93 8d 0d 	sts	0x0D8D, r25
-    4d3c:	a0 93 8e 0d 	sts	0x0D8E, r26
-    4d40:	b0 93 8f 0d 	sts	0x0D8F, r27
-    4d44:	80 91 08 08 	lds	r24, 0x0808
-    4d48:	80 93 b7 0c 	sts	0x0CB7, r24
-    4d4c:	89 eb       	ldi	r24, 0xB9	; 185
-    4d4e:	9c e0       	ldi	r25, 0x0C	; 12
-    4d50:	65 eb       	ldi	r22, 0xB5	; 181
-    4d52:	7c e0       	ldi	r23, 0x0C	; 12
-    4d54:	0e 94 ce 19 	call	0x339c	; 0x339c <_ZN3ros9Publisher7publishEPKNS_3MsgE>
-    4d58:	0f e9       	ldi	r16, 0x9F	; 159
-    4d5a:	15 e0       	ldi	r17, 0x05	; 5
-    4d5c:	10 93 10 0d 	sts	0x0D10, r17
-    4d60:	00 93 0f 0d 	sts	0x0D0F, r16
-    4d64:	c7 e0       	ldi	r28, 0x07	; 7
-    4d66:	dd e0       	ldi	r29, 0x0D	; 13
-    4d68:	80 e1       	ldi	r24, 0x10	; 16
-    4d6a:	98 e0       	ldi	r25, 0x08	; 8
-    4d6c:	0e 94 23 26 	call	0x4c46	; 0x4c46 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv>
-    4d70:	20 93 07 0d 	sts	0x0D07, r18
-    4d74:	39 83       	std	Y+1, r19	; 0x01
-    4d76:	4a 83       	std	Y+2, r20	; 0x02
-    4d78:	5b 83       	std	Y+3, r21	; 0x03
-    4d7a:	6c 83       	std	Y+4, r22	; 0x04
-    4d7c:	7d 83       	std	Y+5, r23	; 0x05
-    4d7e:	8e 83       	std	Y+6, r24	; 0x06
-    4d80:	9f 83       	std	Y+7, r25	; 0x07
-    4d82:	80 91 8c 0d 	lds	r24, 0x0D8C
-    4d86:	90 91 8d 0d 	lds	r25, 0x0D8D
-    4d8a:	a0 91 8e 0d 	lds	r26, 0x0D8E
-    4d8e:	b0 91 8f 0d 	lds	r27, 0x0D8F
-    4d92:	80 93 03 0d 	sts	0x0D03, r24
-    4d96:	90 93 04 0d 	sts	0x0D04, r25
-    4d9a:	a0 93 05 0d 	sts	0x0D05, r26
-    4d9e:	b0 93 06 0d 	sts	0x0D06, r27
-    4da2:	8d ec       	ldi	r24, 0xCD	; 205
-    4da4:	97 e0       	ldi	r25, 0x07	; 7
-    4da6:	0e 94 50 05 	call	0xaa0	; 0xaa0 <_ZN7Battery10getVoltageEv>
-    4daa:	60 93 11 0d 	sts	0x0D11, r22
-    4dae:	70 93 12 0d 	sts	0x0D12, r23
-    4db2:	80 93 13 0d 	sts	0x0D13, r24
-    4db6:	90 93 14 0d 	sts	0x0D14, r25
-    4dba:	8d ec       	ldi	r24, 0xCD	; 205
-    4dbc:	97 e0       	ldi	r25, 0x07	; 7
-    4dbe:	0e 94 6b 05 	call	0xad6	; 0xad6 <_ZN7Battery10getCurrentEv>
-    4dc2:	60 93 15 0d 	sts	0x0D15, r22
-    4dc6:	70 93 16 0d 	sts	0x0D16, r23
-    4dca:	80 93 17 0d 	sts	0x0D17, r24
-    4dce:	90 93 18 0d 	sts	0x0D18, r25
-    4dd2:	89 e1       	ldi	r24, 0x19	; 25
-    4dd4:	9d e0       	ldi	r25, 0x0D	; 13
-    4dd6:	be 01       	movw	r22, r28
-    4dd8:	68 50       	subi	r22, 0x08	; 8
-    4dda:	70 40       	sbci	r23, 0x00	; 0
-    4ddc:	0e 94 ce 19 	call	0x339c	; 0x339c <_ZN3ros9Publisher7publishEPKNS_3MsgE>
-    4de0:	10 93 34 0d 	sts	0x0D34, r17
-    4de4:	00 93 33 0d 	sts	0x0D33, r16
-    4de8:	cb e2       	ldi	r28, 0x2B	; 43
-    4dea:	dd e0       	ldi	r29, 0x0D	; 13
-    4dec:	80 e1       	ldi	r24, 0x10	; 16
-    4dee:	98 e0       	ldi	r25, 0x08	; 8
-    4df0:	0e 94 23 26 	call	0x4c46	; 0x4c46 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv>
-    4df4:	20 93 2b 0d 	sts	0x0D2B, r18
-    4df8:	39 83       	std	Y+1, r19	; 0x01
-    4dfa:	4a 83       	std	Y+2, r20	; 0x02
-    4dfc:	5b 83       	std	Y+3, r21	; 0x03
-    4dfe:	6c 83       	std	Y+4, r22	; 0x04
-    4e00:	7d 83       	std	Y+5, r23	; 0x05
-    4e02:	8e 83       	std	Y+6, r24	; 0x06
-    4e04:	9f 83       	std	Y+7, r25	; 0x07
-    4e06:	80 91 8c 0d 	lds	r24, 0x0D8C
-    4e0a:	90 91 8d 0d 	lds	r25, 0x0D8D
-    4e0e:	a0 91 8e 0d 	lds	r26, 0x0D8E
-    4e12:	b0 91 8f 0d 	lds	r27, 0x0D8F
-    4e16:	80 93 27 0d 	sts	0x0D27, r24
-    4e1a:	90 93 28 0d 	sts	0x0D28, r25
-    4e1e:	a0 93 29 0d 	sts	0x0D29, r26
-    4e22:	b0 93 2a 0d 	sts	0x0D2A, r27
-    4e26:	80 91 3d 07 	lds	r24, 0x073D
-    4e2a:	90 91 3e 07 	lds	r25, 0x073E
-    4e2e:	a0 91 3f 07 	lds	r26, 0x073F
-    4e32:	b0 91 40 07 	lds	r27, 0x0740
-    4e36:	80 93 35 0d 	sts	0x0D35, r24
-    4e3a:	90 93 36 0d 	sts	0x0D36, r25
-    4e3e:	a0 93 37 0d 	sts	0x0D37, r26
-    4e42:	b0 93 38 0d 	sts	0x0D38, r27
-    4e46:	80 91 41 07 	lds	r24, 0x0741
-    4e4a:	90 91 42 07 	lds	r25, 0x0742
-    4e4e:	a0 91 43 07 	lds	r26, 0x0743
-    4e52:	b0 91 44 07 	lds	r27, 0x0744
-    4e56:	80 93 39 0d 	sts	0x0D39, r24
-    4e5a:	90 93 3a 0d 	sts	0x0D3A, r25
-    4e5e:	a0 93 3b 0d 	sts	0x0D3B, r26
-    4e62:	b0 93 3c 0d 	sts	0x0D3C, r27
-    4e66:	80 91 45 07 	lds	r24, 0x0745
-    4e6a:	90 91 46 07 	lds	r25, 0x0746
-    4e6e:	a0 91 47 07 	lds	r26, 0x0747
-    4e72:	b0 91 48 07 	lds	r27, 0x0748
-    4e76:	80 93 3d 0d 	sts	0x0D3D, r24
-    4e7a:	90 93 3e 0d 	sts	0x0D3E, r25
-    4e7e:	a0 93 3f 0d 	sts	0x0D3F, r26
-    4e82:	b0 93 40 0d 	sts	0x0D40, r27
-    4e86:	80 91 01 07 	lds	r24, 0x0701
-    4e8a:	90 91 02 07 	lds	r25, 0x0702
-    4e8e:	a0 91 03 07 	lds	r26, 0x0703
-    4e92:	b0 91 04 07 	lds	r27, 0x0704
-    4e96:	80 93 41 0d 	sts	0x0D41, r24
-    4e9a:	90 93 42 0d 	sts	0x0D42, r25
-    4e9e:	a0 93 43 0d 	sts	0x0D43, r26
-    4ea2:	b0 93 44 0d 	sts	0x0D44, r27
-    4ea6:	80 91 05 07 	lds	r24, 0x0705
-    4eaa:	90 91 06 07 	lds	r25, 0x0706
-    4eae:	a0 91 07 07 	lds	r26, 0x0707
-    4eb2:	b0 91 08 07 	lds	r27, 0x0708
-    4eb6:	80 93 45 0d 	sts	0x0D45, r24
-    4eba:	90 93 46 0d 	sts	0x0D46, r25
-    4ebe:	a0 93 47 0d 	sts	0x0D47, r26
-    4ec2:	b0 93 48 0d 	sts	0x0D48, r27
-    4ec6:	80 91 09 07 	lds	r24, 0x0709
-    4eca:	90 91 0a 07 	lds	r25, 0x070A
-    4ece:	a0 91 0b 07 	lds	r26, 0x070B
-    4ed2:	b0 91 0c 07 	lds	r27, 0x070C
-    4ed6:	80 93 49 0d 	sts	0x0D49, r24
-    4eda:	90 93 4a 0d 	sts	0x0D4A, r25
-    4ede:	a0 93 4b 0d 	sts	0x0D4B, r26
-    4ee2:	b0 93 4c 0d 	sts	0x0D4C, r27
-    4ee6:	60 91 f5 06 	lds	r22, 0x06F5
-    4eea:	70 91 f6 06 	lds	r23, 0x06F6
-    4eee:	80 91 f7 06 	lds	r24, 0x06F7
-    4ef2:	90 91 f8 06 	lds	r25, 0x06F8
-    4ef6:	23 ec       	ldi	r18, 0xC3	; 195
-    4ef8:	35 ef       	ldi	r19, 0xF5	; 245
-    4efa:	4c e1       	ldi	r20, 0x1C	; 28
-    4efc:	51 e4       	ldi	r21, 0x41	; 65
-    4efe:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4f02:	20 e0       	ldi	r18, 0x00	; 0
-    4f04:	30 e0       	ldi	r19, 0x00	; 0
-    4f06:	40 e8       	ldi	r20, 0x80	; 128
-    4f08:	5b e3       	ldi	r21, 0x3B	; 59
-    4f0a:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4f0e:	60 93 4d 0d 	sts	0x0D4D, r22
-    4f12:	70 93 4e 0d 	sts	0x0D4E, r23
-    4f16:	80 93 4f 0d 	sts	0x0D4F, r24
-    4f1a:	90 93 50 0d 	sts	0x0D50, r25
-    4f1e:	60 91 f9 06 	lds	r22, 0x06F9
-    4f22:	70 91 fa 06 	lds	r23, 0x06FA
-    4f26:	80 91 fb 06 	lds	r24, 0x06FB
-    4f2a:	90 91 fc 06 	lds	r25, 0x06FC
-    4f2e:	23 ec       	ldi	r18, 0xC3	; 195
-    4f30:	35 ef       	ldi	r19, 0xF5	; 245
-    4f32:	4c e1       	ldi	r20, 0x1C	; 28
-    4f34:	51 e4       	ldi	r21, 0x41	; 65
-    4f36:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4f3a:	20 e0       	ldi	r18, 0x00	; 0
-    4f3c:	30 e0       	ldi	r19, 0x00	; 0
-    4f3e:	40 e8       	ldi	r20, 0x80	; 128
-    4f40:	5b e3       	ldi	r21, 0x3B	; 59
-    4f42:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4f46:	60 93 51 0d 	sts	0x0D51, r22
-    4f4a:	70 93 52 0d 	sts	0x0D52, r23
-    4f4e:	80 93 53 0d 	sts	0x0D53, r24
-    4f52:	90 93 54 0d 	sts	0x0D54, r25
-    4f56:	60 91 fd 06 	lds	r22, 0x06FD
-    4f5a:	70 91 fe 06 	lds	r23, 0x06FE
-    4f5e:	80 91 ff 06 	lds	r24, 0x06FF
-    4f62:	90 91 00 07 	lds	r25, 0x0700
-    4f66:	23 ec       	ldi	r18, 0xC3	; 195
-    4f68:	35 ef       	ldi	r19, 0xF5	; 245
-    4f6a:	4c e1       	ldi	r20, 0x1C	; 28
-    4f6c:	51 e4       	ldi	r21, 0x41	; 65
-    4f6e:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4f72:	20 e0       	ldi	r18, 0x00	; 0
-    4f74:	30 e0       	ldi	r19, 0x00	; 0
-    4f76:	40 e8       	ldi	r20, 0x80	; 128
-    4f78:	5b e3       	ldi	r21, 0x3B	; 59
-    4f7a:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    4f7e:	60 93 55 0d 	sts	0x0D55, r22
-    4f82:	70 93 56 0d 	sts	0x0D56, r23
-    4f86:	80 93 57 0d 	sts	0x0D57, r24
-    4f8a:	90 93 58 0d 	sts	0x0D58, r25
-    4f8e:	80 91 f1 06 	lds	r24, 0x06F1
-    4f92:	90 91 f2 06 	lds	r25, 0x06F2
-    4f96:	a0 91 f3 06 	lds	r26, 0x06F3
-    4f9a:	b0 91 f4 06 	lds	r27, 0x06F4
-    4f9e:	80 93 59 0d 	sts	0x0D59, r24
-    4fa2:	90 93 5a 0d 	sts	0x0D5A, r25
-    4fa6:	a0 93 5b 0d 	sts	0x0D5B, r26
-    4faa:	b0 93 5c 0d 	sts	0x0D5C, r27
-    4fae:	8d e5       	ldi	r24, 0x5D	; 93
-    4fb0:	9d e0       	ldi	r25, 0x0D	; 13
-    4fb2:	be 01       	movw	r22, r28
-    4fb4:	68 50       	subi	r22, 0x08	; 8
-    4fb6:	70 40       	sbci	r23, 0x00	; 0
-    4fb8:	0e 94 ce 19 	call	0x339c	; 0x339c <_ZN3ros9Publisher7publishEPKNS_3MsgE>
-    4fbc:	80 91 08 08 	lds	r24, 0x0808
-    4fc0:	88 23       	and	r24, r24
-    4fc2:	09 f4       	brne	.+2      	; 0x4fc6 <_Z7publishv+0x2b4>
-    4fc4:	ae c0       	rjmp	.+348    	; 0x5122 <_Z7publishv+0x410>
-    4fc6:	c0 91 80 0d 	lds	r28, 0x0D80
-    4fca:	d0 91 81 0d 	lds	r29, 0x0D81
-    4fce:	82 ed       	ldi	r24, 0xD2	; 210
-    4fd0:	97 e0       	ldi	r25, 0x07	; 7
-    4fd2:	0e 94 13 3a 	call	0x7426	; 0x7426 <_ZN5Servo4readEv>
-    4fd6:	88 83       	st	Y, r24
-    4fd8:	c0 91 80 0d 	lds	r28, 0x0D80
-    4fdc:	d0 91 81 0d 	lds	r29, 0x0D81
-    4fe0:	85 ed       	ldi	r24, 0xD5	; 213
-    4fe2:	97 e0       	ldi	r25, 0x07	; 7
-    4fe4:	0e 94 13 3a 	call	0x7426	; 0x7426 <_ZN5Servo4readEv>
-    4fe8:	89 83       	std	Y+1, r24	; 0x01
-    4fea:	82 e8       	ldi	r24, 0x82	; 130
-    4fec:	9d e0       	ldi	r25, 0x0D	; 13
-    4fee:	67 e6       	ldi	r22, 0x67	; 103
-    4ff0:	7d e0       	ldi	r23, 0x0D	; 13
-    4ff2:	0e 94 ce 19 	call	0x339c	; 0x339c <_ZN3ros9Publisher7publishEPKNS_3MsgE>
-    4ff6:	10 93 d4 0c 	sts	0x0CD4, r17
-    4ffa:	00 93 d3 0c 	sts	0x0CD3, r16
-    4ffe:	cb ec       	ldi	r28, 0xCB	; 203
-    5000:	dc e0       	ldi	r29, 0x0C	; 12
-    5002:	80 e1       	ldi	r24, 0x10	; 16
-    5004:	98 e0       	ldi	r25, 0x08	; 8
-    5006:	0e 94 23 26 	call	0x4c46	; 0x4c46 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv>
-    500a:	20 93 cb 0c 	sts	0x0CCB, r18
-    500e:	39 83       	std	Y+1, r19	; 0x01
-    5010:	4a 83       	std	Y+2, r20	; 0x02
-    5012:	5b 83       	std	Y+3, r21	; 0x03
-    5014:	6c 83       	std	Y+4, r22	; 0x04
-    5016:	7d 83       	std	Y+5, r23	; 0x05
-    5018:	8e 83       	std	Y+6, r24	; 0x06
-    501a:	9f 83       	std	Y+7, r25	; 0x07
-    501c:	80 91 8c 0d 	lds	r24, 0x0D8C
-    5020:	90 91 8d 0d 	lds	r25, 0x0D8D
-    5024:	a0 91 8e 0d 	lds	r26, 0x0D8E
-    5028:	b0 91 8f 0d 	lds	r27, 0x0D8F
-    502c:	80 93 c7 0c 	sts	0x0CC7, r24
-    5030:	90 93 c8 0c 	sts	0x0CC8, r25
-    5034:	a0 93 c9 0c 	sts	0x0CC9, r26
-    5038:	b0 93 ca 0c 	sts	0x0CCA, r27
-    503c:	e0 90 e4 07 	lds	r14, 0x07E4
-    5040:	f0 90 e5 07 	lds	r15, 0x07E5
-    5044:	00 91 e6 07 	lds	r16, 0x07E6
-    5048:	10 91 e7 07 	lds	r17, 0x07E7
-    504c:	60 91 ec 07 	lds	r22, 0x07EC
-    5050:	70 91 ed 07 	lds	r23, 0x07ED
-    5054:	80 91 ee 07 	lds	r24, 0x07EE
-    5058:	90 91 ef 07 	lds	r25, 0x07EF
-    505c:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    5060:	a8 01       	movw	r20, r16
-    5062:	97 01       	movw	r18, r14
-    5064:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    5068:	60 93 d5 0c 	sts	0x0CD5, r22
-    506c:	70 93 d6 0c 	sts	0x0CD6, r23
-    5070:	80 93 d7 0c 	sts	0x0CD7, r24
-    5074:	90 93 d8 0c 	sts	0x0CD8, r25
-    5078:	80 91 e8 07 	lds	r24, 0x07E8
-    507c:	90 91 e9 07 	lds	r25, 0x07E9
-    5080:	a0 91 ea 07 	lds	r26, 0x07EA
-    5084:	b0 91 eb 07 	lds	r27, 0x07EB
-    5088:	80 93 dd 0c 	sts	0x0CDD, r24
-    508c:	90 93 de 0c 	sts	0x0CDE, r25
-    5090:	a0 93 df 0c 	sts	0x0CDF, r26
-    5094:	b0 93 e0 0c 	sts	0x0CE0, r27
-    5098:	e0 92 ed 0c 	sts	0x0CED, r14
-    509c:	f0 92 ee 0c 	sts	0x0CEE, r15
-    50a0:	00 93 ef 0c 	sts	0x0CEF, r16
-    50a4:	10 93 f0 0c 	sts	0x0CF0, r17
-    50a8:	e0 90 fc 07 	lds	r14, 0x07FC
-    50ac:	f0 90 fd 07 	lds	r15, 0x07FD
-    50b0:	00 91 fe 07 	lds	r16, 0x07FE
-    50b4:	10 91 ff 07 	lds	r17, 0x07FF
-    50b8:	60 91 04 08 	lds	r22, 0x0804
-    50bc:	70 91 05 08 	lds	r23, 0x0805
-    50c0:	80 91 06 08 	lds	r24, 0x0806
-    50c4:	90 91 07 08 	lds	r25, 0x0807
-    50c8:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    50cc:	a8 01       	movw	r20, r16
-    50ce:	97 01       	movw	r18, r14
-    50d0:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    50d4:	60 93 d9 0c 	sts	0x0CD9, r22
-    50d8:	70 93 da 0c 	sts	0x0CDA, r23
-    50dc:	80 93 db 0c 	sts	0x0CDB, r24
-    50e0:	90 93 dc 0c 	sts	0x0CDC, r25
-    50e4:	80 91 00 08 	lds	r24, 0x0800
-    50e8:	90 91 01 08 	lds	r25, 0x0801
-    50ec:	a0 91 02 08 	lds	r26, 0x0802
-    50f0:	b0 91 03 08 	lds	r27, 0x0803
-    50f4:	80 93 e1 0c 	sts	0x0CE1, r24
-    50f8:	90 93 e2 0c 	sts	0x0CE2, r25
-    50fc:	a0 93 e3 0c 	sts	0x0CE3, r26
-    5100:	b0 93 e4 0c 	sts	0x0CE4, r27
-    5104:	e0 92 f1 0c 	sts	0x0CF1, r14
-    5108:	f0 92 f2 0c 	sts	0x0CF2, r15
-    510c:	00 93 f3 0c 	sts	0x0CF3, r16
-    5110:	10 93 f4 0c 	sts	0x0CF4, r17
-    5114:	85 ef       	ldi	r24, 0xF5	; 245
-    5116:	9c e0       	ldi	r25, 0x0C	; 12
-    5118:	be 01       	movw	r22, r28
-    511a:	68 50       	subi	r22, 0x08	; 8
-    511c:	70 40       	sbci	r23, 0x00	; 0
-    511e:	0e 94 ce 19 	call	0x339c	; 0x339c <_ZN3ros9Publisher7publishEPKNS_3MsgE>
-    5122:	df 91       	pop	r29
-    5124:	cf 91       	pop	r28
-    5126:	1f 91       	pop	r17
-    5128:	0f 91       	pop	r16
-    512a:	ff 90       	pop	r15
-    512c:	ef 90       	pop	r14
-    512e:	08 95       	ret
-
-00005130 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>:
-    5130:	db 01       	movw	r26, r22
-    5132:	fc 01       	movw	r30, r24
-    5134:	ec 5e       	subi	r30, 0xEC	; 236
-    5136:	fb 4f       	sbci	r31, 0xFB	; 251
-    5138:	20 e0       	ldi	r18, 0x00	; 0
-    513a:	30 e0       	ldi	r19, 0x00	; 0
-    513c:	41 91       	ld	r20, Z+
-    513e:	51 91       	ld	r21, Z+
-    5140:	41 15       	cp	r20, r1
-    5142:	51 05       	cpc	r21, r1
-    5144:	a9 f4       	brne	.+42     	; 0x5170 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE+0x40>
-    5146:	f9 01       	movw	r30, r18
-    5148:	e6 5f       	subi	r30, 0xF6	; 246
-    514a:	fd 4f       	sbci	r31, 0xFD	; 253
-    514c:	ee 0f       	add	r30, r30
-    514e:	ff 1f       	adc	r31, r31
-    5150:	e8 0f       	add	r30, r24
-    5152:	f9 1f       	adc	r31, r25
-    5154:	b1 83       	std	Z+1, r27	; 0x01
-    5156:	a0 83       	st	Z, r26
-    5158:	23 58       	subi	r18, 0x83	; 131
-    515a:	3f 4f       	sbci	r19, 0xFF	; 255
-    515c:	15 96       	adiw	r26, 0x05	; 5
-    515e:	3c 93       	st	X, r19
-    5160:	2e 93       	st	-X, r18
-    5162:	14 97       	sbiw	r26, 0x04	; 4
-    5164:	17 96       	adiw	r26, 0x07	; 7
-    5166:	9c 93       	st	X, r25
-    5168:	8e 93       	st	-X, r24
-    516a:	16 97       	sbiw	r26, 0x06	; 6
-    516c:	81 e0       	ldi	r24, 0x01	; 1
-    516e:	08 95       	ret
-    5170:	2f 5f       	subi	r18, 0xFF	; 255
-    5172:	3f 4f       	sbci	r19, 0xFF	; 255
-    5174:	29 31       	cpi	r18, 0x19	; 25
-    5176:	31 05       	cpc	r19, r1
-    5178:	09 f7       	brne	.-62     	; 0x513c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE+0xc>
-    517a:	80 e0       	ldi	r24, 0x00	; 0
-    517c:	08 95       	ret
-
-0000517e <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover7EnabledEEEbRNS_10SubscriberIT_EE>:
-    517e:	fc 01       	movw	r30, r24
-    5180:	ea 5b       	subi	r30, 0xBA	; 186
-    5182:	fb 4f       	sbci	r31, 0xFB	; 251
-    5184:	20 e0       	ldi	r18, 0x00	; 0
-    5186:	30 e0       	ldi	r19, 0x00	; 0
-    5188:	41 91       	ld	r20, Z+
-    518a:	51 91       	ld	r21, Z+
-    518c:	41 15       	cp	r20, r1
-    518e:	51 05       	cpc	r21, r1
-    5190:	81 f4       	brne	.+32     	; 0x51b2 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover7EnabledEEEbRNS_10SubscriberIT_EE+0x34>
-    5192:	f9 01       	movw	r30, r18
-    5194:	ed 5d       	subi	r30, 0xDD	; 221
-    5196:	fd 4f       	sbci	r31, 0xFD	; 253
-    5198:	ee 0f       	add	r30, r30
-    519a:	ff 1f       	adc	r31, r31
-    519c:	e8 0f       	add	r30, r24
-    519e:	f9 1f       	adc	r31, r25
-    51a0:	71 83       	std	Z+1, r23	; 0x01
-    51a2:	60 83       	st	Z, r22
-    51a4:	2c 59       	subi	r18, 0x9C	; 156
-    51a6:	3f 4f       	sbci	r19, 0xFF	; 255
-    51a8:	fb 01       	movw	r30, r22
-    51aa:	33 83       	std	Z+3, r19	; 0x03
-    51ac:	22 83       	std	Z+2, r18	; 0x02
-    51ae:	81 e0       	ldi	r24, 0x01	; 1
-    51b0:	08 95       	ret
-    51b2:	2f 5f       	subi	r18, 0xFF	; 255
-    51b4:	3f 4f       	sbci	r19, 0xFF	; 255
-    51b6:	29 31       	cpi	r18, 0x19	; 25
-    51b8:	31 05       	cpc	r19, r1
-    51ba:	31 f7       	brne	.-52     	; 0x5188 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover7EnabledEEEbRNS_10SubscriberIT_EE+0xa>
-    51bc:	80 e0       	ldi	r24, 0x00	; 0
-    51be:	08 95       	ret
-
-000051c0 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover6MotorsEEEbRNS_10SubscriberIT_EE>:
-    51c0:	fc 01       	movw	r30, r24
-    51c2:	ea 5b       	subi	r30, 0xBA	; 186
-    51c4:	fb 4f       	sbci	r31, 0xFB	; 251
-    51c6:	20 e0       	ldi	r18, 0x00	; 0
-    51c8:	30 e0       	ldi	r19, 0x00	; 0
-    51ca:	41 91       	ld	r20, Z+
-    51cc:	51 91       	ld	r21, Z+
-    51ce:	41 15       	cp	r20, r1
-    51d0:	51 05       	cpc	r21, r1
-    51d2:	81 f4       	brne	.+32     	; 0x51f4 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover6MotorsEEEbRNS_10SubscriberIT_EE+0x34>
-    51d4:	f9 01       	movw	r30, r18
-    51d6:	ed 5d       	subi	r30, 0xDD	; 221
-    51d8:	fd 4f       	sbci	r31, 0xFD	; 253
-    51da:	ee 0f       	add	r30, r30
-    51dc:	ff 1f       	adc	r31, r31
-    51de:	e8 0f       	add	r30, r24
-    51e0:	f9 1f       	adc	r31, r25
-    51e2:	71 83       	std	Z+1, r23	; 0x01
-    51e4:	60 83       	st	Z, r22
-    51e6:	2c 59       	subi	r18, 0x9C	; 156
-    51e8:	3f 4f       	sbci	r19, 0xFF	; 255
-    51ea:	fb 01       	movw	r30, r22
-    51ec:	33 83       	std	Z+3, r19	; 0x03
-    51ee:	22 83       	std	Z+2, r18	; 0x02
-    51f0:	81 e0       	ldi	r24, 0x01	; 1
+    4a72:	30 93 6d 0d 	sts	0x0D6D, r19
+    4a76:	20 93 6c 0d 	sts	0x0D6C, r18
+    4a7a:	a3 ee       	ldi	r26, 0xE3	; 227
+    4a7c:	b4 e0       	ldi	r27, 0x04	; 4
+    4a7e:	b0 93 83 0d 	sts	0x0D83, r27
+    4a82:	a0 93 82 0d 	sts	0x0D82, r26
+    4a86:	a7 e6       	ldi	r26, 0x67	; 103
+    4a88:	bd e0       	ldi	r27, 0x0D	; 13
+    4a8a:	b0 93 85 0d 	sts	0x0D85, r27
+    4a8e:	a0 93 84 0d 	sts	0x0D84, r26
+    4a92:	10 92 8b 0d 	sts	0x0D8B, r1
+    4a96:	10 92 8a 0d 	sts	0x0D8A, r1
+    4a9a:	aa e6       	ldi	r26, 0x6A	; 106
+    4a9c:	b6 e0       	ldi	r27, 0x06	; 6
+    4a9e:	b0 93 96 0d 	sts	0x0D96, r27
+    4aa2:	a0 93 95 0d 	sts	0x0D95, r26
+    4aa6:	a6 e7       	ldi	r26, 0x76	; 118
+    4aa8:	b6 e0       	ldi	r27, 0x06	; 6
+    4aaa:	b0 93 9c 0d 	sts	0x0D9C, r27
+    4aae:	a0 93 9b 0d 	sts	0x0D9B, r26
+    4ab2:	90 93 9e 0d 	sts	0x0D9E, r25
+    4ab6:	80 93 9d 0d 	sts	0x0D9D, r24
+    4aba:	10 92 a3 0d 	sts	0x0DA3, r1
+    4abe:	10 92 a4 0d 	sts	0x0DA4, r1
+    4ac2:	10 92 a5 0d 	sts	0x0DA5, r1
+    4ac6:	10 92 a6 0d 	sts	0x0DA6, r1
+    4aca:	10 92 a7 0d 	sts	0x0DA7, r1
+    4ace:	10 92 a8 0d 	sts	0x0DA8, r1
+    4ad2:	10 92 a9 0d 	sts	0x0DA9, r1
+    4ad6:	10 92 aa 0d 	sts	0x0DAA, r1
+    4ada:	86 e6       	ldi	r24, 0x66	; 102
+    4adc:	99 e1       	ldi	r25, 0x19	; 25
+    4ade:	90 93 b6 0d 	sts	0x0DB6, r25
+    4ae2:	80 93 b5 0d 	sts	0x0DB5, r24
+    4ae6:	d0 93 b8 0d 	sts	0x0DB8, r29
+    4aea:	c0 93 b7 0d 	sts	0x0DB7, r28
+    4aee:	8f ee       	ldi	r24, 0xEF	; 239
+    4af0:	94 e0       	ldi	r25, 0x04	; 4
+    4af2:	90 93 9a 0d 	sts	0x0D9A, r25
+    4af6:	80 93 99 0d 	sts	0x0D99, r24
+    4afa:	82 e8       	ldi	r24, 0x82	; 130
+    4afc:	96 e0       	ldi	r25, 0x06	; 6
+    4afe:	90 93 ba 0d 	sts	0x0DBA, r25
+    4b02:	80 93 b9 0d 	sts	0x0DB9, r24
+    4b06:	f0 93 c0 0d 	sts	0x0DC0, r31
+    4b0a:	e0 93 bf 0d 	sts	0x0DBF, r30
+    4b0e:	85 e0       	ldi	r24, 0x05	; 5
+    4b10:	93 e1       	ldi	r25, 0x13	; 19
+    4b12:	90 93 c4 0d 	sts	0x0DC4, r25
+    4b16:	80 93 c3 0d 	sts	0x0DC3, r24
+    4b1a:	d0 93 c6 0d 	sts	0x0DC6, r29
+    4b1e:	c0 93 c5 0d 	sts	0x0DC5, r28
+    4b22:	85 ef       	ldi	r24, 0xF5	; 245
+    4b24:	94 e0       	ldi	r25, 0x04	; 4
+    4b26:	90 93 be 0d 	sts	0x0DBE, r25
+    4b2a:	80 93 bd 0d 	sts	0x0DBD, r24
+    4b2e:	8e e8       	ldi	r24, 0x8E	; 142
+    4b30:	96 e0       	ldi	r25, 0x06	; 6
+    4b32:	90 93 c8 0d 	sts	0x0DC8, r25
+    4b36:	80 93 c7 0d 	sts	0x0DC7, r24
+    4b3a:	70 93 ce 0d 	sts	0x0DCE, r23
+    4b3e:	60 93 cd 0d 	sts	0x0DCD, r22
+    4b42:	50 93 d0 0d 	sts	0x0DD0, r21
+    4b46:	40 93 cf 0d 	sts	0x0DCF, r20
+    4b4a:	30 93 d3 0d 	sts	0x0DD3, r19
+    4b4e:	20 93 d2 0d 	sts	0x0DD2, r18
+    4b52:	8e e3       	ldi	r24, 0x3E	; 62
+    4b54:	99 e1       	ldi	r25, 0x19	; 25
+    4b56:	90 93 e9 0d 	sts	0x0DE9, r25
+    4b5a:	80 93 e8 0d 	sts	0x0DE8, r24
+    4b5e:	d0 93 eb 0d 	sts	0x0DEB, r29
+    4b62:	c0 93 ea 0d 	sts	0x0DEA, r28
+    4b66:	8c ef       	ldi	r24, 0xFC	; 252
+    4b68:	94 e0       	ldi	r25, 0x04	; 4
+    4b6a:	90 93 cc 0d 	sts	0x0DCC, r25
+    4b6e:	80 93 cb 0d 	sts	0x0DCB, r24
+    4b72:	06 c0       	rjmp	.+12     	; 0x4b80 <_Z41__static_initialization_and_destruction_0ii.clone.11+0x2d4>
+    4b74:	00 97       	sbiw	r24, 0x00	; 0
+    4b76:	21 f4       	brne	.+8      	; 0x4b80 <_Z41__static_initialization_and_destruction_0ii.clone.11+0x2d4>
+    4b78:	89 e0       	ldi	r24, 0x09	; 9
+    4b7a:	98 e0       	ldi	r25, 0x08	; 8
+    4b7c:	0e 94 8f 05 	call	0xb1e	; 0xb1e <_ZN8RoboClawD1Ev>
+    4b80:	df 91       	pop	r29
+    4b82:	cf 91       	pop	r28
+    4b84:	08 95       	ret
+
+00004b86 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv>:
+    4b86:	cf 92       	push	r12
+    4b88:	df 92       	push	r13
+    4b8a:	ef 92       	push	r14
+    4b8c:	ff 92       	push	r15
+    4b8e:	0f 93       	push	r16
+    4b90:	1f 93       	push	r17
+    4b92:	df 93       	push	r29
+    4b94:	cf 93       	push	r28
+    4b96:	cd b7       	in	r28, 0x3d	; 61
+    4b98:	de b7       	in	r29, 0x3e	; 62
+    4b9a:	60 97       	sbiw	r28, 0x10	; 16
+    4b9c:	0f b6       	in	r0, 0x3f	; 63
+    4b9e:	f8 94       	cli
+    4ba0:	de bf       	out	0x3e, r29	; 62
+    4ba2:	0f be       	out	0x3f, r0	; 63
+    4ba4:	cd bf       	out	0x3d, r28	; 61
+    4ba6:	6c 01       	movw	r12, r24
+    4ba8:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
+    4bac:	28 ee       	ldi	r18, 0xE8	; 232
+    4bae:	33 e0       	ldi	r19, 0x03	; 3
+    4bb0:	40 e0       	ldi	r20, 0x00	; 0
+    4bb2:	50 e0       	ldi	r21, 0x00	; 0
+    4bb4:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
+    4bb8:	7b 01       	movw	r14, r22
+    4bba:	8c 01       	movw	r16, r24
+    4bbc:	f6 01       	movw	r30, r12
+    4bbe:	84 85       	ldd	r24, Z+12	; 0x0c
+    4bc0:	95 85       	ldd	r25, Z+13	; 0x0d
+    4bc2:	a6 85       	ldd	r26, Z+14	; 0x0e
+    4bc4:	b7 85       	ldd	r27, Z+15	; 0x0f
+    4bc6:	82 0f       	add	r24, r18
+    4bc8:	93 1f       	adc	r25, r19
+    4bca:	a4 1f       	adc	r26, r20
+    4bcc:	b5 1f       	adc	r27, r21
+    4bce:	89 83       	std	Y+1, r24	; 0x01
+    4bd0:	9a 83       	std	Y+2, r25	; 0x02
+    4bd2:	ab 83       	std	Y+3, r26	; 0x03
+    4bd4:	bc 83       	std	Y+4, r27	; 0x04
+    4bd6:	c8 01       	movw	r24, r16
+    4bd8:	b7 01       	movw	r22, r14
+    4bda:	20 e4       	ldi	r18, 0x40	; 64
+    4bdc:	32 e4       	ldi	r19, 0x42	; 66
+    4bde:	4f e0       	ldi	r20, 0x0F	; 15
+    4be0:	50 e0       	ldi	r21, 0x00	; 0
+    4be2:	0e 94 1e 41 	call	0x823c	; 0x823c <__mulsi3>
+    4be6:	f6 01       	movw	r30, r12
+    4be8:	20 89       	ldd	r18, Z+16	; 0x10
+    4bea:	31 89       	ldd	r19, Z+17	; 0x11
+    4bec:	42 89       	ldd	r20, Z+18	; 0x12
+    4bee:	53 89       	ldd	r21, Z+19	; 0x13
+    4bf0:	62 0f       	add	r22, r18
+    4bf2:	73 1f       	adc	r23, r19
+    4bf4:	84 1f       	adc	r24, r20
+    4bf6:	95 1f       	adc	r25, r21
+    4bf8:	6d 83       	std	Y+5, r22	; 0x05
+    4bfa:	7e 83       	std	Y+6, r23	; 0x06
+    4bfc:	8f 83       	std	Y+7, r24	; 0x07
+    4bfe:	98 87       	std	Y+8, r25	; 0x08
+    4c00:	7e 01       	movw	r14, r28
+    4c02:	08 94       	sec
+    4c04:	e1 1c       	adc	r14, r1
+    4c06:	f1 1c       	adc	r15, r1
+    4c08:	c7 01       	movw	r24, r14
+    4c0a:	be 01       	movw	r22, r28
+    4c0c:	6b 5f       	subi	r22, 0xFB	; 251
+    4c0e:	7f 4f       	sbci	r23, 0xFF	; 255
+    4c10:	0e 94 7d 01 	call	0x2fa	; 0x2fa <_ZN3ros16normalizeSecNSecERmS0_>
+    4c14:	de 01       	movw	r26, r28
+    4c16:	19 96       	adiw	r26, 0x09	; 9
+    4c18:	f7 01       	movw	r30, r14
+    4c1a:	88 e0       	ldi	r24, 0x08	; 8
+    4c1c:	01 90       	ld	r0, Z+
+    4c1e:	0d 92       	st	X+, r0
+    4c20:	81 50       	subi	r24, 0x01	; 1
+    4c22:	e1 f7       	brne	.-8      	; 0x4c1c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv+0x96>
+    4c24:	29 85       	ldd	r18, Y+9	; 0x09
+    4c26:	3a 85       	ldd	r19, Y+10	; 0x0a
+    4c28:	4b 85       	ldd	r20, Y+11	; 0x0b
+    4c2a:	5c 85       	ldd	r21, Y+12	; 0x0c
+    4c2c:	6d 85       	ldd	r22, Y+13	; 0x0d
+    4c2e:	7e 85       	ldd	r23, Y+14	; 0x0e
+    4c30:	8f 85       	ldd	r24, Y+15	; 0x0f
+    4c32:	98 89       	ldd	r25, Y+16	; 0x10
+    4c34:	60 96       	adiw	r28, 0x10	; 16
+    4c36:	0f b6       	in	r0, 0x3f	; 63
+    4c38:	f8 94       	cli
+    4c3a:	de bf       	out	0x3e, r29	; 62
+    4c3c:	0f be       	out	0x3f, r0	; 63
+    4c3e:	cd bf       	out	0x3d, r28	; 61
+    4c40:	cf 91       	pop	r28
+    4c42:	df 91       	pop	r29
+    4c44:	1f 91       	pop	r17
+    4c46:	0f 91       	pop	r16
+    4c48:	ff 90       	pop	r15
+    4c4a:	ef 90       	pop	r14
+    4c4c:	df 90       	pop	r13
+    4c4e:	cf 90       	pop	r12
+    4c50:	08 95       	ret
+
+00004c52 <_Z7publishv>:
+    4c52:	ef 92       	push	r14
+    4c54:	ff 92       	push	r15
+    4c56:	0f 93       	push	r16
+    4c58:	1f 93       	push	r17
+    4c5a:	cf 93       	push	r28
+    4c5c:	df 93       	push	r29
+    4c5e:	80 91 8c 0d 	lds	r24, 0x0D8C
+    4c62:	90 91 8d 0d 	lds	r25, 0x0D8D
+    4c66:	a0 91 8e 0d 	lds	r26, 0x0D8E
+    4c6a:	b0 91 8f 0d 	lds	r27, 0x0D8F
+    4c6e:	01 96       	adiw	r24, 0x01	; 1
+    4c70:	a1 1d       	adc	r26, r1
+    4c72:	b1 1d       	adc	r27, r1
+    4c74:	80 93 8c 0d 	sts	0x0D8C, r24
+    4c78:	90 93 8d 0d 	sts	0x0D8D, r25
+    4c7c:	a0 93 8e 0d 	sts	0x0D8E, r26
+    4c80:	b0 93 8f 0d 	sts	0x0D8F, r27
+    4c84:	80 91 08 08 	lds	r24, 0x0808
+    4c88:	80 93 b7 0c 	sts	0x0CB7, r24
+    4c8c:	89 eb       	ldi	r24, 0xB9	; 185
+    4c8e:	9c e0       	ldi	r25, 0x0C	; 12
+    4c90:	65 eb       	ldi	r22, 0xB5	; 181
+    4c92:	7c e0       	ldi	r23, 0x0C	; 12
+    4c94:	0e 94 cf 19 	call	0x339e	; 0x339e <_ZN3ros9Publisher7publishEPKNS_3MsgE>
+    4c98:	00 ea       	ldi	r16, 0xA0	; 160
+    4c9a:	15 e0       	ldi	r17, 0x05	; 5
+    4c9c:	10 93 10 0d 	sts	0x0D10, r17
+    4ca0:	00 93 0f 0d 	sts	0x0D0F, r16
+    4ca4:	c7 e0       	ldi	r28, 0x07	; 7
+    4ca6:	dd e0       	ldi	r29, 0x0D	; 13
+    4ca8:	80 e1       	ldi	r24, 0x10	; 16
+    4caa:	98 e0       	ldi	r25, 0x08	; 8
+    4cac:	0e 94 c3 25 	call	0x4b86	; 0x4b86 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv>
+    4cb0:	20 93 07 0d 	sts	0x0D07, r18
+    4cb4:	39 83       	std	Y+1, r19	; 0x01
+    4cb6:	4a 83       	std	Y+2, r20	; 0x02
+    4cb8:	5b 83       	std	Y+3, r21	; 0x03
+    4cba:	6c 83       	std	Y+4, r22	; 0x04
+    4cbc:	7d 83       	std	Y+5, r23	; 0x05
+    4cbe:	8e 83       	std	Y+6, r24	; 0x06
+    4cc0:	9f 83       	std	Y+7, r25	; 0x07
+    4cc2:	80 91 8c 0d 	lds	r24, 0x0D8C
+    4cc6:	90 91 8d 0d 	lds	r25, 0x0D8D
+    4cca:	a0 91 8e 0d 	lds	r26, 0x0D8E
+    4cce:	b0 91 8f 0d 	lds	r27, 0x0D8F
+    4cd2:	80 93 03 0d 	sts	0x0D03, r24
+    4cd6:	90 93 04 0d 	sts	0x0D04, r25
+    4cda:	a0 93 05 0d 	sts	0x0D05, r26
+    4cde:	b0 93 06 0d 	sts	0x0D06, r27
+    4ce2:	8d ec       	ldi	r24, 0xCD	; 205
+    4ce4:	97 e0       	ldi	r25, 0x07	; 7
+    4ce6:	0e 94 50 05 	call	0xaa0	; 0xaa0 <_ZN7Battery10getVoltageEv>
+    4cea:	60 93 11 0d 	sts	0x0D11, r22
+    4cee:	70 93 12 0d 	sts	0x0D12, r23
+    4cf2:	80 93 13 0d 	sts	0x0D13, r24
+    4cf6:	90 93 14 0d 	sts	0x0D14, r25
+    4cfa:	8d ec       	ldi	r24, 0xCD	; 205
+    4cfc:	97 e0       	ldi	r25, 0x07	; 7
+    4cfe:	0e 94 6b 05 	call	0xad6	; 0xad6 <_ZN7Battery10getCurrentEv>
+    4d02:	60 93 15 0d 	sts	0x0D15, r22
+    4d06:	70 93 16 0d 	sts	0x0D16, r23
+    4d0a:	80 93 17 0d 	sts	0x0D17, r24
+    4d0e:	90 93 18 0d 	sts	0x0D18, r25
+    4d12:	89 e1       	ldi	r24, 0x19	; 25
+    4d14:	9d e0       	ldi	r25, 0x0D	; 13
+    4d16:	be 01       	movw	r22, r28
+    4d18:	68 50       	subi	r22, 0x08	; 8
+    4d1a:	70 40       	sbci	r23, 0x00	; 0
+    4d1c:	0e 94 cf 19 	call	0x339e	; 0x339e <_ZN3ros9Publisher7publishEPKNS_3MsgE>
+    4d20:	10 93 34 0d 	sts	0x0D34, r17
+    4d24:	00 93 33 0d 	sts	0x0D33, r16
+    4d28:	cb e2       	ldi	r28, 0x2B	; 43
+    4d2a:	dd e0       	ldi	r29, 0x0D	; 13
+    4d2c:	80 e1       	ldi	r24, 0x10	; 16
+    4d2e:	98 e0       	ldi	r25, 0x08	; 8
+    4d30:	0e 94 c3 25 	call	0x4b86	; 0x4b86 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv>
+    4d34:	20 93 2b 0d 	sts	0x0D2B, r18
+    4d38:	39 83       	std	Y+1, r19	; 0x01
+    4d3a:	4a 83       	std	Y+2, r20	; 0x02
+    4d3c:	5b 83       	std	Y+3, r21	; 0x03
+    4d3e:	6c 83       	std	Y+4, r22	; 0x04
+    4d40:	7d 83       	std	Y+5, r23	; 0x05
+    4d42:	8e 83       	std	Y+6, r24	; 0x06
+    4d44:	9f 83       	std	Y+7, r25	; 0x07
+    4d46:	80 91 8c 0d 	lds	r24, 0x0D8C
+    4d4a:	90 91 8d 0d 	lds	r25, 0x0D8D
+    4d4e:	a0 91 8e 0d 	lds	r26, 0x0D8E
+    4d52:	b0 91 8f 0d 	lds	r27, 0x0D8F
+    4d56:	80 93 27 0d 	sts	0x0D27, r24
+    4d5a:	90 93 28 0d 	sts	0x0D28, r25
+    4d5e:	a0 93 29 0d 	sts	0x0D29, r26
+    4d62:	b0 93 2a 0d 	sts	0x0D2A, r27
+    4d66:	80 91 3d 07 	lds	r24, 0x073D
+    4d6a:	90 91 3e 07 	lds	r25, 0x073E
+    4d6e:	a0 91 3f 07 	lds	r26, 0x073F
+    4d72:	b0 91 40 07 	lds	r27, 0x0740
+    4d76:	80 93 35 0d 	sts	0x0D35, r24
+    4d7a:	90 93 36 0d 	sts	0x0D36, r25
+    4d7e:	a0 93 37 0d 	sts	0x0D37, r26
+    4d82:	b0 93 38 0d 	sts	0x0D38, r27
+    4d86:	80 91 41 07 	lds	r24, 0x0741
+    4d8a:	90 91 42 07 	lds	r25, 0x0742
+    4d8e:	a0 91 43 07 	lds	r26, 0x0743
+    4d92:	b0 91 44 07 	lds	r27, 0x0744
+    4d96:	80 93 39 0d 	sts	0x0D39, r24
+    4d9a:	90 93 3a 0d 	sts	0x0D3A, r25
+    4d9e:	a0 93 3b 0d 	sts	0x0D3B, r26
+    4da2:	b0 93 3c 0d 	sts	0x0D3C, r27
+    4da6:	80 91 45 07 	lds	r24, 0x0745
+    4daa:	90 91 46 07 	lds	r25, 0x0746
+    4dae:	a0 91 47 07 	lds	r26, 0x0747
+    4db2:	b0 91 48 07 	lds	r27, 0x0748
+    4db6:	80 93 3d 0d 	sts	0x0D3D, r24
+    4dba:	90 93 3e 0d 	sts	0x0D3E, r25
+    4dbe:	a0 93 3f 0d 	sts	0x0D3F, r26
+    4dc2:	b0 93 40 0d 	sts	0x0D40, r27
+    4dc6:	80 91 01 07 	lds	r24, 0x0701
+    4dca:	90 91 02 07 	lds	r25, 0x0702
+    4dce:	a0 91 03 07 	lds	r26, 0x0703
+    4dd2:	b0 91 04 07 	lds	r27, 0x0704
+    4dd6:	80 93 41 0d 	sts	0x0D41, r24
+    4dda:	90 93 42 0d 	sts	0x0D42, r25
+    4dde:	a0 93 43 0d 	sts	0x0D43, r26
+    4de2:	b0 93 44 0d 	sts	0x0D44, r27
+    4de6:	80 91 05 07 	lds	r24, 0x0705
+    4dea:	90 91 06 07 	lds	r25, 0x0706
+    4dee:	a0 91 07 07 	lds	r26, 0x0707
+    4df2:	b0 91 08 07 	lds	r27, 0x0708
+    4df6:	80 93 45 0d 	sts	0x0D45, r24
+    4dfa:	90 93 46 0d 	sts	0x0D46, r25
+    4dfe:	a0 93 47 0d 	sts	0x0D47, r26
+    4e02:	b0 93 48 0d 	sts	0x0D48, r27
+    4e06:	80 91 09 07 	lds	r24, 0x0709
+    4e0a:	90 91 0a 07 	lds	r25, 0x070A
+    4e0e:	a0 91 0b 07 	lds	r26, 0x070B
+    4e12:	b0 91 0c 07 	lds	r27, 0x070C
+    4e16:	80 93 49 0d 	sts	0x0D49, r24
+    4e1a:	90 93 4a 0d 	sts	0x0D4A, r25
+    4e1e:	a0 93 4b 0d 	sts	0x0D4B, r26
+    4e22:	b0 93 4c 0d 	sts	0x0D4C, r27
+    4e26:	60 91 f5 06 	lds	r22, 0x06F5
+    4e2a:	70 91 f6 06 	lds	r23, 0x06F6
+    4e2e:	80 91 f7 06 	lds	r24, 0x06F7
+    4e32:	90 91 f8 06 	lds	r25, 0x06F8
+    4e36:	23 ec       	ldi	r18, 0xC3	; 195
+    4e38:	35 ef       	ldi	r19, 0xF5	; 245
+    4e3a:	4c e1       	ldi	r20, 0x1C	; 28
+    4e3c:	51 e4       	ldi	r21, 0x41	; 65
+    4e3e:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4e42:	20 e0       	ldi	r18, 0x00	; 0
+    4e44:	30 e0       	ldi	r19, 0x00	; 0
+    4e46:	40 e8       	ldi	r20, 0x80	; 128
+    4e48:	5b e3       	ldi	r21, 0x3B	; 59
+    4e4a:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4e4e:	60 93 4d 0d 	sts	0x0D4D, r22
+    4e52:	70 93 4e 0d 	sts	0x0D4E, r23
+    4e56:	80 93 4f 0d 	sts	0x0D4F, r24
+    4e5a:	90 93 50 0d 	sts	0x0D50, r25
+    4e5e:	60 91 f9 06 	lds	r22, 0x06F9
+    4e62:	70 91 fa 06 	lds	r23, 0x06FA
+    4e66:	80 91 fb 06 	lds	r24, 0x06FB
+    4e6a:	90 91 fc 06 	lds	r25, 0x06FC
+    4e6e:	23 ec       	ldi	r18, 0xC3	; 195
+    4e70:	35 ef       	ldi	r19, 0xF5	; 245
+    4e72:	4c e1       	ldi	r20, 0x1C	; 28
+    4e74:	51 e4       	ldi	r21, 0x41	; 65
+    4e76:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4e7a:	20 e0       	ldi	r18, 0x00	; 0
+    4e7c:	30 e0       	ldi	r19, 0x00	; 0
+    4e7e:	40 e8       	ldi	r20, 0x80	; 128
+    4e80:	5b e3       	ldi	r21, 0x3B	; 59
+    4e82:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4e86:	60 93 51 0d 	sts	0x0D51, r22
+    4e8a:	70 93 52 0d 	sts	0x0D52, r23
+    4e8e:	80 93 53 0d 	sts	0x0D53, r24
+    4e92:	90 93 54 0d 	sts	0x0D54, r25
+    4e96:	60 91 fd 06 	lds	r22, 0x06FD
+    4e9a:	70 91 fe 06 	lds	r23, 0x06FE
+    4e9e:	80 91 ff 06 	lds	r24, 0x06FF
+    4ea2:	90 91 00 07 	lds	r25, 0x0700
+    4ea6:	23 ec       	ldi	r18, 0xC3	; 195
+    4ea8:	35 ef       	ldi	r19, 0xF5	; 245
+    4eaa:	4c e1       	ldi	r20, 0x1C	; 28
+    4eac:	51 e4       	ldi	r21, 0x41	; 65
+    4eae:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4eb2:	20 e0       	ldi	r18, 0x00	; 0
+    4eb4:	30 e0       	ldi	r19, 0x00	; 0
+    4eb6:	40 e8       	ldi	r20, 0x80	; 128
+    4eb8:	5b e3       	ldi	r21, 0x3B	; 59
+    4eba:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4ebe:	60 93 55 0d 	sts	0x0D55, r22
+    4ec2:	70 93 56 0d 	sts	0x0D56, r23
+    4ec6:	80 93 57 0d 	sts	0x0D57, r24
+    4eca:	90 93 58 0d 	sts	0x0D58, r25
+    4ece:	80 91 f1 06 	lds	r24, 0x06F1
+    4ed2:	90 91 f2 06 	lds	r25, 0x06F2
+    4ed6:	a0 91 f3 06 	lds	r26, 0x06F3
+    4eda:	b0 91 f4 06 	lds	r27, 0x06F4
+    4ede:	80 93 59 0d 	sts	0x0D59, r24
+    4ee2:	90 93 5a 0d 	sts	0x0D5A, r25
+    4ee6:	a0 93 5b 0d 	sts	0x0D5B, r26
+    4eea:	b0 93 5c 0d 	sts	0x0D5C, r27
+    4eee:	8d e5       	ldi	r24, 0x5D	; 93
+    4ef0:	9d e0       	ldi	r25, 0x0D	; 13
+    4ef2:	be 01       	movw	r22, r28
+    4ef4:	68 50       	subi	r22, 0x08	; 8
+    4ef6:	70 40       	sbci	r23, 0x00	; 0
+    4ef8:	0e 94 cf 19 	call	0x339e	; 0x339e <_ZN3ros9Publisher7publishEPKNS_3MsgE>
+    4efc:	80 91 08 08 	lds	r24, 0x0808
+    4f00:	88 23       	and	r24, r24
+    4f02:	09 f4       	brne	.+2      	; 0x4f06 <_Z7publishv+0x2b4>
+    4f04:	ae c0       	rjmp	.+348    	; 0x5062 <_Z7publishv+0x410>
+    4f06:	c0 91 80 0d 	lds	r28, 0x0D80
+    4f0a:	d0 91 81 0d 	lds	r29, 0x0D81
+    4f0e:	82 ed       	ldi	r24, 0xD2	; 210
+    4f10:	97 e0       	ldi	r25, 0x07	; 7
+    4f12:	0e 94 10 39 	call	0x7220	; 0x7220 <_ZN5Servo4readEv>
+    4f16:	88 83       	st	Y, r24
+    4f18:	c0 91 80 0d 	lds	r28, 0x0D80
+    4f1c:	d0 91 81 0d 	lds	r29, 0x0D81
+    4f20:	85 ed       	ldi	r24, 0xD5	; 213
+    4f22:	97 e0       	ldi	r25, 0x07	; 7
+    4f24:	0e 94 10 39 	call	0x7220	; 0x7220 <_ZN5Servo4readEv>
+    4f28:	89 83       	std	Y+1, r24	; 0x01
+    4f2a:	82 e8       	ldi	r24, 0x82	; 130
+    4f2c:	9d e0       	ldi	r25, 0x0D	; 13
+    4f2e:	67 e6       	ldi	r22, 0x67	; 103
+    4f30:	7d e0       	ldi	r23, 0x0D	; 13
+    4f32:	0e 94 cf 19 	call	0x339e	; 0x339e <_ZN3ros9Publisher7publishEPKNS_3MsgE>
+    4f36:	10 93 d4 0c 	sts	0x0CD4, r17
+    4f3a:	00 93 d3 0c 	sts	0x0CD3, r16
+    4f3e:	cb ec       	ldi	r28, 0xCB	; 203
+    4f40:	dc e0       	ldi	r29, 0x0C	; 12
+    4f42:	80 e1       	ldi	r24, 0x10	; 16
+    4f44:	98 e0       	ldi	r25, 0x08	; 8
+    4f46:	0e 94 c3 25 	call	0x4b86	; 0x4b86 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv>
+    4f4a:	20 93 cb 0c 	sts	0x0CCB, r18
+    4f4e:	39 83       	std	Y+1, r19	; 0x01
+    4f50:	4a 83       	std	Y+2, r20	; 0x02
+    4f52:	5b 83       	std	Y+3, r21	; 0x03
+    4f54:	6c 83       	std	Y+4, r22	; 0x04
+    4f56:	7d 83       	std	Y+5, r23	; 0x05
+    4f58:	8e 83       	std	Y+6, r24	; 0x06
+    4f5a:	9f 83       	std	Y+7, r25	; 0x07
+    4f5c:	80 91 8c 0d 	lds	r24, 0x0D8C
+    4f60:	90 91 8d 0d 	lds	r25, 0x0D8D
+    4f64:	a0 91 8e 0d 	lds	r26, 0x0D8E
+    4f68:	b0 91 8f 0d 	lds	r27, 0x0D8F
+    4f6c:	80 93 c7 0c 	sts	0x0CC7, r24
+    4f70:	90 93 c8 0c 	sts	0x0CC8, r25
+    4f74:	a0 93 c9 0c 	sts	0x0CC9, r26
+    4f78:	b0 93 ca 0c 	sts	0x0CCA, r27
+    4f7c:	e0 90 e4 07 	lds	r14, 0x07E4
+    4f80:	f0 90 e5 07 	lds	r15, 0x07E5
+    4f84:	00 91 e6 07 	lds	r16, 0x07E6
+    4f88:	10 91 e7 07 	lds	r17, 0x07E7
+    4f8c:	60 91 ec 07 	lds	r22, 0x07EC
+    4f90:	70 91 ed 07 	lds	r23, 0x07ED
+    4f94:	80 91 ee 07 	lds	r24, 0x07EE
+    4f98:	90 91 ef 07 	lds	r25, 0x07EF
+    4f9c:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    4fa0:	a8 01       	movw	r20, r16
+    4fa2:	97 01       	movw	r18, r14
+    4fa4:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    4fa8:	60 93 d5 0c 	sts	0x0CD5, r22
+    4fac:	70 93 d6 0c 	sts	0x0CD6, r23
+    4fb0:	80 93 d7 0c 	sts	0x0CD7, r24
+    4fb4:	90 93 d8 0c 	sts	0x0CD8, r25
+    4fb8:	80 91 e8 07 	lds	r24, 0x07E8
+    4fbc:	90 91 e9 07 	lds	r25, 0x07E9
+    4fc0:	a0 91 ea 07 	lds	r26, 0x07EA
+    4fc4:	b0 91 eb 07 	lds	r27, 0x07EB
+    4fc8:	80 93 dd 0c 	sts	0x0CDD, r24
+    4fcc:	90 93 de 0c 	sts	0x0CDE, r25
+    4fd0:	a0 93 df 0c 	sts	0x0CDF, r26
+    4fd4:	b0 93 e0 0c 	sts	0x0CE0, r27
+    4fd8:	e0 92 ed 0c 	sts	0x0CED, r14
+    4fdc:	f0 92 ee 0c 	sts	0x0CEE, r15
+    4fe0:	00 93 ef 0c 	sts	0x0CEF, r16
+    4fe4:	10 93 f0 0c 	sts	0x0CF0, r17
+    4fe8:	e0 90 fc 07 	lds	r14, 0x07FC
+    4fec:	f0 90 fd 07 	lds	r15, 0x07FD
+    4ff0:	00 91 fe 07 	lds	r16, 0x07FE
+    4ff4:	10 91 ff 07 	lds	r17, 0x07FF
+    4ff8:	60 91 04 08 	lds	r22, 0x0804
+    4ffc:	70 91 05 08 	lds	r23, 0x0805
+    5000:	80 91 06 08 	lds	r24, 0x0806
+    5004:	90 91 07 08 	lds	r25, 0x0807
+    5008:	0e 94 16 3f 	call	0x7e2c	; 0x7e2c <__floatsisf>
+    500c:	a8 01       	movw	r20, r16
+    500e:	97 01       	movw	r18, r14
+    5010:	0e 94 5b 40 	call	0x80b6	; 0x80b6 <__mulsf3>
+    5014:	60 93 d9 0c 	sts	0x0CD9, r22
+    5018:	70 93 da 0c 	sts	0x0CDA, r23
+    501c:	80 93 db 0c 	sts	0x0CDB, r24
+    5020:	90 93 dc 0c 	sts	0x0CDC, r25
+    5024:	80 91 00 08 	lds	r24, 0x0800
+    5028:	90 91 01 08 	lds	r25, 0x0801
+    502c:	a0 91 02 08 	lds	r26, 0x0802
+    5030:	b0 91 03 08 	lds	r27, 0x0803
+    5034:	80 93 e1 0c 	sts	0x0CE1, r24
+    5038:	90 93 e2 0c 	sts	0x0CE2, r25
+    503c:	a0 93 e3 0c 	sts	0x0CE3, r26
+    5040:	b0 93 e4 0c 	sts	0x0CE4, r27
+    5044:	e0 92 f1 0c 	sts	0x0CF1, r14
+    5048:	f0 92 f2 0c 	sts	0x0CF2, r15
+    504c:	00 93 f3 0c 	sts	0x0CF3, r16
+    5050:	10 93 f4 0c 	sts	0x0CF4, r17
+    5054:	85 ef       	ldi	r24, 0xF5	; 245
+    5056:	9c e0       	ldi	r25, 0x0C	; 12
+    5058:	be 01       	movw	r22, r28
+    505a:	68 50       	subi	r22, 0x08	; 8
+    505c:	70 40       	sbci	r23, 0x00	; 0
+    505e:	0e 94 cf 19 	call	0x339e	; 0x339e <_ZN3ros9Publisher7publishEPKNS_3MsgE>
+    5062:	df 91       	pop	r29
+    5064:	cf 91       	pop	r28
+    5066:	1f 91       	pop	r17
+    5068:	0f 91       	pop	r16
+    506a:	ff 90       	pop	r15
+    506c:	ef 90       	pop	r14
+    506e:	08 95       	ret
+
+00005070 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>:
+    5070:	db 01       	movw	r26, r22
+    5072:	fc 01       	movw	r30, r24
+    5074:	ec 5e       	subi	r30, 0xEC	; 236
+    5076:	fb 4f       	sbci	r31, 0xFB	; 251
+    5078:	20 e0       	ldi	r18, 0x00	; 0
+    507a:	30 e0       	ldi	r19, 0x00	; 0
+    507c:	41 91       	ld	r20, Z+
+    507e:	51 91       	ld	r21, Z+
+    5080:	41 15       	cp	r20, r1
+    5082:	51 05       	cpc	r21, r1
+    5084:	a9 f4       	brne	.+42     	; 0x50b0 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE+0x40>
+    5086:	f9 01       	movw	r30, r18
+    5088:	e6 5f       	subi	r30, 0xF6	; 246
+    508a:	fd 4f       	sbci	r31, 0xFD	; 253
+    508c:	ee 0f       	add	r30, r30
+    508e:	ff 1f       	adc	r31, r31
+    5090:	e8 0f       	add	r30, r24
+    5092:	f9 1f       	adc	r31, r25
+    5094:	b1 83       	std	Z+1, r27	; 0x01
+    5096:	a0 83       	st	Z, r26
+    5098:	23 58       	subi	r18, 0x83	; 131
+    509a:	3f 4f       	sbci	r19, 0xFF	; 255
+    509c:	15 96       	adiw	r26, 0x05	; 5
+    509e:	3c 93       	st	X, r19
+    50a0:	2e 93       	st	-X, r18
+    50a2:	14 97       	sbiw	r26, 0x04	; 4
+    50a4:	17 96       	adiw	r26, 0x07	; 7
+    50a6:	9c 93       	st	X, r25
+    50a8:	8e 93       	st	-X, r24
+    50aa:	16 97       	sbiw	r26, 0x06	; 6
+    50ac:	81 e0       	ldi	r24, 0x01	; 1
+    50ae:	08 95       	ret
+    50b0:	2f 5f       	subi	r18, 0xFF	; 255
+    50b2:	3f 4f       	sbci	r19, 0xFF	; 255
+    50b4:	29 31       	cpi	r18, 0x19	; 25
+    50b6:	31 05       	cpc	r19, r1
+    50b8:	09 f7       	brne	.-62     	; 0x507c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE+0xc>
+    50ba:	80 e0       	ldi	r24, 0x00	; 0
+    50bc:	08 95       	ret
+
+000050be <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover7EnabledEEEbRNS_10SubscriberIT_EE>:
+    50be:	fc 01       	movw	r30, r24
+    50c0:	ea 5b       	subi	r30, 0xBA	; 186
+    50c2:	fb 4f       	sbci	r31, 0xFB	; 251
+    50c4:	20 e0       	ldi	r18, 0x00	; 0
+    50c6:	30 e0       	ldi	r19, 0x00	; 0
+    50c8:	41 91       	ld	r20, Z+
+    50ca:	51 91       	ld	r21, Z+
+    50cc:	41 15       	cp	r20, r1
+    50ce:	51 05       	cpc	r21, r1
+    50d0:	81 f4       	brne	.+32     	; 0x50f2 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover7EnabledEEEbRNS_10SubscriberIT_EE+0x34>
+    50d2:	f9 01       	movw	r30, r18
+    50d4:	ed 5d       	subi	r30, 0xDD	; 221
+    50d6:	fd 4f       	sbci	r31, 0xFD	; 253
+    50d8:	ee 0f       	add	r30, r30
+    50da:	ff 1f       	adc	r31, r31
+    50dc:	e8 0f       	add	r30, r24
+    50de:	f9 1f       	adc	r31, r25
+    50e0:	71 83       	std	Z+1, r23	; 0x01
+    50e2:	60 83       	st	Z, r22
+    50e4:	2c 59       	subi	r18, 0x9C	; 156
+    50e6:	3f 4f       	sbci	r19, 0xFF	; 255
+    50e8:	fb 01       	movw	r30, r22
+    50ea:	33 83       	std	Z+3, r19	; 0x03
+    50ec:	22 83       	std	Z+2, r18	; 0x02
+    50ee:	81 e0       	ldi	r24, 0x01	; 1
+    50f0:	08 95       	ret
+    50f2:	2f 5f       	subi	r18, 0xFF	; 255
+    50f4:	3f 4f       	sbci	r19, 0xFF	; 255
+    50f6:	29 31       	cpi	r18, 0x19	; 25
+    50f8:	31 05       	cpc	r19, r1
+    50fa:	31 f7       	brne	.-52     	; 0x50c8 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover7EnabledEEEbRNS_10SubscriberIT_EE+0xa>
+    50fc:	80 e0       	ldi	r24, 0x00	; 0
+    50fe:	08 95       	ret
+
+00005100 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover6MotorsEEEbRNS_10SubscriberIT_EE>:
+    5100:	fc 01       	movw	r30, r24
+    5102:	ea 5b       	subi	r30, 0xBA	; 186
+    5104:	fb 4f       	sbci	r31, 0xFB	; 251
+    5106:	20 e0       	ldi	r18, 0x00	; 0
+    5108:	30 e0       	ldi	r19, 0x00	; 0
+    510a:	41 91       	ld	r20, Z+
+    510c:	51 91       	ld	r21, Z+
+    510e:	41 15       	cp	r20, r1
+    5110:	51 05       	cpc	r21, r1
+    5112:	81 f4       	brne	.+32     	; 0x5134 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover6MotorsEEEbRNS_10SubscriberIT_EE+0x34>
+    5114:	f9 01       	movw	r30, r18
+    5116:	ed 5d       	subi	r30, 0xDD	; 221
+    5118:	fd 4f       	sbci	r31, 0xFD	; 253
+    511a:	ee 0f       	add	r30, r30
+    511c:	ff 1f       	adc	r31, r31
+    511e:	e8 0f       	add	r30, r24
+    5120:	f9 1f       	adc	r31, r25
+    5122:	71 83       	std	Z+1, r23	; 0x01
+    5124:	60 83       	st	Z, r22
+    5126:	2c 59       	subi	r18, 0x9C	; 156
+    5128:	3f 4f       	sbci	r19, 0xFF	; 255
+    512a:	fb 01       	movw	r30, r22
+    512c:	33 83       	std	Z+3, r19	; 0x03
+    512e:	22 83       	std	Z+2, r18	; 0x02
+    5130:	81 e0       	ldi	r24, 0x01	; 1
+    5132:	08 95       	ret
+    5134:	2f 5f       	subi	r18, 0xFF	; 255
+    5136:	3f 4f       	sbci	r19, 0xFF	; 255
+    5138:	29 31       	cpi	r18, 0x19	; 25
+    513a:	31 05       	cpc	r19, r1
+    513c:	31 f7       	brne	.-52     	; 0x510a <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover6MotorsEEEbRNS_10SubscriberIT_EE+0xa>
+    513e:	80 e0       	ldi	r24, 0x00	; 0
+    5140:	08 95       	ret
+
+00005142 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN8std_msgs15UInt8MultiArrayEEEbRNS_10SubscriberIT_EE>:
+    5142:	fc 01       	movw	r30, r24
+    5144:	ea 5b       	subi	r30, 0xBA	; 186
+    5146:	fb 4f       	sbci	r31, 0xFB	; 251
+    5148:	20 e0       	ldi	r18, 0x00	; 0
+    514a:	30 e0       	ldi	r19, 0x00	; 0
+    514c:	41 91       	ld	r20, Z+
+    514e:	51 91       	ld	r21, Z+
+    5150:	41 15       	cp	r20, r1
+    5152:	51 05       	cpc	r21, r1
+    5154:	81 f4       	brne	.+32     	; 0x5176 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN8std_msgs15UInt8MultiArrayEEEbRNS_10SubscriberIT_EE+0x34>
+    5156:	f9 01       	movw	r30, r18
+    5158:	ed 5d       	subi	r30, 0xDD	; 221
+    515a:	fd 4f       	sbci	r31, 0xFD	; 253
+    515c:	ee 0f       	add	r30, r30
+    515e:	ff 1f       	adc	r31, r31
+    5160:	e8 0f       	add	r30, r24
+    5162:	f9 1f       	adc	r31, r25
+    5164:	71 83       	std	Z+1, r23	; 0x01
+    5166:	60 83       	st	Z, r22
+    5168:	2c 59       	subi	r18, 0x9C	; 156
+    516a:	3f 4f       	sbci	r19, 0xFF	; 255
+    516c:	fb 01       	movw	r30, r22
+    516e:	33 83       	std	Z+3, r19	; 0x03
+    5170:	22 83       	std	Z+2, r18	; 0x02
+    5172:	81 e0       	ldi	r24, 0x01	; 1
+    5174:	08 95       	ret
+    5176:	2f 5f       	subi	r18, 0xFF	; 255
+    5178:	3f 4f       	sbci	r19, 0xFF	; 255
+    517a:	29 31       	cpi	r18, 0x19	; 25
+    517c:	31 05       	cpc	r19, r1
+    517e:	31 f7       	brne	.-52     	; 0x514c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN8std_msgs15UInt8MultiArrayEEEbRNS_10SubscriberIT_EE+0xa>
+    5180:	80 e0       	ldi	r24, 0x00	; 0
+    5182:	08 95       	ret
+
+00005184 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15requestSyncTimeEv>:
+    5184:	0f 93       	push	r16
+    5186:	1f 93       	push	r17
+    5188:	df 93       	push	r29
+    518a:	cf 93       	push	r28
+    518c:	cd b7       	in	r28, 0x3d	; 61
+    518e:	de b7       	in	r29, 0x3e	; 62
+    5190:	2a 97       	sbiw	r28, 0x0a	; 10
+    5192:	0f b6       	in	r0, 0x3f	; 63
+    5194:	f8 94       	cli
+    5196:	de bf       	out	0x3e, r29	; 62
+    5198:	0f be       	out	0x3f, r0	; 63
+    519a:	cd bf       	out	0x3d, r28	; 61
+    519c:	8c 01       	movw	r16, r24
+    519e:	8a ec       	ldi	r24, 0xCA	; 202
+    51a0:	95 e0       	ldi	r25, 0x05	; 5
+    51a2:	9a 83       	std	Y+2, r25	; 0x02
+    51a4:	89 83       	std	Y+1, r24	; 0x01
+    51a6:	1b 82       	std	Y+3, r1	; 0x03
+    51a8:	1c 82       	std	Y+4, r1	; 0x04
+    51aa:	1d 82       	std	Y+5, r1	; 0x05
+    51ac:	1e 82       	std	Y+6, r1	; 0x06
+    51ae:	1f 82       	std	Y+7, r1	; 0x07
+    51b0:	18 86       	std	Y+8, r1	; 0x08
+    51b2:	19 86       	std	Y+9, r1	; 0x09
+    51b4:	1a 86       	std	Y+10, r1	; 0x0a
+    51b6:	d8 01       	movw	r26, r16
+    51b8:	ed 91       	ld	r30, X+
+    51ba:	fc 91       	ld	r31, X
+    51bc:	01 90       	ld	r0, Z+
+    51be:	f0 81       	ld	r31, Z
+    51c0:	e0 2d       	mov	r30, r0
+    51c2:	c8 01       	movw	r24, r16
+    51c4:	6a e0       	ldi	r22, 0x0A	; 10
+    51c6:	70 e0       	ldi	r23, 0x00	; 0
+    51c8:	ae 01       	movw	r20, r28
+    51ca:	4f 5f       	subi	r20, 0xFF	; 255
+    51cc:	5f 4f       	sbci	r21, 0xFF	; 255
+    51ce:	19 95       	eicall
+    51d0:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
+    51d4:	f8 01       	movw	r30, r16
+    51d6:	60 87       	std	Z+8, r22	; 0x08
+    51d8:	71 87       	std	Z+9, r23	; 0x09
+    51da:	82 87       	std	Z+10, r24	; 0x0a
+    51dc:	93 87       	std	Z+11, r25	; 0x0b
+    51de:	2a 96       	adiw	r28, 0x0a	; 10
+    51e0:	0f b6       	in	r0, 0x3f	; 63
+    51e2:	f8 94       	cli
+    51e4:	de bf       	out	0x3e, r29	; 62
+    51e6:	0f be       	out	0x3f, r0	; 63
+    51e8:	cd bf       	out	0x3d, r28	; 61
+    51ea:	cf 91       	pop	r28
+    51ec:	df 91       	pop	r29
+    51ee:	1f 91       	pop	r17
+    51f0:	0f 91       	pop	r16
     51f2:	08 95       	ret
-    51f4:	2f 5f       	subi	r18, 0xFF	; 255
-    51f6:	3f 4f       	sbci	r19, 0xFF	; 255
-    51f8:	29 31       	cpi	r18, 0x19	; 25
-    51fa:	31 05       	cpc	r19, r1
-    51fc:	31 f7       	brne	.-52     	; 0x51ca <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover6MotorsEEEbRNS_10SubscriberIT_EE+0xa>
-    51fe:	80 e0       	ldi	r24, 0x00	; 0
-    5200:	08 95       	ret
-
-00005202 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN8std_msgs15UInt8MultiArrayEEEbRNS_10SubscriberIT_EE>:
-    5202:	fc 01       	movw	r30, r24
-    5204:	ea 5b       	subi	r30, 0xBA	; 186
-    5206:	fb 4f       	sbci	r31, 0xFB	; 251
-    5208:	20 e0       	ldi	r18, 0x00	; 0
-    520a:	30 e0       	ldi	r19, 0x00	; 0
-    520c:	41 91       	ld	r20, Z+
-    520e:	51 91       	ld	r21, Z+
-    5210:	41 15       	cp	r20, r1
-    5212:	51 05       	cpc	r21, r1
-    5214:	81 f4       	brne	.+32     	; 0x5236 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN8std_msgs15UInt8MultiArrayEEEbRNS_10SubscriberIT_EE+0x34>
-    5216:	f9 01       	movw	r30, r18
-    5218:	ed 5d       	subi	r30, 0xDD	; 221
-    521a:	fd 4f       	sbci	r31, 0xFD	; 253
-    521c:	ee 0f       	add	r30, r30
-    521e:	ff 1f       	adc	r31, r31
-    5220:	e8 0f       	add	r30, r24
-    5222:	f9 1f       	adc	r31, r25
-    5224:	71 83       	std	Z+1, r23	; 0x01
-    5226:	60 83       	st	Z, r22
-    5228:	2c 59       	subi	r18, 0x9C	; 156
-    522a:	3f 4f       	sbci	r19, 0xFF	; 255
-    522c:	fb 01       	movw	r30, r22
-    522e:	33 83       	std	Z+3, r19	; 0x03
-    5230:	22 83       	std	Z+2, r18	; 0x02
-    5232:	81 e0       	ldi	r24, 0x01	; 1
-    5234:	08 95       	ret
-    5236:	2f 5f       	subi	r18, 0xFF	; 255
-    5238:	3f 4f       	sbci	r19, 0xFF	; 255
-    523a:	29 31       	cpi	r18, 0x19	; 25
-    523c:	31 05       	cpc	r19, r1
-    523e:	31 f7       	brne	.-52     	; 0x520c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN8std_msgs15UInt8MultiArrayEEEbRNS_10SubscriberIT_EE+0xa>
-    5240:	80 e0       	ldi	r24, 0x00	; 0
-    5242:	08 95       	ret
-
-00005244 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15requestSyncTimeEv>:
-    5244:	0f 93       	push	r16
-    5246:	1f 93       	push	r17
-    5248:	df 93       	push	r29
-    524a:	cf 93       	push	r28
-    524c:	cd b7       	in	r28, 0x3d	; 61
-    524e:	de b7       	in	r29, 0x3e	; 62
-    5250:	2a 97       	sbiw	r28, 0x0a	; 10
-    5252:	0f b6       	in	r0, 0x3f	; 63
-    5254:	f8 94       	cli
-    5256:	de bf       	out	0x3e, r29	; 62
-    5258:	0f be       	out	0x3f, r0	; 63
-    525a:	cd bf       	out	0x3d, r28	; 61
-    525c:	8c 01       	movw	r16, r24
-    525e:	89 ec       	ldi	r24, 0xC9	; 201
-    5260:	95 e0       	ldi	r25, 0x05	; 5
-    5262:	9a 83       	std	Y+2, r25	; 0x02
-    5264:	89 83       	std	Y+1, r24	; 0x01
-    5266:	1b 82       	std	Y+3, r1	; 0x03
-    5268:	1c 82       	std	Y+4, r1	; 0x04
-    526a:	1d 82       	std	Y+5, r1	; 0x05
-    526c:	1e 82       	std	Y+6, r1	; 0x06
-    526e:	1f 82       	std	Y+7, r1	; 0x07
-    5270:	18 86       	std	Y+8, r1	; 0x08
-    5272:	19 86       	std	Y+9, r1	; 0x09
-    5274:	1a 86       	std	Y+10, r1	; 0x0a
-    5276:	d8 01       	movw	r26, r16
-    5278:	ed 91       	ld	r30, X+
-    527a:	fc 91       	ld	r31, X
-    527c:	01 90       	ld	r0, Z+
-    527e:	f0 81       	ld	r31, Z
-    5280:	e0 2d       	mov	r30, r0
-    5282:	c8 01       	movw	r24, r16
-    5284:	6a e0       	ldi	r22, 0x0A	; 10
-    5286:	70 e0       	ldi	r23, 0x00	; 0
-    5288:	ae 01       	movw	r20, r28
-    528a:	4f 5f       	subi	r20, 0xFF	; 255
-    528c:	5f 4f       	sbci	r21, 0xFF	; 255
+
+000051f4 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv>:
+    51f4:	4f 92       	push	r4
+    51f6:	5f 92       	push	r5
+    51f8:	6f 92       	push	r6
+    51fa:	7f 92       	push	r7
+    51fc:	8f 92       	push	r8
+    51fe:	9f 92       	push	r9
+    5200:	af 92       	push	r10
+    5202:	bf 92       	push	r11
+    5204:	cf 92       	push	r12
+    5206:	df 92       	push	r13
+    5208:	ef 92       	push	r14
+    520a:	ff 92       	push	r15
+    520c:	0f 93       	push	r16
+    520e:	1f 93       	push	r17
+    5210:	df 93       	push	r29
+    5212:	cf 93       	push	r28
+    5214:	cd b7       	in	r28, 0x3d	; 61
+    5216:	de b7       	in	r29, 0x3e	; 62
+    5218:	2e 97       	sbiw	r28, 0x0e	; 14
+    521a:	0f b6       	in	r0, 0x3f	; 63
+    521c:	f8 94       	cli
+    521e:	de bf       	out	0x3e, r29	; 62
+    5220:	0f be       	out	0x3f, r0	; 63
+    5222:	cd bf       	out	0x3d, r28	; 61
+    5224:	8c 01       	movw	r16, r24
+    5226:	fc 01       	movw	r30, r24
+    5228:	ee 57       	subi	r30, 0x7E	; 126
+    522a:	fb 4f       	sbci	r31, 0xFB	; 251
+    522c:	81 e0       	ldi	r24, 0x01	; 1
+    522e:	80 83       	st	Z, r24
+    5230:	8e eb       	ldi	r24, 0xBE	; 190
+    5232:	95 e0       	ldi	r25, 0x05	; 5
+    5234:	9a 83       	std	Y+2, r25	; 0x02
+    5236:	89 83       	std	Y+1, r24	; 0x01
+    5238:	54 e1       	ldi	r21, 0x14	; 20
+    523a:	e5 2e       	mov	r14, r21
+    523c:	54 e0       	ldi	r21, 0x04	; 4
+    523e:	f5 2e       	mov	r15, r21
+    5240:	e0 0e       	add	r14, r16
+    5242:	f1 1e       	adc	r15, r17
+    5244:	46 e4       	ldi	r20, 0x46	; 70
+    5246:	64 2e       	mov	r6, r20
+    5248:	44 e0       	ldi	r20, 0x04	; 4
+    524a:	74 2e       	mov	r7, r20
+    524c:	60 0e       	add	r6, r16
+    524e:	71 1e       	adc	r7, r17
+    5250:	81 2c       	mov	r8, r1
+    5252:	32 e0       	ldi	r19, 0x02	; 2
+    5254:	93 2e       	mov	r9, r19
+    5256:	a1 2c       	mov	r10, r1
+    5258:	b1 2c       	mov	r11, r1
+    525a:	6e 01       	movw	r12, r28
+    525c:	08 94       	sec
+    525e:	c1 1c       	adc	r12, r1
+    5260:	d1 1c       	adc	r13, r1
+    5262:	d7 01       	movw	r26, r14
+    5264:	ed 91       	ld	r30, X+
+    5266:	fc 91       	ld	r31, X
+    5268:	11 97       	sbiw	r26, 0x01	; 1
+    526a:	30 97       	sbiw	r30, 0x00	; 0
+    526c:	a9 f1       	breq	.+106    	; 0x52d8 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0xe4>
+    526e:	84 81       	ldd	r24, Z+4	; 0x04
+    5270:	95 81       	ldd	r25, Z+5	; 0x05
+    5272:	9c 83       	std	Y+4, r25	; 0x04
+    5274:	8b 83       	std	Y+3, r24	; 0x03
+    5276:	80 81       	ld	r24, Z
+    5278:	91 81       	ldd	r25, Z+1	; 0x01
+    527a:	9e 83       	std	Y+6, r25	; 0x06
+    527c:	8d 83       	std	Y+5, r24	; 0x05
+    527e:	82 81       	ldd	r24, Z+2	; 0x02
+    5280:	93 81       	ldd	r25, Z+3	; 0x03
+    5282:	dc 01       	movw	r26, r24
+    5284:	ed 91       	ld	r30, X+
+    5286:	fc 91       	ld	r31, X
+    5288:	04 80       	ldd	r0, Z+4	; 0x04
+    528a:	f5 81       	ldd	r31, Z+5	; 0x05
+    528c:	e0 2d       	mov	r30, r0
     528e:	19 95       	eicall
-    5290:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
-    5294:	f8 01       	movw	r30, r16
-    5296:	60 87       	std	Z+8, r22	; 0x08
-    5298:	71 87       	std	Z+9, r23	; 0x09
-    529a:	82 87       	std	Z+10, r24	; 0x0a
-    529c:	93 87       	std	Z+11, r25	; 0x0b
-    529e:	2a 96       	adiw	r28, 0x0a	; 10
-    52a0:	0f b6       	in	r0, 0x3f	; 63
-    52a2:	f8 94       	cli
-    52a4:	de bf       	out	0x3e, r29	; 62
-    52a6:	0f be       	out	0x3f, r0	; 63
-    52a8:	cd bf       	out	0x3d, r28	; 61
-    52aa:	cf 91       	pop	r28
-    52ac:	df 91       	pop	r29
-    52ae:	1f 91       	pop	r17
-    52b0:	0f 91       	pop	r16
-    52b2:	08 95       	ret
-
-000052b4 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv>:
-    52b4:	4f 92       	push	r4
-    52b6:	5f 92       	push	r5
-    52b8:	6f 92       	push	r6
-    52ba:	7f 92       	push	r7
-    52bc:	8f 92       	push	r8
-    52be:	9f 92       	push	r9
-    52c0:	af 92       	push	r10
-    52c2:	bf 92       	push	r11
-    52c4:	cf 92       	push	r12
-    52c6:	df 92       	push	r13
-    52c8:	ef 92       	push	r14
-    52ca:	ff 92       	push	r15
-    52cc:	0f 93       	push	r16
-    52ce:	1f 93       	push	r17
-    52d0:	df 93       	push	r29
-    52d2:	cf 93       	push	r28
-    52d4:	cd b7       	in	r28, 0x3d	; 61
-    52d6:	de b7       	in	r29, 0x3e	; 62
-    52d8:	2e 97       	sbiw	r28, 0x0e	; 14
-    52da:	0f b6       	in	r0, 0x3f	; 63
-    52dc:	f8 94       	cli
-    52de:	de bf       	out	0x3e, r29	; 62
-    52e0:	0f be       	out	0x3f, r0	; 63
-    52e2:	cd bf       	out	0x3d, r28	; 61
-    52e4:	8c 01       	movw	r16, r24
-    52e6:	fc 01       	movw	r30, r24
-    52e8:	ee 57       	subi	r30, 0x7E	; 126
-    52ea:	fb 4f       	sbci	r31, 0xFB	; 251
-    52ec:	81 e0       	ldi	r24, 0x01	; 1
-    52ee:	80 83       	st	Z, r24
-    52f0:	8d eb       	ldi	r24, 0xBD	; 189
-    52f2:	95 e0       	ldi	r25, 0x05	; 5
-    52f4:	9a 83       	std	Y+2, r25	; 0x02
-    52f6:	89 83       	std	Y+1, r24	; 0x01
-    52f8:	54 e1       	ldi	r21, 0x14	; 20
-    52fa:	e5 2e       	mov	r14, r21
-    52fc:	54 e0       	ldi	r21, 0x04	; 4
-    52fe:	f5 2e       	mov	r15, r21
-    5300:	e0 0e       	add	r14, r16
-    5302:	f1 1e       	adc	r15, r17
-    5304:	46 e4       	ldi	r20, 0x46	; 70
-    5306:	64 2e       	mov	r6, r20
-    5308:	44 e0       	ldi	r20, 0x04	; 4
-    530a:	74 2e       	mov	r7, r20
-    530c:	60 0e       	add	r6, r16
-    530e:	71 1e       	adc	r7, r17
-    5310:	81 2c       	mov	r8, r1
-    5312:	32 e0       	ldi	r19, 0x02	; 2
-    5314:	93 2e       	mov	r9, r19
-    5316:	a1 2c       	mov	r10, r1
-    5318:	b1 2c       	mov	r11, r1
-    531a:	6e 01       	movw	r12, r28
-    531c:	08 94       	sec
-    531e:	c1 1c       	adc	r12, r1
-    5320:	d1 1c       	adc	r13, r1
-    5322:	d7 01       	movw	r26, r14
-    5324:	ed 91       	ld	r30, X+
-    5326:	fc 91       	ld	r31, X
-    5328:	11 97       	sbiw	r26, 0x01	; 1
-    532a:	30 97       	sbiw	r30, 0x00	; 0
-    532c:	a9 f1       	breq	.+106    	; 0x5398 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0xe4>
-    532e:	84 81       	ldd	r24, Z+4	; 0x04
-    5330:	95 81       	ldd	r25, Z+5	; 0x05
-    5332:	9c 83       	std	Y+4, r25	; 0x04
-    5334:	8b 83       	std	Y+3, r24	; 0x03
-    5336:	80 81       	ld	r24, Z
-    5338:	91 81       	ldd	r25, Z+1	; 0x01
-    533a:	9e 83       	std	Y+6, r25	; 0x06
-    533c:	8d 83       	std	Y+5, r24	; 0x05
-    533e:	82 81       	ldd	r24, Z+2	; 0x02
-    5340:	93 81       	ldd	r25, Z+3	; 0x03
-    5342:	dc 01       	movw	r26, r24
-    5344:	ed 91       	ld	r30, X+
-    5346:	fc 91       	ld	r31, X
-    5348:	04 80       	ldd	r0, Z+4	; 0x04
-    534a:	f5 81       	ldd	r31, Z+5	; 0x05
-    534c:	e0 2d       	mov	r30, r0
-    534e:	19 95       	eicall
-    5350:	98 87       	std	Y+8, r25	; 0x08
-    5352:	8f 83       	std	Y+7, r24	; 0x07
-    5354:	d7 01       	movw	r26, r14
-    5356:	ed 91       	ld	r30, X+
-    5358:	fc 91       	ld	r31, X
-    535a:	82 81       	ldd	r24, Z+2	; 0x02
-    535c:	93 81       	ldd	r25, Z+3	; 0x03
-    535e:	dc 01       	movw	r26, r24
-    5360:	ed 91       	ld	r30, X+
-    5362:	fc 91       	ld	r31, X
-    5364:	06 80       	ldd	r0, Z+6	; 0x06
-    5366:	f7 81       	ldd	r31, Z+7	; 0x07
-    5368:	e0 2d       	mov	r30, r0
-    536a:	19 95       	eicall
-    536c:	9a 87       	std	Y+10, r25	; 0x0a
-    536e:	89 87       	std	Y+9, r24	; 0x09
-    5370:	8b 86       	std	Y+11, r8	; 0x0b
-    5372:	9c 86       	std	Y+12, r9	; 0x0c
-    5374:	ad 86       	std	Y+13, r10	; 0x0d
-    5376:	be 86       	std	Y+14, r11	; 0x0e
-    5378:	f8 01       	movw	r30, r16
-    537a:	80 81       	ld	r24, Z
-    537c:	91 81       	ldd	r25, Z+1	; 0x01
-    537e:	f7 01       	movw	r30, r14
-    5380:	a0 81       	ld	r26, Z
-    5382:	b1 81       	ldd	r27, Z+1	; 0x01
-    5384:	18 96       	adiw	r26, 0x08	; 8
-    5386:	6d 91       	ld	r22, X+
-    5388:	7c 91       	ld	r23, X
-    538a:	19 97       	sbiw	r26, 0x09	; 9
-    538c:	dc 01       	movw	r26, r24
-    538e:	ed 91       	ld	r30, X+
-    5390:	fc 91       	ld	r31, X
-    5392:	c8 01       	movw	r24, r16
-    5394:	a6 01       	movw	r20, r12
-    5396:	19 95       	eicall
-    5398:	e2 e0       	ldi	r30, 0x02	; 2
-    539a:	f0 e0       	ldi	r31, 0x00	; 0
-    539c:	ee 0e       	add	r14, r30
-    539e:	ff 1e       	adc	r15, r31
-    53a0:	e6 14       	cp	r14, r6
-    53a2:	f7 04       	cpc	r15, r7
-    53a4:	09 f0       	breq	.+2      	; 0x53a8 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0xf4>
-    53a6:	bd cf       	rjmp	.-134    	; 0x5322 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0x6e>
-    53a8:	26 e4       	ldi	r18, 0x46	; 70
-    53aa:	e2 2e       	mov	r14, r18
-    53ac:	24 e0       	ldi	r18, 0x04	; 4
-    53ae:	f2 2e       	mov	r15, r18
-    53b0:	e0 0e       	add	r14, r16
-    53b2:	f1 1e       	adc	r15, r17
-    53b4:	98 e7       	ldi	r25, 0x78	; 120
-    53b6:	49 2e       	mov	r4, r25
-    53b8:	94 e0       	ldi	r25, 0x04	; 4
-    53ba:	59 2e       	mov	r5, r25
-    53bc:	40 0e       	add	r4, r16
-    53be:	51 1e       	adc	r5, r17
-    53c0:	81 2c       	mov	r8, r1
-    53c2:	82 e0       	ldi	r24, 0x02	; 2
-    53c4:	98 2e       	mov	r9, r24
-    53c6:	a1 2c       	mov	r10, r1
-    53c8:	b1 2c       	mov	r11, r1
-    53ca:	6e 01       	movw	r12, r28
-    53cc:	08 94       	sec
-    53ce:	c1 1c       	adc	r12, r1
-    53d0:	d1 1c       	adc	r13, r1
-    53d2:	f7 01       	movw	r30, r14
-    53d4:	a0 81       	ld	r26, Z
-    53d6:	b1 81       	ldd	r27, Z+1	; 0x01
-    53d8:	10 97       	sbiw	r26, 0x00	; 0
-    53da:	d1 f1       	breq	.+116    	; 0x5450 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0x19c>
-    53dc:	12 96       	adiw	r26, 0x02	; 2
-    53de:	8d 91       	ld	r24, X+
-    53e0:	9c 91       	ld	r25, X
-    53e2:	13 97       	sbiw	r26, 0x03	; 3
-    53e4:	9c 83       	std	Y+4, r25	; 0x04
-    53e6:	8b 83       	std	Y+3, r24	; 0x03
-    53e8:	14 96       	adiw	r26, 0x04	; 4
-    53ea:	8d 91       	ld	r24, X+
-    53ec:	9c 91       	ld	r25, X
-    53ee:	15 97       	sbiw	r26, 0x05	; 5
-    53f0:	9e 83       	std	Y+6, r25	; 0x06
-    53f2:	8d 83       	std	Y+5, r24	; 0x05
-    53f4:	ed 91       	ld	r30, X+
-    53f6:	fc 91       	ld	r31, X
-    53f8:	11 97       	sbiw	r26, 0x01	; 1
-    53fa:	04 80       	ldd	r0, Z+4	; 0x04
-    53fc:	f5 81       	ldd	r31, Z+5	; 0x05
-    53fe:	e0 2d       	mov	r30, r0
-    5400:	cd 01       	movw	r24, r26
-    5402:	19 95       	eicall
-    5404:	98 87       	std	Y+8, r25	; 0x08
-    5406:	8f 83       	std	Y+7, r24	; 0x07
-    5408:	d7 01       	movw	r26, r14
-    540a:	8d 91       	ld	r24, X+
-    540c:	9c 91       	ld	r25, X
-    540e:	dc 01       	movw	r26, r24
-    5410:	ed 91       	ld	r30, X+
-    5412:	fc 91       	ld	r31, X
-    5414:	06 80       	ldd	r0, Z+6	; 0x06
-    5416:	f7 81       	ldd	r31, Z+7	; 0x07
-    5418:	e0 2d       	mov	r30, r0
-    541a:	19 95       	eicall
-    541c:	9a 87       	std	Y+10, r25	; 0x0a
-    541e:	89 87       	std	Y+9, r24	; 0x09
-    5420:	8b 86       	std	Y+11, r8	; 0x0b
-    5422:	9c 86       	std	Y+12, r9	; 0x0c
-    5424:	ad 86       	std	Y+13, r10	; 0x0d
-    5426:	be 86       	std	Y+14, r11	; 0x0e
-    5428:	d8 01       	movw	r26, r16
-    542a:	ed 91       	ld	r30, X+
-    542c:	fc 91       	ld	r31, X
-    542e:	60 80       	ld	r6, Z
-    5430:	71 80       	ldd	r7, Z+1	; 0x01
-    5432:	f7 01       	movw	r30, r14
-    5434:	80 81       	ld	r24, Z
-    5436:	91 81       	ldd	r25, Z+1	; 0x01
-    5438:	dc 01       	movw	r26, r24
-    543a:	ed 91       	ld	r30, X+
-    543c:	fc 91       	ld	r31, X
-    543e:	02 80       	ldd	r0, Z+2	; 0x02
-    5440:	f3 81       	ldd	r31, Z+3	; 0x03
-    5442:	e0 2d       	mov	r30, r0
-    5444:	19 95       	eicall
-    5446:	bc 01       	movw	r22, r24
-    5448:	c8 01       	movw	r24, r16
-    544a:	a6 01       	movw	r20, r12
-    544c:	f3 01       	movw	r30, r6
-    544e:	19 95       	eicall
-    5450:	e2 e0       	ldi	r30, 0x02	; 2
-    5452:	f0 e0       	ldi	r31, 0x00	; 0
-    5454:	ee 0e       	add	r14, r30
-    5456:	ff 1e       	adc	r15, r31
-    5458:	e4 14       	cp	r14, r4
-    545a:	f5 04       	cpc	r15, r5
-    545c:	09 f0       	breq	.+2      	; 0x5460 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0x1ac>
-    545e:	b9 cf       	rjmp	.-142    	; 0x53d2 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0x11e>
-    5460:	2e 96       	adiw	r28, 0x0e	; 14
-    5462:	0f b6       	in	r0, 0x3f	; 63
-    5464:	f8 94       	cli
-    5466:	de bf       	out	0x3e, r29	; 62
-    5468:	0f be       	out	0x3f, r0	; 63
-    546a:	cd bf       	out	0x3d, r28	; 61
-    546c:	cf 91       	pop	r28
-    546e:	df 91       	pop	r29
-    5470:	1f 91       	pop	r17
-    5472:	0f 91       	pop	r16
-    5474:	ff 90       	pop	r15
-    5476:	ef 90       	pop	r14
-    5478:	df 90       	pop	r13
-    547a:	cf 90       	pop	r12
-    547c:	bf 90       	pop	r11
-    547e:	af 90       	pop	r10
-    5480:	9f 90       	pop	r9
-    5482:	8f 90       	pop	r8
-    5484:	7f 90       	pop	r7
-    5486:	6f 90       	pop	r6
-    5488:	5f 90       	pop	r5
-    548a:	4f 90       	pop	r4
-    548c:	08 95       	ret
-
-0000548e <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE6setNowERNS_4TimeE>:
-    548e:	cf 92       	push	r12
-    5490:	df 92       	push	r13
-    5492:	ef 92       	push	r14
-    5494:	ff 92       	push	r15
-    5496:	0f 93       	push	r16
-    5498:	1f 93       	push	r17
-    549a:	cf 93       	push	r28
-    549c:	df 93       	push	r29
-    549e:	ec 01       	movw	r28, r24
-    54a0:	6b 01       	movw	r12, r22
-    54a2:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
-    54a6:	f6 01       	movw	r30, r12
-    54a8:	e0 80       	ld	r14, Z
-    54aa:	f1 80       	ldd	r15, Z+1	; 0x01
-    54ac:	02 81       	ldd	r16, Z+2	; 0x02
-    54ae:	13 81       	ldd	r17, Z+3	; 0x03
-    54b0:	08 94       	sec
-    54b2:	e1 08       	sbc	r14, r1
-    54b4:	f1 08       	sbc	r15, r1
-    54b6:	01 09       	sbc	r16, r1
-    54b8:	11 09       	sbc	r17, r1
-    54ba:	28 ee       	ldi	r18, 0xE8	; 232
-    54bc:	33 e0       	ldi	r19, 0x03	; 3
-    54be:	40 e0       	ldi	r20, 0x00	; 0
-    54c0:	50 e0       	ldi	r21, 0x00	; 0
-    54c2:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
-    54c6:	e2 1a       	sub	r14, r18
-    54c8:	f3 0a       	sbc	r15, r19
-    54ca:	04 0b       	sbc	r16, r20
-    54cc:	15 0b       	sbc	r17, r21
-    54ce:	ec 86       	std	Y+12, r14	; 0x0c
-    54d0:	fd 86       	std	Y+13, r15	; 0x0d
-    54d2:	0e 87       	std	Y+14, r16	; 0x0e
-    54d4:	1f 87       	std	Y+15, r17	; 0x0f
-    54d6:	f6 01       	movw	r30, r12
-    54d8:	e4 80       	ldd	r14, Z+4	; 0x04
-    54da:	f5 80       	ldd	r15, Z+5	; 0x05
-    54dc:	06 81       	ldd	r16, Z+6	; 0x06
-    54de:	17 81       	ldd	r17, Z+7	; 0x07
-    54e0:	20 e0       	ldi	r18, 0x00	; 0
-    54e2:	3a ec       	ldi	r19, 0xCA	; 202
-    54e4:	4a e9       	ldi	r20, 0x9A	; 154
-    54e6:	5b e3       	ldi	r21, 0x3B	; 59
-    54e8:	e2 0e       	add	r14, r18
-    54ea:	f3 1e       	adc	r15, r19
-    54ec:	04 1f       	adc	r16, r20
-    54ee:	15 1f       	adc	r17, r21
-    54f0:	20 e4       	ldi	r18, 0x40	; 64
-    54f2:	32 e4       	ldi	r19, 0x42	; 66
-    54f4:	4f e0       	ldi	r20, 0x0F	; 15
-    54f6:	50 e0       	ldi	r21, 0x00	; 0
-    54f8:	0e 94 21 42 	call	0x8442	; 0x8442 <__mulsi3>
-    54fc:	e6 1a       	sub	r14, r22
-    54fe:	f7 0a       	sbc	r15, r23
-    5500:	08 0b       	sbc	r16, r24
-    5502:	19 0b       	sbc	r17, r25
-    5504:	e8 8a       	std	Y+16, r14	; 0x10
-    5506:	f9 8a       	std	Y+17, r15	; 0x11
-    5508:	0a 8b       	std	Y+18, r16	; 0x12
-    550a:	1b 8b       	std	Y+19, r17	; 0x13
-    550c:	be 01       	movw	r22, r28
-    550e:	60 5f       	subi	r22, 0xF0	; 240
-    5510:	7f 4f       	sbci	r23, 0xFF	; 255
-    5512:	ce 01       	movw	r24, r28
-    5514:	0c 96       	adiw	r24, 0x0c	; 12
-    5516:	0e 94 7d 01 	call	0x2fa	; 0x2fa <_ZN3ros16normalizeSecNSecERmS0_>
-    551a:	df 91       	pop	r29
-    551c:	cf 91       	pop	r28
-    551e:	1f 91       	pop	r17
-    5520:	0f 91       	pop	r16
-    5522:	ff 90       	pop	r15
-    5524:	ef 90       	pop	r14
-    5526:	df 90       	pop	r13
-    5528:	cf 90       	pop	r12
-    552a:	08 95       	ret
-
-0000552c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8syncTimeEPh>:
-    552c:	af 92       	push	r10
-    552e:	bf 92       	push	r11
-    5530:	cf 92       	push	r12
-    5532:	df 92       	push	r13
-    5534:	ef 92       	push	r14
-    5536:	ff 92       	push	r15
-    5538:	0f 93       	push	r16
-    553a:	1f 93       	push	r17
-    553c:	df 93       	push	r29
-    553e:	cf 93       	push	r28
-    5540:	cd b7       	in	r28, 0x3d	; 61
-    5542:	de b7       	in	r29, 0x3e	; 62
-    5544:	2a 97       	sbiw	r28, 0x0a	; 10
-    5546:	0f b6       	in	r0, 0x3f	; 63
-    5548:	f8 94       	cli
-    554a:	de bf       	out	0x3e, r29	; 62
-    554c:	0f be       	out	0x3f, r0	; 63
-    554e:	cd bf       	out	0x3d, r28	; 61
-    5550:	5c 01       	movw	r10, r24
-    5552:	6b 01       	movw	r12, r22
-    5554:	89 ec       	ldi	r24, 0xC9	; 201
-    5556:	95 e0       	ldi	r25, 0x05	; 5
-    5558:	9a 83       	std	Y+2, r25	; 0x02
-    555a:	89 83       	std	Y+1, r24	; 0x01
-    555c:	1b 82       	std	Y+3, r1	; 0x03
-    555e:	1c 82       	std	Y+4, r1	; 0x04
-    5560:	1d 82       	std	Y+5, r1	; 0x05
-    5562:	1e 82       	std	Y+6, r1	; 0x06
-    5564:	1f 82       	std	Y+7, r1	; 0x07
-    5566:	18 86       	std	Y+8, r1	; 0x08
-    5568:	19 86       	std	Y+9, r1	; 0x09
-    556a:	1a 86       	std	Y+10, r1	; 0x0a
-    556c:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
-    5570:	7b 01       	movw	r14, r22
-    5572:	8c 01       	movw	r16, r24
-    5574:	f5 01       	movw	r30, r10
-    5576:	80 85       	ldd	r24, Z+8	; 0x08
-    5578:	91 85       	ldd	r25, Z+9	; 0x09
-    557a:	a2 85       	ldd	r26, Z+10	; 0x0a
-    557c:	b3 85       	ldd	r27, Z+11	; 0x0b
-    557e:	e8 1a       	sub	r14, r24
-    5580:	f9 0a       	sbc	r15, r25
-    5582:	0a 0b       	sbc	r16, r26
-    5584:	1b 0b       	sbc	r17, r27
-    5586:	ce 01       	movw	r24, r28
-    5588:	01 96       	adiw	r24, 0x01	; 1
-    558a:	b6 01       	movw	r22, r12
-    558c:	0e 94 cf 09 	call	0x139e	; 0x139e <_ZN8std_msgs4Time11deserializeEPh>
-    5590:	c8 01       	movw	r24, r16
-    5592:	b7 01       	movw	r22, r14
-    5594:	28 ee       	ldi	r18, 0xE8	; 232
-    5596:	33 e0       	ldi	r19, 0x03	; 3
-    5598:	40 e0       	ldi	r20, 0x00	; 0
-    559a:	50 e0       	ldi	r21, 0x00	; 0
-    559c:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
-    55a0:	7b 01       	movw	r14, r22
-    55a2:	8c 01       	movw	r16, r24
-    55a4:	8b 81       	ldd	r24, Y+3	; 0x03
-    55a6:	9c 81       	ldd	r25, Y+4	; 0x04
-    55a8:	ad 81       	ldd	r26, Y+5	; 0x05
-    55aa:	be 81       	ldd	r27, Y+6	; 0x06
-    55ac:	82 0f       	add	r24, r18
-    55ae:	93 1f       	adc	r25, r19
-    55b0:	a4 1f       	adc	r26, r20
-    55b2:	b5 1f       	adc	r27, r21
-    55b4:	8b 83       	std	Y+3, r24	; 0x03
-    55b6:	9c 83       	std	Y+4, r25	; 0x04
-    55b8:	ad 83       	std	Y+5, r26	; 0x05
-    55ba:	be 83       	std	Y+6, r27	; 0x06
-    55bc:	c8 01       	movw	r24, r16
-    55be:	b7 01       	movw	r22, r14
-    55c0:	20 e4       	ldi	r18, 0x40	; 64
-    55c2:	32 e4       	ldi	r19, 0x42	; 66
-    55c4:	4f e0       	ldi	r20, 0x0F	; 15
-    55c6:	50 e0       	ldi	r21, 0x00	; 0
-    55c8:	0e 94 21 42 	call	0x8442	; 0x8442 <__mulsi3>
-    55cc:	9b 01       	movw	r18, r22
-    55ce:	ac 01       	movw	r20, r24
-    55d0:	8f 81       	ldd	r24, Y+7	; 0x07
-    55d2:	98 85       	ldd	r25, Y+8	; 0x08
-    55d4:	a9 85       	ldd	r26, Y+9	; 0x09
-    55d6:	ba 85       	ldd	r27, Y+10	; 0x0a
-    55d8:	82 0f       	add	r24, r18
-    55da:	93 1f       	adc	r25, r19
-    55dc:	a4 1f       	adc	r26, r20
-    55de:	b5 1f       	adc	r27, r21
-    55e0:	8f 83       	std	Y+7, r24	; 0x07
-    55e2:	98 87       	std	Y+8, r25	; 0x08
-    55e4:	a9 87       	std	Y+9, r26	; 0x09
-    55e6:	ba 87       	std	Y+10, r27	; 0x0a
-    55e8:	c5 01       	movw	r24, r10
-    55ea:	be 01       	movw	r22, r28
-    55ec:	6d 5f       	subi	r22, 0xFD	; 253
-    55ee:	7f 4f       	sbci	r23, 0xFF	; 255
-    55f0:	0e 94 47 2a 	call	0x548e	; 0x548e <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE6setNowERNS_4TimeE>
-    55f4:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
-    55f8:	f5 01       	movw	r30, r10
-    55fa:	e9 57       	subi	r30, 0x79	; 121
-    55fc:	fb 4f       	sbci	r31, 0xFB	; 251
-    55fe:	60 83       	st	Z, r22
-    5600:	71 83       	std	Z+1, r23	; 0x01
-    5602:	82 83       	std	Z+2, r24	; 0x02
-    5604:	93 83       	std	Z+3, r25	; 0x03
-    5606:	2a 96       	adiw	r28, 0x0a	; 10
-    5608:	0f b6       	in	r0, 0x3f	; 63
-    560a:	f8 94       	cli
-    560c:	de bf       	out	0x3e, r29	; 62
-    560e:	0f be       	out	0x3f, r0	; 63
-    5610:	cd bf       	out	0x3d, r28	; 61
-    5612:	cf 91       	pop	r28
-    5614:	df 91       	pop	r29
-    5616:	1f 91       	pop	r17
-    5618:	0f 91       	pop	r16
-    561a:	ff 90       	pop	r15
-    561c:	ef 90       	pop	r14
-    561e:	df 90       	pop	r13
-    5620:	cf 90       	pop	r12
-    5622:	bf 90       	pop	r11
-    5624:	af 90       	pop	r10
-    5626:	08 95       	ret
-
-00005628 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv>:
-    5628:	2f 92       	push	r2
-    562a:	3f 92       	push	r3
-    562c:	4f 92       	push	r4
-    562e:	5f 92       	push	r5
-    5630:	6f 92       	push	r6
-    5632:	7f 92       	push	r7
-    5634:	8f 92       	push	r8
-    5636:	9f 92       	push	r9
-    5638:	af 92       	push	r10
-    563a:	bf 92       	push	r11
-    563c:	cf 92       	push	r12
-    563e:	df 92       	push	r13
-    5640:	ef 92       	push	r14
-    5642:	ff 92       	push	r15
-    5644:	0f 93       	push	r16
-    5646:	1f 93       	push	r17
-    5648:	df 93       	push	r29
-    564a:	cf 93       	push	r28
-    564c:	cd b7       	in	r28, 0x3d	; 61
-    564e:	de b7       	in	r29, 0x3e	; 62
-    5650:	2c 97       	sbiw	r28, 0x0c	; 12
-    5652:	0f b6       	in	r0, 0x3f	; 63
-    5654:	f8 94       	cli
-    5656:	de bf       	out	0x3e, r29	; 62
-    5658:	0f be       	out	0x3f, r0	; 63
-    565a:	cd bf       	out	0x3d, r28	; 61
-    565c:	9c 87       	std	Y+12, r25	; 0x0c
-    565e:	8b 87       	std	Y+11, r24	; 0x0b
-    5660:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
-    5664:	6b 01       	movw	r12, r22
-    5666:	7c 01       	movw	r14, r24
-    5668:	eb 85       	ldd	r30, Y+11	; 0x0b
-    566a:	fc 85       	ldd	r31, Y+12	; 0x0c
-    566c:	e9 57       	subi	r30, 0x79	; 121
-    566e:	fb 4f       	sbci	r31, 0xFB	; 251
-    5670:	80 81       	ld	r24, Z
-    5672:	91 81       	ldd	r25, Z+1	; 0x01
-    5674:	a2 81       	ldd	r26, Z+2	; 0x02
-    5676:	b3 81       	ldd	r27, Z+3	; 0x03
-    5678:	a7 01       	movw	r20, r14
-    567a:	96 01       	movw	r18, r12
-    567c:	28 1b       	sub	r18, r24
-    567e:	39 0b       	sbc	r19, r25
-    5680:	4a 0b       	sbc	r20, r26
-    5682:	5b 0b       	sbc	r21, r27
-    5684:	da 01       	movw	r26, r20
-    5686:	c9 01       	movw	r24, r18
-    5688:	89 3f       	cpi	r24, 0xF9	; 249
-    568a:	3a e2       	ldi	r19, 0x2A	; 42
-    568c:	93 07       	cpc	r25, r19
-    568e:	30 e0       	ldi	r19, 0x00	; 0
-    5690:	a3 07       	cpc	r26, r19
-    5692:	30 e0       	ldi	r19, 0x00	; 0
-    5694:	b3 07       	cpc	r27, r19
-    5696:	28 f0       	brcs	.+10     	; 0x56a2 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x7a>
-    5698:	eb 85       	ldd	r30, Y+11	; 0x0b
-    569a:	fc 85       	ldd	r31, Y+12	; 0x0c
-    569c:	ee 57       	subi	r30, 0x7E	; 126
-    569e:	fb 4f       	sbci	r31, 0xFB	; 251
-    56a0:	10 82       	st	Z, r1
-    56a2:	eb 85       	ldd	r30, Y+11	; 0x0b
-    56a4:	fc 85       	ldd	r31, Y+12	; 0x0c
-    56a6:	e8 58       	subi	r30, 0x88	; 136
-    56a8:	fb 4f       	sbci	r31, 0xFB	; 251
-    56aa:	80 81       	ld	r24, Z
-    56ac:	91 81       	ldd	r25, Z+1	; 0x01
-    56ae:	00 97       	sbiw	r24, 0x00	; 0
-    56b0:	81 f0       	breq	.+32     	; 0x56d2 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0xaa>
-    56b2:	ab 85       	ldd	r26, Y+11	; 0x0b
-    56b4:	bc 85       	ldd	r27, Y+12	; 0x0c
-    56b6:	a5 57       	subi	r26, 0x75	; 117
-    56b8:	bb 4f       	sbci	r27, 0xFB	; 251
-    56ba:	8d 91       	ld	r24, X+
-    56bc:	9d 91       	ld	r25, X+
-    56be:	0d 90       	ld	r0, X+
-    56c0:	bc 91       	ld	r27, X
-    56c2:	a0 2d       	mov	r26, r0
-    56c4:	8c 15       	cp	r24, r12
-    56c6:	9d 05       	cpc	r25, r13
-    56c8:	ae 05       	cpc	r26, r14
-    56ca:	bf 05       	cpc	r27, r15
-    56cc:	10 f4       	brcc	.+4      	; 0x56d2 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0xaa>
-    56ce:	11 82       	std	Z+1, r1	; 0x01
-    56d0:	10 82       	st	Z, r1
-    56d2:	90 e8       	ldi	r25, 0x80	; 128
-    56d4:	69 2e       	mov	r6, r25
-    56d6:	94 e0       	ldi	r25, 0x04	; 4
-    56d8:	79 2e       	mov	r7, r25
-    56da:	4b 85       	ldd	r20, Y+11	; 0x0b
-    56dc:	5c 85       	ldd	r21, Y+12	; 0x0c
-    56de:	64 0e       	add	r6, r20
-    56e0:	75 1e       	adc	r7, r21
-    56e2:	8a 01       	movw	r16, r20
-    56e4:	08 58       	subi	r16, 0x88	; 136
-    56e6:	1b 4f       	sbci	r17, 0xFB	; 251
-    56e8:	8c e7       	ldi	r24, 0x7C	; 124
-    56ea:	88 2e       	mov	r8, r24
-    56ec:	84 e0       	ldi	r24, 0x04	; 4
-    56ee:	98 2e       	mov	r9, r24
-    56f0:	84 0e       	add	r8, r20
-    56f2:	95 1e       	adc	r9, r21
-    56f4:	b4 e1       	ldi	r27, 0x14	; 20
-    56f6:	4b 2e       	mov	r4, r27
-    56f8:	51 2c       	mov	r5, r1
-    56fa:	44 0e       	add	r4, r20
-    56fc:	55 1e       	adc	r5, r21
-    56fe:	40 57       	subi	r20, 0x70	; 112
-    5700:	5b 4f       	sbci	r21, 0xFB	; 251
-    5702:	5a 83       	std	Y+2, r21	; 0x02
-    5704:	49 83       	std	Y+1, r20	; 0x01
-    5706:	8b 85       	ldd	r24, Y+11	; 0x0b
-    5708:	9c 85       	ldd	r25, Y+12	; 0x0c
-    570a:	81 57       	subi	r24, 0x71	; 113
-    570c:	9b 4f       	sbci	r25, 0xFB	; 251
-    570e:	9c 83       	std	Y+4, r25	; 0x04
-    5710:	8b 83       	std	Y+3, r24	; 0x03
-    5712:	aa e7       	ldi	r26, 0x7A	; 122
-    5714:	aa 2e       	mov	r10, r26
-    5716:	a4 e0       	ldi	r26, 0x04	; 4
-    5718:	ba 2e       	mov	r11, r26
-    571a:	ab 85       	ldd	r26, Y+11	; 0x0b
-    571c:	bc 85       	ldd	r27, Y+12	; 0x0c
-    571e:	aa 0e       	add	r10, r26
-    5720:	bb 1e       	adc	r11, r27
-    5722:	fe e7       	ldi	r31, 0x7E	; 126
-    5724:	2f 2e       	mov	r2, r31
-    5726:	f4 e0       	ldi	r31, 0x04	; 4
-    5728:	3f 2e       	mov	r3, r31
-    572a:	2a 0e       	add	r2, r26
-    572c:	3b 1e       	adc	r3, r27
-    572e:	a5 57       	subi	r26, 0x75	; 117
-    5730:	bb 4f       	sbci	r27, 0xFB	; 251
-    5732:	be 83       	std	Y+6, r27	; 0x06
-    5734:	ad 83       	std	Y+5, r26	; 0x05
-    5736:	a7 01       	movw	r20, r14
-    5738:	96 01       	movw	r18, r12
-    573a:	2c 5e       	subi	r18, 0xEC	; 236
-    573c:	3f 4f       	sbci	r19, 0xFF	; 255
-    573e:	4f 4f       	sbci	r20, 0xFF	; 255
-    5740:	5f 4f       	sbci	r21, 0xFF	; 255
-    5742:	2f 83       	std	Y+7, r18	; 0x07
-    5744:	38 87       	std	Y+8, r19	; 0x08
-    5746:	49 87       	std	Y+9, r20	; 0x09
-    5748:	5a 87       	std	Y+10, r21	; 0x0a
-    574a:	c8 01       	movw	r24, r16
-    574c:	0b 85       	ldd	r16, Y+11	; 0x0b
-    574e:	1c 85       	ldd	r17, Y+12	; 0x0c
-    5750:	9c 87       	std	Y+12, r25	; 0x0c
-    5752:	8b 87       	std	Y+11, r24	; 0x0b
-    5754:	d8 01       	movw	r26, r16
-    5756:	12 96       	adiw	r26, 0x02	; 2
-    5758:	8d 91       	ld	r24, X+
-    575a:	9c 91       	ld	r25, X
-    575c:	13 97       	sbiw	r26, 0x03	; 3
-    575e:	dc 01       	movw	r26, r24
-    5760:	ed 91       	ld	r30, X+
-    5762:	fc 91       	ld	r31, X
-    5764:	00 84       	ldd	r0, Z+8	; 0x08
-    5766:	f1 85       	ldd	r31, Z+9	; 0x09
-    5768:	e0 2d       	mov	r30, r0
-    576a:	19 95       	eicall
-    576c:	9c 01       	movw	r18, r24
-    576e:	97 fd       	sbrc	r25, 7
-    5770:	fc c0       	rjmp	.+504    	; 0x596a <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x342>
-    5772:	f3 01       	movw	r30, r6
-    5774:	80 81       	ld	r24, Z
-    5776:	91 81       	ldd	r25, Z+1	; 0x01
-    5778:	82 0f       	add	r24, r18
-    577a:	93 1f       	adc	r25, r19
-    577c:	91 83       	std	Z+1, r25	; 0x01
-    577e:	80 83       	st	Z, r24
-    5780:	ab 85       	ldd	r26, Y+11	; 0x0b
-    5782:	bc 85       	ldd	r27, Y+12	; 0x0c
-    5784:	4d 91       	ld	r20, X+
-    5786:	5c 91       	ld	r21, X
-    5788:	11 97       	sbiw	r26, 0x01	; 1
-    578a:	46 30       	cpi	r20, 0x06	; 6
-    578c:	51 05       	cpc	r21, r1
-    578e:	b9 f4       	brne	.+46     	; 0x57be <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x196>
-    5790:	f1 01       	movw	r30, r2
-    5792:	80 81       	ld	r24, Z
-    5794:	91 81       	ldd	r25, Z+1	; 0x01
-    5796:	f8 01       	movw	r30, r16
-    5798:	e8 0f       	add	r30, r24
-    579a:	f9 1f       	adc	r31, r25
-    579c:	24 8b       	std	Z+20, r18	; 0x14
-    579e:	01 96       	adiw	r24, 0x01	; 1
-    57a0:	d1 01       	movw	r26, r2
-    57a2:	11 96       	adiw	r26, 0x01	; 1
-    57a4:	9c 93       	st	X, r25
-    57a6:	8e 93       	st	-X, r24
-    57a8:	f5 01       	movw	r30, r10
-    57aa:	80 81       	ld	r24, Z
-    57ac:	91 81       	ldd	r25, Z+1	; 0x01
-    57ae:	01 97       	sbiw	r24, 0x01	; 1
-    57b0:	91 83       	std	Z+1, r25	; 0x01
-    57b2:	80 83       	st	Z, r24
-    57b4:	00 97       	sbiw	r24, 0x00	; 0
-    57b6:	71 f6       	brne	.-100    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    57b8:	e7 e0       	ldi	r30, 0x07	; 7
-    57ba:	f0 e0       	ldi	r31, 0x00	; 0
-    57bc:	4a c0       	rjmp	.+148    	; 0x5852 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x22a>
-    57be:	41 15       	cp	r20, r1
-    57c0:	51 05       	cpc	r21, r1
-    57c2:	a9 f4       	brne	.+42     	; 0x57ee <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x1c6>
-    57c4:	2f 3f       	cpi	r18, 0xFF	; 255
-    57c6:	31 05       	cpc	r19, r1
-    57c8:	29 f6       	brne	.-118    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    57ca:	e1 e0       	ldi	r30, 0x01	; 1
-    57cc:	f0 e0       	ldi	r31, 0x00	; 0
-    57ce:	ab 85       	ldd	r26, Y+11	; 0x0b
-    57d0:	bc 85       	ldd	r27, Y+12	; 0x0c
-    57d2:	ed 93       	st	X+, r30
-    57d4:	fc 93       	st	X, r31
-    57d6:	2f 81       	ldd	r18, Y+7	; 0x07
-    57d8:	38 85       	ldd	r19, Y+8	; 0x08
-    57da:	49 85       	ldd	r20, Y+9	; 0x09
-    57dc:	5a 85       	ldd	r21, Y+10	; 0x0a
-    57de:	ad 81       	ldd	r26, Y+5	; 0x05
-    57e0:	be 81       	ldd	r27, Y+6	; 0x06
-    57e2:	2d 93       	st	X+, r18
-    57e4:	3d 93       	st	X+, r19
-    57e6:	4d 93       	st	X+, r20
-    57e8:	5c 93       	st	X, r21
-    57ea:	13 97       	sbiw	r26, 0x03	; 3
-    57ec:	b3 cf       	rjmp	.-154    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    57ee:	41 30       	cpi	r20, 0x01	; 1
-    57f0:	51 05       	cpc	r21, r1
-    57f2:	81 f4       	brne	.+32     	; 0x5814 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x1ec>
-    57f4:	2f 3f       	cpi	r18, 0xFF	; 255
-    57f6:	31 05       	cpc	r19, r1
-    57f8:	39 f4       	brne	.+14     	; 0x5808 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x1e0>
-    57fa:	22 e0       	ldi	r18, 0x02	; 2
-    57fc:	30 e0       	ldi	r19, 0x00	; 0
-    57fe:	eb 85       	ldd	r30, Y+11	; 0x0b
-    5800:	fc 85       	ldd	r31, Y+12	; 0x0c
-    5802:	31 83       	std	Z+1, r19	; 0x01
-    5804:	20 83       	st	Z, r18
-    5806:	a6 cf       	rjmp	.-180    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    5808:	ab 85       	ldd	r26, Y+11	; 0x0b
-    580a:	bc 85       	ldd	r27, Y+12	; 0x0c
-    580c:	11 96       	adiw	r26, 0x01	; 1
-    580e:	1c 92       	st	X, r1
-    5810:	1e 92       	st	-X, r1
-    5812:	a0 cf       	rjmp	.-192    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    5814:	42 30       	cpi	r20, 0x02	; 2
-    5816:	51 05       	cpc	r21, r1
-    5818:	71 f4       	brne	.+28     	; 0x5836 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x20e>
-    581a:	f4 01       	movw	r30, r8
-    581c:	31 83       	std	Z+1, r19	; 0x01
-    581e:	20 83       	st	Z, r18
-    5820:	e3 e0       	ldi	r30, 0x03	; 3
-    5822:	f0 e0       	ldi	r31, 0x00	; 0
-    5824:	ab 85       	ldd	r26, Y+11	; 0x0b
-    5826:	bc 85       	ldd	r27, Y+12	; 0x0c
-    5828:	ed 93       	st	X+, r30
-    582a:	fc 93       	st	X, r31
-    582c:	d3 01       	movw	r26, r6
-    582e:	11 96       	adiw	r26, 0x01	; 1
-    5830:	3c 93       	st	X, r19
-    5832:	2e 93       	st	-X, r18
-    5834:	8f cf       	rjmp	.-226    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    5836:	43 30       	cpi	r20, 0x03	; 3
-    5838:	51 05       	cpc	r21, r1
-    583a:	89 f4       	brne	.+34     	; 0x585e <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x236>
-    583c:	32 2f       	mov	r19, r18
-    583e:	22 27       	eor	r18, r18
-    5840:	f4 01       	movw	r30, r8
-    5842:	80 81       	ld	r24, Z
-    5844:	91 81       	ldd	r25, Z+1	; 0x01
-    5846:	28 0f       	add	r18, r24
-    5848:	39 1f       	adc	r19, r25
-    584a:	31 83       	std	Z+1, r19	; 0x01
-    584c:	20 83       	st	Z, r18
-    584e:	e4 e0       	ldi	r30, 0x04	; 4
-    5850:	f0 e0       	ldi	r31, 0x00	; 0
-    5852:	ab 85       	ldd	r26, Y+11	; 0x0b
-    5854:	bc 85       	ldd	r27, Y+12	; 0x0c
-    5856:	11 96       	adiw	r26, 0x01	; 1
-    5858:	fc 93       	st	X, r31
-    585a:	ee 93       	st	-X, r30
-    585c:	7b cf       	rjmp	.-266    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    585e:	44 30       	cpi	r20, 0x04	; 4
-    5860:	51 05       	cpc	r21, r1
-    5862:	51 f4       	brne	.+20     	; 0x5878 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x250>
-    5864:	d5 01       	movw	r26, r10
-    5866:	11 96       	adiw	r26, 0x01	; 1
-    5868:	3c 93       	st	X, r19
-    586a:	2e 93       	st	-X, r18
-    586c:	f1 01       	movw	r30, r2
-    586e:	11 82       	std	Z+1, r1	; 0x01
-    5870:	10 82       	st	Z, r1
-    5872:	e5 e0       	ldi	r30, 0x05	; 5
-    5874:	f0 e0       	ldi	r31, 0x00	; 0
-    5876:	ed cf       	rjmp	.-38     	; 0x5852 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x22a>
-    5878:	45 30       	cpi	r20, 0x05	; 5
-    587a:	51 05       	cpc	r21, r1
-    587c:	d1 f4       	brne	.+52     	; 0x58b2 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x28a>
-    587e:	32 2f       	mov	r19, r18
-    5880:	22 27       	eor	r18, r18
-    5882:	d5 01       	movw	r26, r10
-    5884:	8d 91       	ld	r24, X+
-    5886:	9c 91       	ld	r25, X
-    5888:	11 97       	sbiw	r26, 0x01	; 1
-    588a:	28 0f       	add	r18, r24
-    588c:	39 1f       	adc	r19, r25
-    588e:	11 96       	adiw	r26, 0x01	; 1
-    5890:	3c 93       	st	X, r19
-    5892:	2e 93       	st	-X, r18
-    5894:	46 e0       	ldi	r20, 0x06	; 6
-    5896:	50 e0       	ldi	r21, 0x00	; 0
-    5898:	eb 85       	ldd	r30, Y+11	; 0x0b
-    589a:	fc 85       	ldd	r31, Y+12	; 0x0c
-    589c:	51 83       	std	Z+1, r21	; 0x01
-    589e:	40 83       	st	Z, r20
-    58a0:	21 15       	cp	r18, r1
-    58a2:	31 05       	cpc	r19, r1
-    58a4:	09 f0       	breq	.+2      	; 0x58a8 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x280>
-    58a6:	56 cf       	rjmp	.-340    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    58a8:	87 e0       	ldi	r24, 0x07	; 7
-    58aa:	90 e0       	ldi	r25, 0x00	; 0
-    58ac:	91 83       	std	Z+1, r25	; 0x01
-    58ae:	80 83       	st	Z, r24
-    58b0:	51 cf       	rjmp	.-350    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    58b2:	47 30       	cpi	r20, 0x07	; 7
-    58b4:	51 05       	cpc	r21, r1
-    58b6:	09 f0       	breq	.+2      	; 0x58ba <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x292>
-    58b8:	4d cf       	rjmp	.-358    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    58ba:	ab 85       	ldd	r26, Y+11	; 0x0b
-    58bc:	bc 85       	ldd	r27, Y+12	; 0x0c
-    58be:	11 96       	adiw	r26, 0x01	; 1
-    58c0:	1c 92       	st	X, r1
-    58c2:	1e 92       	st	-X, r1
-    58c4:	60 e0       	ldi	r22, 0x00	; 0
-    58c6:	71 e0       	ldi	r23, 0x01	; 1
-    58c8:	0e 94 54 42 	call	0x84a8	; 0x84a8 <__divmodhi4>
-    58cc:	8f 3f       	cpi	r24, 0xFF	; 255
-    58ce:	91 05       	cpc	r25, r1
-    58d0:	09 f0       	breq	.+2      	; 0x58d4 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x2ac>
-    58d2:	40 cf       	rjmp	.-384    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    58d4:	d4 01       	movw	r26, r8
-    58d6:	ed 91       	ld	r30, X+
-    58d8:	fc 91       	ld	r31, X
-    58da:	11 97       	sbiw	r26, 0x01	; 1
-    58dc:	30 97       	sbiw	r30, 0x00	; 0
-    58de:	e1 f4       	brne	.+56     	; 0x5918 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x2f0>
-    58e0:	1c 87       	std	Y+12, r17	; 0x0c
-    58e2:	0b 87       	std	Y+11, r16	; 0x0b
-    58e4:	c8 01       	movw	r24, r16
-    58e6:	0e 94 22 29 	call	0x5244	; 0x5244 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15requestSyncTimeEv>
-    58ea:	8b 85       	ldd	r24, Y+11	; 0x0b
-    58ec:	9c 85       	ldd	r25, Y+12	; 0x0c
-    58ee:	0e 94 5a 29 	call	0x52b4	; 0x52b4 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv>
-    58f2:	eb 85       	ldd	r30, Y+11	; 0x0b
-    58f4:	fc 85       	ldd	r31, Y+12	; 0x0c
-    58f6:	ed 57       	subi	r30, 0x7D	; 125
-    58f8:	fb 4f       	sbci	r31, 0xFB	; 251
-    58fa:	c0 82       	st	Z, r12
-    58fc:	d1 82       	std	Z+1, r13	; 0x01
-    58fe:	e2 82       	std	Z+2, r14	; 0x02
-    5900:	f3 82       	std	Z+3, r15	; 0x03
-    5902:	eb 85       	ldd	r30, Y+11	; 0x0b
-    5904:	fc 85       	ldd	r31, Y+12	; 0x0c
-    5906:	e9 57       	subi	r30, 0x79	; 121
-    5908:	fb 4f       	sbci	r31, 0xFB	; 251
-    590a:	c0 82       	st	Z, r12
-    590c:	d1 82       	std	Z+1, r13	; 0x01
-    590e:	e2 82       	std	Z+2, r14	; 0x02
-    5910:	f3 82       	std	Z+3, r15	; 0x03
-    5912:	2f ef       	ldi	r18, 0xFF	; 255
-    5914:	3f ef       	ldi	r19, 0xFF	; 255
-    5916:	54 c0       	rjmp	.+168    	; 0x59c0 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x398>
-    5918:	ea 30       	cpi	r30, 0x0A	; 10
-    591a:	f1 05       	cpc	r31, r1
-    591c:	29 f4       	brne	.+10     	; 0x5928 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x300>
-    591e:	c8 01       	movw	r24, r16
-    5920:	b2 01       	movw	r22, r4
-    5922:	0e 94 96 2a 	call	0x552c	; 0x552c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8syncTimeEPh>
-    5926:	16 cf       	rjmp	.-468    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    5928:	e6 30       	cpi	r30, 0x06	; 6
-    592a:	f1 05       	cpc	r31, r1
-    592c:	51 f4       	brne	.+20     	; 0x5942 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x31a>
-    592e:	89 81       	ldd	r24, Y+1	; 0x01
-    5930:	9a 81       	ldd	r25, Y+2	; 0x02
-    5932:	b2 01       	movw	r22, r4
-    5934:	0e 94 eb 16 	call	0x2dd6	; 0x2dd6 <_ZN14rosserial_msgs20RequestParamResponse11deserializeEPh>
-    5938:	21 e0       	ldi	r18, 0x01	; 1
-    593a:	eb 81       	ldd	r30, Y+3	; 0x03
-    593c:	fc 81       	ldd	r31, Y+4	; 0x04
-    593e:	20 83       	st	Z, r18
-    5940:	09 cf       	rjmp	.-494    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    5942:	e1 54       	subi	r30, 0x41	; 65
-    5944:	fe 4f       	sbci	r31, 0xFE	; 254
-    5946:	ee 0f       	add	r30, r30
-    5948:	ff 1f       	adc	r31, r31
-    594a:	e0 0f       	add	r30, r16
-    594c:	f1 1f       	adc	r31, r17
-    594e:	80 81       	ld	r24, Z
-    5950:	91 81       	ldd	r25, Z+1	; 0x01
-    5952:	00 97       	sbiw	r24, 0x00	; 0
-    5954:	09 f4       	brne	.+2      	; 0x5958 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x330>
-    5956:	fe ce       	rjmp	.-516    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    5958:	dc 01       	movw	r26, r24
-    595a:	ed 91       	ld	r30, X+
-    595c:	fc 91       	ld	r31, X
-    595e:	01 90       	ld	r0, Z+
-    5960:	f0 81       	ld	r31, Z
-    5962:	e0 2d       	mov	r30, r0
-    5964:	b2 01       	movw	r22, r4
-    5966:	19 95       	eicall
-    5968:	f5 ce       	rjmp	.-534    	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
-    596a:	1c 87       	std	Y+12, r17	; 0x0c
-    596c:	0b 87       	std	Y+11, r16	; 0x0b
-    596e:	f8 01       	movw	r30, r16
-    5970:	ee 57       	subi	r30, 0x7E	; 126
-    5972:	fb 4f       	sbci	r31, 0xFB	; 251
-    5974:	80 81       	ld	r24, Z
-    5976:	88 23       	and	r24, r24
-    5978:	09 f1       	breq	.+66     	; 0x59bc <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x394>
-    597a:	0d 57       	subi	r16, 0x7D	; 125
-    597c:	1b 4f       	sbci	r17, 0xFB	; 251
-    597e:	f8 01       	movw	r30, r16
-    5980:	80 81       	ld	r24, Z
-    5982:	91 81       	ldd	r25, Z+1	; 0x01
-    5984:	a2 81       	ldd	r26, Z+2	; 0x02
-    5986:	b3 81       	ldd	r27, Z+3	; 0x03
-    5988:	a7 01       	movw	r20, r14
-    598a:	96 01       	movw	r18, r12
-    598c:	28 1b       	sub	r18, r24
-    598e:	39 0b       	sbc	r19, r25
-    5990:	4a 0b       	sbc	r20, r26
-    5992:	5b 0b       	sbc	r21, r27
-    5994:	da 01       	movw	r26, r20
-    5996:	c9 01       	movw	r24, r18
-    5998:	85 3c       	cpi	r24, 0xC5	; 197
-    599a:	39 e0       	ldi	r19, 0x09	; 9
-    599c:	93 07       	cpc	r25, r19
-    599e:	30 e0       	ldi	r19, 0x00	; 0
-    59a0:	a3 07       	cpc	r26, r19
-    59a2:	30 e0       	ldi	r19, 0x00	; 0
-    59a4:	b3 07       	cpc	r27, r19
-    59a6:	50 f0       	brcs	.+20     	; 0x59bc <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x394>
-    59a8:	8b 85       	ldd	r24, Y+11	; 0x0b
-    59aa:	9c 85       	ldd	r25, Y+12	; 0x0c
-    59ac:	0e 94 22 29 	call	0x5244	; 0x5244 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15requestSyncTimeEv>
-    59b0:	d8 01       	movw	r26, r16
-    59b2:	cd 92       	st	X+, r12
-    59b4:	dd 92       	st	X+, r13
-    59b6:	ed 92       	st	X+, r14
-    59b8:	fc 92       	st	X, r15
-    59ba:	13 97       	sbiw	r26, 0x03	; 3
-    59bc:	20 e0       	ldi	r18, 0x00	; 0
-    59be:	30 e0       	ldi	r19, 0x00	; 0
-    59c0:	c9 01       	movw	r24, r18
-    59c2:	2c 96       	adiw	r28, 0x0c	; 12
-    59c4:	0f b6       	in	r0, 0x3f	; 63
-    59c6:	f8 94       	cli
-    59c8:	de bf       	out	0x3e, r29	; 62
-    59ca:	0f be       	out	0x3f, r0	; 63
-    59cc:	cd bf       	out	0x3d, r28	; 61
-    59ce:	cf 91       	pop	r28
-    59d0:	df 91       	pop	r29
-    59d2:	1f 91       	pop	r17
-    59d4:	0f 91       	pop	r16
-    59d6:	ff 90       	pop	r15
-    59d8:	ef 90       	pop	r14
-    59da:	df 90       	pop	r13
-    59dc:	cf 90       	pop	r12
-    59de:	bf 90       	pop	r11
-    59e0:	af 90       	pop	r10
-    59e2:	9f 90       	pop	r9
-    59e4:	8f 90       	pop	r8
-    59e6:	7f 90       	pop	r7
-    59e8:	6f 90       	pop	r6
-    59ea:	5f 90       	pop	r5
-    59ec:	4f 90       	pop	r4
-    59ee:	3f 90       	pop	r3
-    59f0:	2f 90       	pop	r2
-    59f2:	08 95       	ret
-
-000059f4 <main>:
-    59f4:	2f 92       	push	r2
-    59f6:	3f 92       	push	r3
-    59f8:	4f 92       	push	r4
-    59fa:	5f 92       	push	r5
-    59fc:	6f 92       	push	r6
-    59fe:	7f 92       	push	r7
-    5a00:	8f 92       	push	r8
-    5a02:	9f 92       	push	r9
-    5a04:	af 92       	push	r10
-    5a06:	bf 92       	push	r11
-    5a08:	cf 92       	push	r12
-    5a0a:	df 92       	push	r13
-    5a0c:	ef 92       	push	r14
-    5a0e:	ff 92       	push	r15
-    5a10:	0f 93       	push	r16
-    5a12:	1f 93       	push	r17
-    5a14:	df 93       	push	r29
-    5a16:	cf 93       	push	r28
-    5a18:	0f 92       	push	r0
-    5a1a:	0f 92       	push	r0
-    5a1c:	cd b7       	in	r28, 0x3d	; 61
-    5a1e:	de b7       	in	r29, 0x3e	; 62
-    5a20:	0e 94 f7 35 	call	0x6bee	; 0x6bee <init>
-    5a24:	0e 94 ff 1c 	call	0x39fe	; 0x39fe <_ZN3IMU7initIMUEv>
-    5a28:	80 e9       	ldi	r24, 0x90	; 144
-    5a2a:	90 ed       	ldi	r25, 0xD0	; 208
-    5a2c:	a3 e0       	ldi	r26, 0x03	; 3
-    5a2e:	b0 e0       	ldi	r27, 0x00	; 0
-    5a30:	80 93 14 08 	sts	0x0814, r24
-    5a34:	90 93 15 08 	sts	0x0815, r25
-    5a38:	a0 93 16 08 	sts	0x0816, r26
-    5a3c:	b0 93 17 08 	sts	0x0817, r27
-    5a40:	82 e1       	ldi	r24, 0x12	; 18
-    5a42:	98 e0       	ldi	r25, 0x08	; 8
-    5a44:	0e 94 df 19 	call	0x33be	; 0x33be <_ZN15ArduinoHardware4initEv>
-    5a48:	10 92 89 0c 	sts	0x0C89, r1
-    5a4c:	10 92 88 0c 	sts	0x0C88, r1
-    5a50:	10 92 8b 0c 	sts	0x0C8B, r1
-    5a54:	10 92 8a 0c 	sts	0x0C8A, r1
-    5a58:	10 92 8f 0c 	sts	0x0C8F, r1
-    5a5c:	10 92 8e 0c 	sts	0x0C8E, r1
-    5a60:	10 92 8d 0c 	sts	0x0C8D, r1
-    5a64:	10 92 8c 0c 	sts	0x0C8C, r1
-    5a68:	80 e1       	ldi	r24, 0x10	; 16
-    5a6a:	98 e0       	ldi	r25, 0x08	; 8
-    5a6c:	69 eb       	ldi	r22, 0xB9	; 185
-    5a6e:	7c e0       	ldi	r23, 0x0C	; 12
-    5a70:	0e 94 98 28 	call	0x5130	; 0x5130 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>
-    5a74:	80 e1       	ldi	r24, 0x10	; 16
-    5a76:	98 e0       	ldi	r25, 0x08	; 8
-    5a78:	65 ef       	ldi	r22, 0xF5	; 245
-    5a7a:	7c e0       	ldi	r23, 0x0C	; 12
-    5a7c:	0e 94 98 28 	call	0x5130	; 0x5130 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>
-    5a80:	80 e1       	ldi	r24, 0x10	; 16
-    5a82:	98 e0       	ldi	r25, 0x08	; 8
-    5a84:	69 e1       	ldi	r22, 0x19	; 25
-    5a86:	7d e0       	ldi	r23, 0x0D	; 13
-    5a88:	0e 94 98 28 	call	0x5130	; 0x5130 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>
-    5a8c:	80 e1       	ldi	r24, 0x10	; 16
-    5a8e:	98 e0       	ldi	r25, 0x08	; 8
-    5a90:	6d e5       	ldi	r22, 0x5D	; 93
-    5a92:	7d e0       	ldi	r23, 0x0D	; 13
-    5a94:	0e 94 98 28 	call	0x5130	; 0x5130 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>
-    5a98:	82 e0       	ldi	r24, 0x02	; 2
-    5a9a:	90 e0       	ldi	r25, 0x00	; 0
-    5a9c:	0e 94 81 3c 	call	0x7902	; 0x7902 <malloc>
-    5aa0:	80 93 80 0d 	sts	0x0D80, r24
-    5aa4:	90 93 81 0d 	sts	0x0D81, r25
-    5aa8:	82 e0       	ldi	r24, 0x02	; 2
-    5aaa:	80 93 7e 0d 	sts	0x0D7E, r24
-    5aae:	80 e1       	ldi	r24, 0x10	; 16
-    5ab0:	98 e0       	ldi	r25, 0x08	; 8
-    5ab2:	62 e8       	ldi	r22, 0x82	; 130
-    5ab4:	7d e0       	ldi	r23, 0x0D	; 13
-    5ab6:	0e 94 98 28 	call	0x5130	; 0x5130 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>
-    5aba:	80 e1       	ldi	r24, 0x10	; 16
-    5abc:	98 e0       	ldi	r25, 0x08	; 8
-    5abe:	69 eb       	ldi	r22, 0xB9	; 185
-    5ac0:	7d e0       	ldi	r23, 0x0D	; 13
-    5ac2:	0e 94 bf 28 	call	0x517e	; 0x517e <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover7EnabledEEEbRNS_10SubscriberIT_EE>
-    5ac6:	80 e1       	ldi	r24, 0x10	; 16
-    5ac8:	98 e0       	ldi	r25, 0x08	; 8
-    5aca:	65 e9       	ldi	r22, 0x95	; 149
-    5acc:	7d e0       	ldi	r23, 0x0D	; 13
-    5ace:	0e 94 e0 28 	call	0x51c0	; 0x51c0 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover6MotorsEEEbRNS_10SubscriberIT_EE>
-    5ad2:	80 e1       	ldi	r24, 0x10	; 16
-    5ad4:	98 e0       	ldi	r25, 0x08	; 8
-    5ad6:	67 ec       	ldi	r22, 0xC7	; 199
-    5ad8:	7d e0       	ldi	r23, 0x0D	; 13
-    5ada:	0e 94 01 29 	call	0x5202	; 0x5202 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN8std_msgs15UInt8MultiArrayEEEbRNS_10SubscriberIT_EE>
-    5ade:	e1 2c       	mov	r14, r1
-    5ae0:	f1 2c       	mov	r15, r1
-    5ae2:	71 e0       	ldi	r23, 0x01	; 1
-    5ae4:	07 2f       	mov	r16, r23
-    5ae6:	11 2d       	mov	r17, r1
-    5ae8:	e0 92 d8 07 	sts	0x07D8, r14
-    5aec:	f0 92 d9 07 	sts	0x07D9, r15
-    5af0:	00 93 da 07 	sts	0x07DA, r16
-    5af4:	10 93 db 07 	sts	0x07DB, r17
-    5af8:	20 e0       	ldi	r18, 0x00	; 0
-    5afa:	30 e8       	ldi	r19, 0x80	; 128
-    5afc:	40 e0       	ldi	r20, 0x00	; 0
-    5afe:	50 e0       	ldi	r21, 0x00	; 0
-    5b00:	20 93 dc 07 	sts	0x07DC, r18
-    5b04:	30 93 dd 07 	sts	0x07DD, r19
-    5b08:	40 93 de 07 	sts	0x07DE, r20
-    5b0c:	50 93 df 07 	sts	0x07DF, r21
-    5b10:	80 e0       	ldi	r24, 0x00	; 0
-    5b12:	90 e4       	ldi	r25, 0x40	; 64
-    5b14:	a0 e0       	ldi	r26, 0x00	; 0
-    5b16:	b0 e0       	ldi	r27, 0x00	; 0
-    5b18:	80 93 e0 07 	sts	0x07E0, r24
-    5b1c:	90 93 e1 07 	sts	0x07E1, r25
-    5b20:	a0 93 e2 07 	sts	0x07E2, r26
-    5b24:	b0 93 e3 07 	sts	0x07E3, r27
-    5b28:	0f 2e       	mov	r0, r31
-    5b2a:	f3 e2       	ldi	r31, 0x23	; 35
-    5b2c:	af 2e       	mov	r10, r31
-    5b2e:	f9 e4       	ldi	r31, 0x49	; 73
-    5b30:	bf 2e       	mov	r11, r31
-    5b32:	f7 ef       	ldi	r31, 0xF7	; 247
-    5b34:	cf 2e       	mov	r12, r31
-    5b36:	f8 e3       	ldi	r31, 0x38	; 56
-    5b38:	df 2e       	mov	r13, r31
-    5b3a:	f0 2d       	mov	r31, r0
-    5b3c:	a0 92 e4 07 	sts	0x07E4, r10
-    5b40:	b0 92 e5 07 	sts	0x07E5, r11
-    5b44:	c0 92 e6 07 	sts	0x07E6, r12
-    5b48:	d0 92 e7 07 	sts	0x07E7, r13
-    5b4c:	e0 92 f0 07 	sts	0x07F0, r14
-    5b50:	f0 92 f1 07 	sts	0x07F1, r15
-    5b54:	00 93 f2 07 	sts	0x07F2, r16
-    5b58:	10 93 f3 07 	sts	0x07F3, r17
-    5b5c:	20 93 f4 07 	sts	0x07F4, r18
-    5b60:	30 93 f5 07 	sts	0x07F5, r19
-    5b64:	40 93 f6 07 	sts	0x07F6, r20
-    5b68:	50 93 f7 07 	sts	0x07F7, r21
-    5b6c:	80 93 f8 07 	sts	0x07F8, r24
-    5b70:	90 93 f9 07 	sts	0x07F9, r25
-    5b74:	a0 93 fa 07 	sts	0x07FA, r26
-    5b78:	b0 93 fb 07 	sts	0x07FB, r27
-    5b7c:	a0 92 fc 07 	sts	0x07FC, r10
-    5b80:	b0 92 fd 07 	sts	0x07FD, r11
-    5b84:	c0 92 fe 07 	sts	0x07FE, r12
-    5b88:	d0 92 ff 07 	sts	0x07FF, r13
-    5b8c:	0d ec       	ldi	r16, 0xCD	; 205
-    5b8e:	17 e0       	ldi	r17, 0x07	; 7
-    5b90:	c8 01       	movw	r24, r16
-    5b92:	60 e0       	ldi	r22, 0x00	; 0
-    5b94:	70 e0       	ldi	r23, 0x00	; 0
-    5b96:	4a e0       	ldi	r20, 0x0A	; 10
-    5b98:	2b e0       	ldi	r18, 0x0B	; 11
-    5b9a:	0e 94 0b 05 	call	0xa16	; 0xa16 <_ZN7Battery3setEP10CD74HC4067hh>
-    5b9e:	f8 01       	movw	r30, r16
-    5ba0:	13 ae       	std	Z+59, r1	; 0x3b
-    5ba2:	8d e0       	ldi	r24, 0x0D	; 13
-    5ba4:	61 e0       	ldi	r22, 0x01	; 1
-    5ba6:	0e 94 8c 36 	call	0x6d18	; 0x6d18 <pinMode>
-    5baa:	89 e0       	ldi	r24, 0x09	; 9
-    5bac:	98 e0       	ldi	r25, 0x08	; 8
-    5bae:	60 e8       	ldi	r22, 0x80	; 128
-    5bb0:	40 e0       	ldi	r20, 0x00	; 0
-    5bb2:	0e 94 f4 05 	call	0xbe8	; 0xbe8 <_ZN8RoboClaw25SetMinVoltageLogicBatteryEhh>
-    5bb6:	89 e0       	ldi	r24, 0x09	; 9
-    5bb8:	98 e0       	ldi	r25, 0x08	; 8
-    5bba:	60 e8       	ldi	r22, 0x80	; 128
-    5bbc:	40 e0       	ldi	r20, 0x00	; 0
-    5bbe:	0e 94 cc 05 	call	0xb98	; 0xb98 <_ZN8RoboClaw24SetMinVoltageMainBatteryEhh>
-    5bc2:	00 d0       	rcall	.+0      	; 0x5bc4 <main+0x1d0>
-    5bc4:	0f 92       	push	r0
-    5bc6:	20 91 e0 07 	lds	r18, 0x07E0
-    5bca:	30 91 e1 07 	lds	r19, 0x07E1
-    5bce:	40 91 e2 07 	lds	r20, 0x07E2
-    5bd2:	50 91 e3 07 	lds	r21, 0x07E3
-    5bd6:	e0 90 d8 07 	lds	r14, 0x07D8
-    5bda:	f0 90 d9 07 	lds	r15, 0x07D9
-    5bde:	00 91 da 07 	lds	r16, 0x07DA
-    5be2:	10 91 db 07 	lds	r17, 0x07DB
-    5be6:	a0 90 dc 07 	lds	r10, 0x07DC
-    5bea:	b0 90 dd 07 	lds	r11, 0x07DD
-    5bee:	c0 90 de 07 	lds	r12, 0x07DE
-    5bf2:	d0 90 df 07 	lds	r13, 0x07DF
-    5bf6:	66 e8       	ldi	r22, 0x86	; 134
-    5bf8:	66 2e       	mov	r6, r22
-    5bfa:	64 e2       	ldi	r22, 0x24	; 36
-    5bfc:	76 2e       	mov	r7, r22
-    5bfe:	81 2c       	mov	r8, r1
-    5c00:	91 2c       	mov	r9, r1
-    5c02:	ed b7       	in	r30, 0x3d	; 61
-    5c04:	fe b7       	in	r31, 0x3e	; 62
-    5c06:	61 82       	std	Z+1, r6	; 0x01
-    5c08:	72 82       	std	Z+2, r7	; 0x02
-    5c0a:	83 82       	std	Z+3, r8	; 0x03
-    5c0c:	94 82       	std	Z+4, r9	; 0x04
+    5290:	98 87       	std	Y+8, r25	; 0x08
+    5292:	8f 83       	std	Y+7, r24	; 0x07
+    5294:	d7 01       	movw	r26, r14
+    5296:	ed 91       	ld	r30, X+
+    5298:	fc 91       	ld	r31, X
+    529a:	82 81       	ldd	r24, Z+2	; 0x02
+    529c:	93 81       	ldd	r25, Z+3	; 0x03
+    529e:	dc 01       	movw	r26, r24
+    52a0:	ed 91       	ld	r30, X+
+    52a2:	fc 91       	ld	r31, X
+    52a4:	06 80       	ldd	r0, Z+6	; 0x06
+    52a6:	f7 81       	ldd	r31, Z+7	; 0x07
+    52a8:	e0 2d       	mov	r30, r0
+    52aa:	19 95       	eicall
+    52ac:	9a 87       	std	Y+10, r25	; 0x0a
+    52ae:	89 87       	std	Y+9, r24	; 0x09
+    52b0:	8b 86       	std	Y+11, r8	; 0x0b
+    52b2:	9c 86       	std	Y+12, r9	; 0x0c
+    52b4:	ad 86       	std	Y+13, r10	; 0x0d
+    52b6:	be 86       	std	Y+14, r11	; 0x0e
+    52b8:	f8 01       	movw	r30, r16
+    52ba:	80 81       	ld	r24, Z
+    52bc:	91 81       	ldd	r25, Z+1	; 0x01
+    52be:	f7 01       	movw	r30, r14
+    52c0:	a0 81       	ld	r26, Z
+    52c2:	b1 81       	ldd	r27, Z+1	; 0x01
+    52c4:	18 96       	adiw	r26, 0x08	; 8
+    52c6:	6d 91       	ld	r22, X+
+    52c8:	7c 91       	ld	r23, X
+    52ca:	19 97       	sbiw	r26, 0x09	; 9
+    52cc:	dc 01       	movw	r26, r24
+    52ce:	ed 91       	ld	r30, X+
+    52d0:	fc 91       	ld	r31, X
+    52d2:	c8 01       	movw	r24, r16
+    52d4:	a6 01       	movw	r20, r12
+    52d6:	19 95       	eicall
+    52d8:	e2 e0       	ldi	r30, 0x02	; 2
+    52da:	f0 e0       	ldi	r31, 0x00	; 0
+    52dc:	ee 0e       	add	r14, r30
+    52de:	ff 1e       	adc	r15, r31
+    52e0:	e6 14       	cp	r14, r6
+    52e2:	f7 04       	cpc	r15, r7
+    52e4:	09 f0       	breq	.+2      	; 0x52e8 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0xf4>
+    52e6:	bd cf       	rjmp	.-134    	; 0x5262 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0x6e>
+    52e8:	26 e4       	ldi	r18, 0x46	; 70
+    52ea:	e2 2e       	mov	r14, r18
+    52ec:	24 e0       	ldi	r18, 0x04	; 4
+    52ee:	f2 2e       	mov	r15, r18
+    52f0:	e0 0e       	add	r14, r16
+    52f2:	f1 1e       	adc	r15, r17
+    52f4:	98 e7       	ldi	r25, 0x78	; 120
+    52f6:	49 2e       	mov	r4, r25
+    52f8:	94 e0       	ldi	r25, 0x04	; 4
+    52fa:	59 2e       	mov	r5, r25
+    52fc:	40 0e       	add	r4, r16
+    52fe:	51 1e       	adc	r5, r17
+    5300:	81 2c       	mov	r8, r1
+    5302:	82 e0       	ldi	r24, 0x02	; 2
+    5304:	98 2e       	mov	r9, r24
+    5306:	a1 2c       	mov	r10, r1
+    5308:	b1 2c       	mov	r11, r1
+    530a:	6e 01       	movw	r12, r28
+    530c:	08 94       	sec
+    530e:	c1 1c       	adc	r12, r1
+    5310:	d1 1c       	adc	r13, r1
+    5312:	f7 01       	movw	r30, r14
+    5314:	a0 81       	ld	r26, Z
+    5316:	b1 81       	ldd	r27, Z+1	; 0x01
+    5318:	10 97       	sbiw	r26, 0x00	; 0
+    531a:	d1 f1       	breq	.+116    	; 0x5390 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0x19c>
+    531c:	12 96       	adiw	r26, 0x02	; 2
+    531e:	8d 91       	ld	r24, X+
+    5320:	9c 91       	ld	r25, X
+    5322:	13 97       	sbiw	r26, 0x03	; 3
+    5324:	9c 83       	std	Y+4, r25	; 0x04
+    5326:	8b 83       	std	Y+3, r24	; 0x03
+    5328:	14 96       	adiw	r26, 0x04	; 4
+    532a:	8d 91       	ld	r24, X+
+    532c:	9c 91       	ld	r25, X
+    532e:	15 97       	sbiw	r26, 0x05	; 5
+    5330:	9e 83       	std	Y+6, r25	; 0x06
+    5332:	8d 83       	std	Y+5, r24	; 0x05
+    5334:	ed 91       	ld	r30, X+
+    5336:	fc 91       	ld	r31, X
+    5338:	11 97       	sbiw	r26, 0x01	; 1
+    533a:	04 80       	ldd	r0, Z+4	; 0x04
+    533c:	f5 81       	ldd	r31, Z+5	; 0x05
+    533e:	e0 2d       	mov	r30, r0
+    5340:	cd 01       	movw	r24, r26
+    5342:	19 95       	eicall
+    5344:	98 87       	std	Y+8, r25	; 0x08
+    5346:	8f 83       	std	Y+7, r24	; 0x07
+    5348:	d7 01       	movw	r26, r14
+    534a:	8d 91       	ld	r24, X+
+    534c:	9c 91       	ld	r25, X
+    534e:	dc 01       	movw	r26, r24
+    5350:	ed 91       	ld	r30, X+
+    5352:	fc 91       	ld	r31, X
+    5354:	06 80       	ldd	r0, Z+6	; 0x06
+    5356:	f7 81       	ldd	r31, Z+7	; 0x07
+    5358:	e0 2d       	mov	r30, r0
+    535a:	19 95       	eicall
+    535c:	9a 87       	std	Y+10, r25	; 0x0a
+    535e:	89 87       	std	Y+9, r24	; 0x09
+    5360:	8b 86       	std	Y+11, r8	; 0x0b
+    5362:	9c 86       	std	Y+12, r9	; 0x0c
+    5364:	ad 86       	std	Y+13, r10	; 0x0d
+    5366:	be 86       	std	Y+14, r11	; 0x0e
+    5368:	d8 01       	movw	r26, r16
+    536a:	ed 91       	ld	r30, X+
+    536c:	fc 91       	ld	r31, X
+    536e:	60 80       	ld	r6, Z
+    5370:	71 80       	ldd	r7, Z+1	; 0x01
+    5372:	f7 01       	movw	r30, r14
+    5374:	80 81       	ld	r24, Z
+    5376:	91 81       	ldd	r25, Z+1	; 0x01
+    5378:	dc 01       	movw	r26, r24
+    537a:	ed 91       	ld	r30, X+
+    537c:	fc 91       	ld	r31, X
+    537e:	02 80       	ldd	r0, Z+2	; 0x02
+    5380:	f3 81       	ldd	r31, Z+3	; 0x03
+    5382:	e0 2d       	mov	r30, r0
+    5384:	19 95       	eicall
+    5386:	bc 01       	movw	r22, r24
+    5388:	c8 01       	movw	r24, r16
+    538a:	a6 01       	movw	r20, r12
+    538c:	f3 01       	movw	r30, r6
+    538e:	19 95       	eicall
+    5390:	e2 e0       	ldi	r30, 0x02	; 2
+    5392:	f0 e0       	ldi	r31, 0x00	; 0
+    5394:	ee 0e       	add	r14, r30
+    5396:	ff 1e       	adc	r15, r31
+    5398:	e4 14       	cp	r14, r4
+    539a:	f5 04       	cpc	r15, r5
+    539c:	09 f0       	breq	.+2      	; 0x53a0 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0x1ac>
+    539e:	b9 cf       	rjmp	.-142    	; 0x5312 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv+0x11e>
+    53a0:	2e 96       	adiw	r28, 0x0e	; 14
+    53a2:	0f b6       	in	r0, 0x3f	; 63
+    53a4:	f8 94       	cli
+    53a6:	de bf       	out	0x3e, r29	; 62
+    53a8:	0f be       	out	0x3f, r0	; 63
+    53aa:	cd bf       	out	0x3d, r28	; 61
+    53ac:	cf 91       	pop	r28
+    53ae:	df 91       	pop	r29
+    53b0:	1f 91       	pop	r17
+    53b2:	0f 91       	pop	r16
+    53b4:	ff 90       	pop	r15
+    53b6:	ef 90       	pop	r14
+    53b8:	df 90       	pop	r13
+    53ba:	cf 90       	pop	r12
+    53bc:	bf 90       	pop	r11
+    53be:	af 90       	pop	r10
+    53c0:	9f 90       	pop	r9
+    53c2:	8f 90       	pop	r8
+    53c4:	7f 90       	pop	r7
+    53c6:	6f 90       	pop	r6
+    53c8:	5f 90       	pop	r5
+    53ca:	4f 90       	pop	r4
+    53cc:	08 95       	ret
+
+000053ce <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE6setNowERNS_4TimeE>:
+    53ce:	cf 92       	push	r12
+    53d0:	df 92       	push	r13
+    53d2:	ef 92       	push	r14
+    53d4:	ff 92       	push	r15
+    53d6:	0f 93       	push	r16
+    53d8:	1f 93       	push	r17
+    53da:	cf 93       	push	r28
+    53dc:	df 93       	push	r29
+    53de:	ec 01       	movw	r28, r24
+    53e0:	6b 01       	movw	r12, r22
+    53e2:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
+    53e6:	f6 01       	movw	r30, r12
+    53e8:	e0 80       	ld	r14, Z
+    53ea:	f1 80       	ldd	r15, Z+1	; 0x01
+    53ec:	02 81       	ldd	r16, Z+2	; 0x02
+    53ee:	13 81       	ldd	r17, Z+3	; 0x03
+    53f0:	08 94       	sec
+    53f2:	e1 08       	sbc	r14, r1
+    53f4:	f1 08       	sbc	r15, r1
+    53f6:	01 09       	sbc	r16, r1
+    53f8:	11 09       	sbc	r17, r1
+    53fa:	28 ee       	ldi	r18, 0xE8	; 232
+    53fc:	33 e0       	ldi	r19, 0x03	; 3
+    53fe:	40 e0       	ldi	r20, 0x00	; 0
+    5400:	50 e0       	ldi	r21, 0x00	; 0
+    5402:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
+    5406:	e2 1a       	sub	r14, r18
+    5408:	f3 0a       	sbc	r15, r19
+    540a:	04 0b       	sbc	r16, r20
+    540c:	15 0b       	sbc	r17, r21
+    540e:	ec 86       	std	Y+12, r14	; 0x0c
+    5410:	fd 86       	std	Y+13, r15	; 0x0d
+    5412:	0e 87       	std	Y+14, r16	; 0x0e
+    5414:	1f 87       	std	Y+15, r17	; 0x0f
+    5416:	f6 01       	movw	r30, r12
+    5418:	e4 80       	ldd	r14, Z+4	; 0x04
+    541a:	f5 80       	ldd	r15, Z+5	; 0x05
+    541c:	06 81       	ldd	r16, Z+6	; 0x06
+    541e:	17 81       	ldd	r17, Z+7	; 0x07
+    5420:	20 e0       	ldi	r18, 0x00	; 0
+    5422:	3a ec       	ldi	r19, 0xCA	; 202
+    5424:	4a e9       	ldi	r20, 0x9A	; 154
+    5426:	5b e3       	ldi	r21, 0x3B	; 59
+    5428:	e2 0e       	add	r14, r18
+    542a:	f3 1e       	adc	r15, r19
+    542c:	04 1f       	adc	r16, r20
+    542e:	15 1f       	adc	r17, r21
+    5430:	20 e4       	ldi	r18, 0x40	; 64
+    5432:	32 e4       	ldi	r19, 0x42	; 66
+    5434:	4f e0       	ldi	r20, 0x0F	; 15
+    5436:	50 e0       	ldi	r21, 0x00	; 0
+    5438:	0e 94 1e 41 	call	0x823c	; 0x823c <__mulsi3>
+    543c:	e6 1a       	sub	r14, r22
+    543e:	f7 0a       	sbc	r15, r23
+    5440:	08 0b       	sbc	r16, r24
+    5442:	19 0b       	sbc	r17, r25
+    5444:	e8 8a       	std	Y+16, r14	; 0x10
+    5446:	f9 8a       	std	Y+17, r15	; 0x11
+    5448:	0a 8b       	std	Y+18, r16	; 0x12
+    544a:	1b 8b       	std	Y+19, r17	; 0x13
+    544c:	be 01       	movw	r22, r28
+    544e:	60 5f       	subi	r22, 0xF0	; 240
+    5450:	7f 4f       	sbci	r23, 0xFF	; 255
+    5452:	ce 01       	movw	r24, r28
+    5454:	0c 96       	adiw	r24, 0x0c	; 12
+    5456:	0e 94 7d 01 	call	0x2fa	; 0x2fa <_ZN3ros16normalizeSecNSecERmS0_>
+    545a:	df 91       	pop	r29
+    545c:	cf 91       	pop	r28
+    545e:	1f 91       	pop	r17
+    5460:	0f 91       	pop	r16
+    5462:	ff 90       	pop	r15
+    5464:	ef 90       	pop	r14
+    5466:	df 90       	pop	r13
+    5468:	cf 90       	pop	r12
+    546a:	08 95       	ret
+
+0000546c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8syncTimeEPh>:
+    546c:	af 92       	push	r10
+    546e:	bf 92       	push	r11
+    5470:	cf 92       	push	r12
+    5472:	df 92       	push	r13
+    5474:	ef 92       	push	r14
+    5476:	ff 92       	push	r15
+    5478:	0f 93       	push	r16
+    547a:	1f 93       	push	r17
+    547c:	df 93       	push	r29
+    547e:	cf 93       	push	r28
+    5480:	cd b7       	in	r28, 0x3d	; 61
+    5482:	de b7       	in	r29, 0x3e	; 62
+    5484:	2a 97       	sbiw	r28, 0x0a	; 10
+    5486:	0f b6       	in	r0, 0x3f	; 63
+    5488:	f8 94       	cli
+    548a:	de bf       	out	0x3e, r29	; 62
+    548c:	0f be       	out	0x3f, r0	; 63
+    548e:	cd bf       	out	0x3d, r28	; 61
+    5490:	5c 01       	movw	r10, r24
+    5492:	6b 01       	movw	r12, r22
+    5494:	8a ec       	ldi	r24, 0xCA	; 202
+    5496:	95 e0       	ldi	r25, 0x05	; 5
+    5498:	9a 83       	std	Y+2, r25	; 0x02
+    549a:	89 83       	std	Y+1, r24	; 0x01
+    549c:	1b 82       	std	Y+3, r1	; 0x03
+    549e:	1c 82       	std	Y+4, r1	; 0x04
+    54a0:	1d 82       	std	Y+5, r1	; 0x05
+    54a2:	1e 82       	std	Y+6, r1	; 0x06
+    54a4:	1f 82       	std	Y+7, r1	; 0x07
+    54a6:	18 86       	std	Y+8, r1	; 0x08
+    54a8:	19 86       	std	Y+9, r1	; 0x09
+    54aa:	1a 86       	std	Y+10, r1	; 0x0a
+    54ac:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
+    54b0:	7b 01       	movw	r14, r22
+    54b2:	8c 01       	movw	r16, r24
+    54b4:	f5 01       	movw	r30, r10
+    54b6:	80 85       	ldd	r24, Z+8	; 0x08
+    54b8:	91 85       	ldd	r25, Z+9	; 0x09
+    54ba:	a2 85       	ldd	r26, Z+10	; 0x0a
+    54bc:	b3 85       	ldd	r27, Z+11	; 0x0b
+    54be:	e8 1a       	sub	r14, r24
+    54c0:	f9 0a       	sbc	r15, r25
+    54c2:	0a 0b       	sbc	r16, r26
+    54c4:	1b 0b       	sbc	r17, r27
+    54c6:	ce 01       	movw	r24, r28
+    54c8:	01 96       	adiw	r24, 0x01	; 1
+    54ca:	b6 01       	movw	r22, r12
+    54cc:	0e 94 cf 09 	call	0x139e	; 0x139e <_ZN8std_msgs4Time11deserializeEPh>
+    54d0:	c8 01       	movw	r24, r16
+    54d2:	b7 01       	movw	r22, r14
+    54d4:	28 ee       	ldi	r18, 0xE8	; 232
+    54d6:	33 e0       	ldi	r19, 0x03	; 3
+    54d8:	40 e0       	ldi	r20, 0x00	; 0
+    54da:	50 e0       	ldi	r21, 0x00	; 0
+    54dc:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
+    54e0:	7b 01       	movw	r14, r22
+    54e2:	8c 01       	movw	r16, r24
+    54e4:	8b 81       	ldd	r24, Y+3	; 0x03
+    54e6:	9c 81       	ldd	r25, Y+4	; 0x04
+    54e8:	ad 81       	ldd	r26, Y+5	; 0x05
+    54ea:	be 81       	ldd	r27, Y+6	; 0x06
+    54ec:	82 0f       	add	r24, r18
+    54ee:	93 1f       	adc	r25, r19
+    54f0:	a4 1f       	adc	r26, r20
+    54f2:	b5 1f       	adc	r27, r21
+    54f4:	8b 83       	std	Y+3, r24	; 0x03
+    54f6:	9c 83       	std	Y+4, r25	; 0x04
+    54f8:	ad 83       	std	Y+5, r26	; 0x05
+    54fa:	be 83       	std	Y+6, r27	; 0x06
+    54fc:	c8 01       	movw	r24, r16
+    54fe:	b7 01       	movw	r22, r14
+    5500:	20 e4       	ldi	r18, 0x40	; 64
+    5502:	32 e4       	ldi	r19, 0x42	; 66
+    5504:	4f e0       	ldi	r20, 0x0F	; 15
+    5506:	50 e0       	ldi	r21, 0x00	; 0
+    5508:	0e 94 1e 41 	call	0x823c	; 0x823c <__mulsi3>
+    550c:	9b 01       	movw	r18, r22
+    550e:	ac 01       	movw	r20, r24
+    5510:	8f 81       	ldd	r24, Y+7	; 0x07
+    5512:	98 85       	ldd	r25, Y+8	; 0x08
+    5514:	a9 85       	ldd	r26, Y+9	; 0x09
+    5516:	ba 85       	ldd	r27, Y+10	; 0x0a
+    5518:	82 0f       	add	r24, r18
+    551a:	93 1f       	adc	r25, r19
+    551c:	a4 1f       	adc	r26, r20
+    551e:	b5 1f       	adc	r27, r21
+    5520:	8f 83       	std	Y+7, r24	; 0x07
+    5522:	98 87       	std	Y+8, r25	; 0x08
+    5524:	a9 87       	std	Y+9, r26	; 0x09
+    5526:	ba 87       	std	Y+10, r27	; 0x0a
+    5528:	c5 01       	movw	r24, r10
+    552a:	be 01       	movw	r22, r28
+    552c:	6d 5f       	subi	r22, 0xFD	; 253
+    552e:	7f 4f       	sbci	r23, 0xFF	; 255
+    5530:	0e 94 e7 29 	call	0x53ce	; 0x53ce <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE6setNowERNS_4TimeE>
+    5534:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
+    5538:	f5 01       	movw	r30, r10
+    553a:	e9 57       	subi	r30, 0x79	; 121
+    553c:	fb 4f       	sbci	r31, 0xFB	; 251
+    553e:	60 83       	st	Z, r22
+    5540:	71 83       	std	Z+1, r23	; 0x01
+    5542:	82 83       	std	Z+2, r24	; 0x02
+    5544:	93 83       	std	Z+3, r25	; 0x03
+    5546:	2a 96       	adiw	r28, 0x0a	; 10
+    5548:	0f b6       	in	r0, 0x3f	; 63
+    554a:	f8 94       	cli
+    554c:	de bf       	out	0x3e, r29	; 62
+    554e:	0f be       	out	0x3f, r0	; 63
+    5550:	cd bf       	out	0x3d, r28	; 61
+    5552:	cf 91       	pop	r28
+    5554:	df 91       	pop	r29
+    5556:	1f 91       	pop	r17
+    5558:	0f 91       	pop	r16
+    555a:	ff 90       	pop	r15
+    555c:	ef 90       	pop	r14
+    555e:	df 90       	pop	r13
+    5560:	cf 90       	pop	r12
+    5562:	bf 90       	pop	r11
+    5564:	af 90       	pop	r10
+    5566:	08 95       	ret
+
+00005568 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv>:
+    5568:	2f 92       	push	r2
+    556a:	3f 92       	push	r3
+    556c:	4f 92       	push	r4
+    556e:	5f 92       	push	r5
+    5570:	6f 92       	push	r6
+    5572:	7f 92       	push	r7
+    5574:	8f 92       	push	r8
+    5576:	9f 92       	push	r9
+    5578:	af 92       	push	r10
+    557a:	bf 92       	push	r11
+    557c:	cf 92       	push	r12
+    557e:	df 92       	push	r13
+    5580:	ef 92       	push	r14
+    5582:	ff 92       	push	r15
+    5584:	0f 93       	push	r16
+    5586:	1f 93       	push	r17
+    5588:	df 93       	push	r29
+    558a:	cf 93       	push	r28
+    558c:	cd b7       	in	r28, 0x3d	; 61
+    558e:	de b7       	in	r29, 0x3e	; 62
+    5590:	2c 97       	sbiw	r28, 0x0c	; 12
+    5592:	0f b6       	in	r0, 0x3f	; 63
+    5594:	f8 94       	cli
+    5596:	de bf       	out	0x3e, r29	; 62
+    5598:	0f be       	out	0x3f, r0	; 63
+    559a:	cd bf       	out	0x3d, r28	; 61
+    559c:	9c 87       	std	Y+12, r25	; 0x0c
+    559e:	8b 87       	std	Y+11, r24	; 0x0b
+    55a0:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
+    55a4:	6b 01       	movw	r12, r22
+    55a6:	7c 01       	movw	r14, r24
+    55a8:	eb 85       	ldd	r30, Y+11	; 0x0b
+    55aa:	fc 85       	ldd	r31, Y+12	; 0x0c
+    55ac:	e9 57       	subi	r30, 0x79	; 121
+    55ae:	fb 4f       	sbci	r31, 0xFB	; 251
+    55b0:	80 81       	ld	r24, Z
+    55b2:	91 81       	ldd	r25, Z+1	; 0x01
+    55b4:	a2 81       	ldd	r26, Z+2	; 0x02
+    55b6:	b3 81       	ldd	r27, Z+3	; 0x03
+    55b8:	a7 01       	movw	r20, r14
+    55ba:	96 01       	movw	r18, r12
+    55bc:	28 1b       	sub	r18, r24
+    55be:	39 0b       	sbc	r19, r25
+    55c0:	4a 0b       	sbc	r20, r26
+    55c2:	5b 0b       	sbc	r21, r27
+    55c4:	da 01       	movw	r26, r20
+    55c6:	c9 01       	movw	r24, r18
+    55c8:	89 3f       	cpi	r24, 0xF9	; 249
+    55ca:	3a e2       	ldi	r19, 0x2A	; 42
+    55cc:	93 07       	cpc	r25, r19
+    55ce:	30 e0       	ldi	r19, 0x00	; 0
+    55d0:	a3 07       	cpc	r26, r19
+    55d2:	30 e0       	ldi	r19, 0x00	; 0
+    55d4:	b3 07       	cpc	r27, r19
+    55d6:	28 f0       	brcs	.+10     	; 0x55e2 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x7a>
+    55d8:	eb 85       	ldd	r30, Y+11	; 0x0b
+    55da:	fc 85       	ldd	r31, Y+12	; 0x0c
+    55dc:	ee 57       	subi	r30, 0x7E	; 126
+    55de:	fb 4f       	sbci	r31, 0xFB	; 251
+    55e0:	10 82       	st	Z, r1
+    55e2:	eb 85       	ldd	r30, Y+11	; 0x0b
+    55e4:	fc 85       	ldd	r31, Y+12	; 0x0c
+    55e6:	e8 58       	subi	r30, 0x88	; 136
+    55e8:	fb 4f       	sbci	r31, 0xFB	; 251
+    55ea:	80 81       	ld	r24, Z
+    55ec:	91 81       	ldd	r25, Z+1	; 0x01
+    55ee:	00 97       	sbiw	r24, 0x00	; 0
+    55f0:	81 f0       	breq	.+32     	; 0x5612 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0xaa>
+    55f2:	ab 85       	ldd	r26, Y+11	; 0x0b
+    55f4:	bc 85       	ldd	r27, Y+12	; 0x0c
+    55f6:	a5 57       	subi	r26, 0x75	; 117
+    55f8:	bb 4f       	sbci	r27, 0xFB	; 251
+    55fa:	8d 91       	ld	r24, X+
+    55fc:	9d 91       	ld	r25, X+
+    55fe:	0d 90       	ld	r0, X+
+    5600:	bc 91       	ld	r27, X
+    5602:	a0 2d       	mov	r26, r0
+    5604:	8c 15       	cp	r24, r12
+    5606:	9d 05       	cpc	r25, r13
+    5608:	ae 05       	cpc	r26, r14
+    560a:	bf 05       	cpc	r27, r15
+    560c:	10 f4       	brcc	.+4      	; 0x5612 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0xaa>
+    560e:	11 82       	std	Z+1, r1	; 0x01
+    5610:	10 82       	st	Z, r1
+    5612:	90 e8       	ldi	r25, 0x80	; 128
+    5614:	69 2e       	mov	r6, r25
+    5616:	94 e0       	ldi	r25, 0x04	; 4
+    5618:	79 2e       	mov	r7, r25
+    561a:	4b 85       	ldd	r20, Y+11	; 0x0b
+    561c:	5c 85       	ldd	r21, Y+12	; 0x0c
+    561e:	64 0e       	add	r6, r20
+    5620:	75 1e       	adc	r7, r21
+    5622:	8a 01       	movw	r16, r20
+    5624:	08 58       	subi	r16, 0x88	; 136
+    5626:	1b 4f       	sbci	r17, 0xFB	; 251
+    5628:	8c e7       	ldi	r24, 0x7C	; 124
+    562a:	88 2e       	mov	r8, r24
+    562c:	84 e0       	ldi	r24, 0x04	; 4
+    562e:	98 2e       	mov	r9, r24
+    5630:	84 0e       	add	r8, r20
+    5632:	95 1e       	adc	r9, r21
+    5634:	b4 e1       	ldi	r27, 0x14	; 20
+    5636:	4b 2e       	mov	r4, r27
+    5638:	51 2c       	mov	r5, r1
+    563a:	44 0e       	add	r4, r20
+    563c:	55 1e       	adc	r5, r21
+    563e:	40 57       	subi	r20, 0x70	; 112
+    5640:	5b 4f       	sbci	r21, 0xFB	; 251
+    5642:	5a 83       	std	Y+2, r21	; 0x02
+    5644:	49 83       	std	Y+1, r20	; 0x01
+    5646:	8b 85       	ldd	r24, Y+11	; 0x0b
+    5648:	9c 85       	ldd	r25, Y+12	; 0x0c
+    564a:	81 57       	subi	r24, 0x71	; 113
+    564c:	9b 4f       	sbci	r25, 0xFB	; 251
+    564e:	9c 83       	std	Y+4, r25	; 0x04
+    5650:	8b 83       	std	Y+3, r24	; 0x03
+    5652:	aa e7       	ldi	r26, 0x7A	; 122
+    5654:	aa 2e       	mov	r10, r26
+    5656:	a4 e0       	ldi	r26, 0x04	; 4
+    5658:	ba 2e       	mov	r11, r26
+    565a:	ab 85       	ldd	r26, Y+11	; 0x0b
+    565c:	bc 85       	ldd	r27, Y+12	; 0x0c
+    565e:	aa 0e       	add	r10, r26
+    5660:	bb 1e       	adc	r11, r27
+    5662:	fe e7       	ldi	r31, 0x7E	; 126
+    5664:	2f 2e       	mov	r2, r31
+    5666:	f4 e0       	ldi	r31, 0x04	; 4
+    5668:	3f 2e       	mov	r3, r31
+    566a:	2a 0e       	add	r2, r26
+    566c:	3b 1e       	adc	r3, r27
+    566e:	a5 57       	subi	r26, 0x75	; 117
+    5670:	bb 4f       	sbci	r27, 0xFB	; 251
+    5672:	be 83       	std	Y+6, r27	; 0x06
+    5674:	ad 83       	std	Y+5, r26	; 0x05
+    5676:	a7 01       	movw	r20, r14
+    5678:	96 01       	movw	r18, r12
+    567a:	2c 5e       	subi	r18, 0xEC	; 236
+    567c:	3f 4f       	sbci	r19, 0xFF	; 255
+    567e:	4f 4f       	sbci	r20, 0xFF	; 255
+    5680:	5f 4f       	sbci	r21, 0xFF	; 255
+    5682:	2f 83       	std	Y+7, r18	; 0x07
+    5684:	38 87       	std	Y+8, r19	; 0x08
+    5686:	49 87       	std	Y+9, r20	; 0x09
+    5688:	5a 87       	std	Y+10, r21	; 0x0a
+    568a:	c8 01       	movw	r24, r16
+    568c:	0b 85       	ldd	r16, Y+11	; 0x0b
+    568e:	1c 85       	ldd	r17, Y+12	; 0x0c
+    5690:	9c 87       	std	Y+12, r25	; 0x0c
+    5692:	8b 87       	std	Y+11, r24	; 0x0b
+    5694:	d8 01       	movw	r26, r16
+    5696:	12 96       	adiw	r26, 0x02	; 2
+    5698:	8d 91       	ld	r24, X+
+    569a:	9c 91       	ld	r25, X
+    569c:	13 97       	sbiw	r26, 0x03	; 3
+    569e:	dc 01       	movw	r26, r24
+    56a0:	ed 91       	ld	r30, X+
+    56a2:	fc 91       	ld	r31, X
+    56a4:	00 84       	ldd	r0, Z+8	; 0x08
+    56a6:	f1 85       	ldd	r31, Z+9	; 0x09
+    56a8:	e0 2d       	mov	r30, r0
+    56aa:	19 95       	eicall
+    56ac:	9c 01       	movw	r18, r24
+    56ae:	97 fd       	sbrc	r25, 7
+    56b0:	fc c0       	rjmp	.+504    	; 0x58aa <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x342>
+    56b2:	f3 01       	movw	r30, r6
+    56b4:	80 81       	ld	r24, Z
+    56b6:	91 81       	ldd	r25, Z+1	; 0x01
+    56b8:	82 0f       	add	r24, r18
+    56ba:	93 1f       	adc	r25, r19
+    56bc:	91 83       	std	Z+1, r25	; 0x01
+    56be:	80 83       	st	Z, r24
+    56c0:	ab 85       	ldd	r26, Y+11	; 0x0b
+    56c2:	bc 85       	ldd	r27, Y+12	; 0x0c
+    56c4:	4d 91       	ld	r20, X+
+    56c6:	5c 91       	ld	r21, X
+    56c8:	11 97       	sbiw	r26, 0x01	; 1
+    56ca:	46 30       	cpi	r20, 0x06	; 6
+    56cc:	51 05       	cpc	r21, r1
+    56ce:	b9 f4       	brne	.+46     	; 0x56fe <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x196>
+    56d0:	f1 01       	movw	r30, r2
+    56d2:	80 81       	ld	r24, Z
+    56d4:	91 81       	ldd	r25, Z+1	; 0x01
+    56d6:	f8 01       	movw	r30, r16
+    56d8:	e8 0f       	add	r30, r24
+    56da:	f9 1f       	adc	r31, r25
+    56dc:	24 8b       	std	Z+20, r18	; 0x14
+    56de:	01 96       	adiw	r24, 0x01	; 1
+    56e0:	d1 01       	movw	r26, r2
+    56e2:	11 96       	adiw	r26, 0x01	; 1
+    56e4:	9c 93       	st	X, r25
+    56e6:	8e 93       	st	-X, r24
+    56e8:	f5 01       	movw	r30, r10
+    56ea:	80 81       	ld	r24, Z
+    56ec:	91 81       	ldd	r25, Z+1	; 0x01
+    56ee:	01 97       	sbiw	r24, 0x01	; 1
+    56f0:	91 83       	std	Z+1, r25	; 0x01
+    56f2:	80 83       	st	Z, r24
+    56f4:	00 97       	sbiw	r24, 0x00	; 0
+    56f6:	71 f6       	brne	.-100    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    56f8:	e7 e0       	ldi	r30, 0x07	; 7
+    56fa:	f0 e0       	ldi	r31, 0x00	; 0
+    56fc:	4a c0       	rjmp	.+148    	; 0x5792 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x22a>
+    56fe:	41 15       	cp	r20, r1
+    5700:	51 05       	cpc	r21, r1
+    5702:	a9 f4       	brne	.+42     	; 0x572e <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x1c6>
+    5704:	2f 3f       	cpi	r18, 0xFF	; 255
+    5706:	31 05       	cpc	r19, r1
+    5708:	29 f6       	brne	.-118    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    570a:	e1 e0       	ldi	r30, 0x01	; 1
+    570c:	f0 e0       	ldi	r31, 0x00	; 0
+    570e:	ab 85       	ldd	r26, Y+11	; 0x0b
+    5710:	bc 85       	ldd	r27, Y+12	; 0x0c
+    5712:	ed 93       	st	X+, r30
+    5714:	fc 93       	st	X, r31
+    5716:	2f 81       	ldd	r18, Y+7	; 0x07
+    5718:	38 85       	ldd	r19, Y+8	; 0x08
+    571a:	49 85       	ldd	r20, Y+9	; 0x09
+    571c:	5a 85       	ldd	r21, Y+10	; 0x0a
+    571e:	ad 81       	ldd	r26, Y+5	; 0x05
+    5720:	be 81       	ldd	r27, Y+6	; 0x06
+    5722:	2d 93       	st	X+, r18
+    5724:	3d 93       	st	X+, r19
+    5726:	4d 93       	st	X+, r20
+    5728:	5c 93       	st	X, r21
+    572a:	13 97       	sbiw	r26, 0x03	; 3
+    572c:	b3 cf       	rjmp	.-154    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    572e:	41 30       	cpi	r20, 0x01	; 1
+    5730:	51 05       	cpc	r21, r1
+    5732:	81 f4       	brne	.+32     	; 0x5754 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x1ec>
+    5734:	2f 3f       	cpi	r18, 0xFF	; 255
+    5736:	31 05       	cpc	r19, r1
+    5738:	39 f4       	brne	.+14     	; 0x5748 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x1e0>
+    573a:	22 e0       	ldi	r18, 0x02	; 2
+    573c:	30 e0       	ldi	r19, 0x00	; 0
+    573e:	eb 85       	ldd	r30, Y+11	; 0x0b
+    5740:	fc 85       	ldd	r31, Y+12	; 0x0c
+    5742:	31 83       	std	Z+1, r19	; 0x01
+    5744:	20 83       	st	Z, r18
+    5746:	a6 cf       	rjmp	.-180    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    5748:	ab 85       	ldd	r26, Y+11	; 0x0b
+    574a:	bc 85       	ldd	r27, Y+12	; 0x0c
+    574c:	11 96       	adiw	r26, 0x01	; 1
+    574e:	1c 92       	st	X, r1
+    5750:	1e 92       	st	-X, r1
+    5752:	a0 cf       	rjmp	.-192    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    5754:	42 30       	cpi	r20, 0x02	; 2
+    5756:	51 05       	cpc	r21, r1
+    5758:	71 f4       	brne	.+28     	; 0x5776 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x20e>
+    575a:	f4 01       	movw	r30, r8
+    575c:	31 83       	std	Z+1, r19	; 0x01
+    575e:	20 83       	st	Z, r18
+    5760:	e3 e0       	ldi	r30, 0x03	; 3
+    5762:	f0 e0       	ldi	r31, 0x00	; 0
+    5764:	ab 85       	ldd	r26, Y+11	; 0x0b
+    5766:	bc 85       	ldd	r27, Y+12	; 0x0c
+    5768:	ed 93       	st	X+, r30
+    576a:	fc 93       	st	X, r31
+    576c:	d3 01       	movw	r26, r6
+    576e:	11 96       	adiw	r26, 0x01	; 1
+    5770:	3c 93       	st	X, r19
+    5772:	2e 93       	st	-X, r18
+    5774:	8f cf       	rjmp	.-226    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    5776:	43 30       	cpi	r20, 0x03	; 3
+    5778:	51 05       	cpc	r21, r1
+    577a:	89 f4       	brne	.+34     	; 0x579e <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x236>
+    577c:	32 2f       	mov	r19, r18
+    577e:	22 27       	eor	r18, r18
+    5780:	f4 01       	movw	r30, r8
+    5782:	80 81       	ld	r24, Z
+    5784:	91 81       	ldd	r25, Z+1	; 0x01
+    5786:	28 0f       	add	r18, r24
+    5788:	39 1f       	adc	r19, r25
+    578a:	31 83       	std	Z+1, r19	; 0x01
+    578c:	20 83       	st	Z, r18
+    578e:	e4 e0       	ldi	r30, 0x04	; 4
+    5790:	f0 e0       	ldi	r31, 0x00	; 0
+    5792:	ab 85       	ldd	r26, Y+11	; 0x0b
+    5794:	bc 85       	ldd	r27, Y+12	; 0x0c
+    5796:	11 96       	adiw	r26, 0x01	; 1
+    5798:	fc 93       	st	X, r31
+    579a:	ee 93       	st	-X, r30
+    579c:	7b cf       	rjmp	.-266    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    579e:	44 30       	cpi	r20, 0x04	; 4
+    57a0:	51 05       	cpc	r21, r1
+    57a2:	51 f4       	brne	.+20     	; 0x57b8 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x250>
+    57a4:	d5 01       	movw	r26, r10
+    57a6:	11 96       	adiw	r26, 0x01	; 1
+    57a8:	3c 93       	st	X, r19
+    57aa:	2e 93       	st	-X, r18
+    57ac:	f1 01       	movw	r30, r2
+    57ae:	11 82       	std	Z+1, r1	; 0x01
+    57b0:	10 82       	st	Z, r1
+    57b2:	e5 e0       	ldi	r30, 0x05	; 5
+    57b4:	f0 e0       	ldi	r31, 0x00	; 0
+    57b6:	ed cf       	rjmp	.-38     	; 0x5792 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x22a>
+    57b8:	45 30       	cpi	r20, 0x05	; 5
+    57ba:	51 05       	cpc	r21, r1
+    57bc:	d1 f4       	brne	.+52     	; 0x57f2 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x28a>
+    57be:	32 2f       	mov	r19, r18
+    57c0:	22 27       	eor	r18, r18
+    57c2:	d5 01       	movw	r26, r10
+    57c4:	8d 91       	ld	r24, X+
+    57c6:	9c 91       	ld	r25, X
+    57c8:	11 97       	sbiw	r26, 0x01	; 1
+    57ca:	28 0f       	add	r18, r24
+    57cc:	39 1f       	adc	r19, r25
+    57ce:	11 96       	adiw	r26, 0x01	; 1
+    57d0:	3c 93       	st	X, r19
+    57d2:	2e 93       	st	-X, r18
+    57d4:	46 e0       	ldi	r20, 0x06	; 6
+    57d6:	50 e0       	ldi	r21, 0x00	; 0
+    57d8:	eb 85       	ldd	r30, Y+11	; 0x0b
+    57da:	fc 85       	ldd	r31, Y+12	; 0x0c
+    57dc:	51 83       	std	Z+1, r21	; 0x01
+    57de:	40 83       	st	Z, r20
+    57e0:	21 15       	cp	r18, r1
+    57e2:	31 05       	cpc	r19, r1
+    57e4:	09 f0       	breq	.+2      	; 0x57e8 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x280>
+    57e6:	56 cf       	rjmp	.-340    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    57e8:	87 e0       	ldi	r24, 0x07	; 7
+    57ea:	90 e0       	ldi	r25, 0x00	; 0
+    57ec:	91 83       	std	Z+1, r25	; 0x01
+    57ee:	80 83       	st	Z, r24
+    57f0:	51 cf       	rjmp	.-350    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    57f2:	47 30       	cpi	r20, 0x07	; 7
+    57f4:	51 05       	cpc	r21, r1
+    57f6:	09 f0       	breq	.+2      	; 0x57fa <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x292>
+    57f8:	4d cf       	rjmp	.-358    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    57fa:	ab 85       	ldd	r26, Y+11	; 0x0b
+    57fc:	bc 85       	ldd	r27, Y+12	; 0x0c
+    57fe:	11 96       	adiw	r26, 0x01	; 1
+    5800:	1c 92       	st	X, r1
+    5802:	1e 92       	st	-X, r1
+    5804:	60 e0       	ldi	r22, 0x00	; 0
+    5806:	71 e0       	ldi	r23, 0x01	; 1
+    5808:	0e 94 51 41 	call	0x82a2	; 0x82a2 <__divmodhi4>
+    580c:	8f 3f       	cpi	r24, 0xFF	; 255
+    580e:	91 05       	cpc	r25, r1
+    5810:	09 f0       	breq	.+2      	; 0x5814 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x2ac>
+    5812:	40 cf       	rjmp	.-384    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    5814:	d4 01       	movw	r26, r8
+    5816:	ed 91       	ld	r30, X+
+    5818:	fc 91       	ld	r31, X
+    581a:	11 97       	sbiw	r26, 0x01	; 1
+    581c:	30 97       	sbiw	r30, 0x00	; 0
+    581e:	e1 f4       	brne	.+56     	; 0x5858 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x2f0>
+    5820:	1c 87       	std	Y+12, r17	; 0x0c
+    5822:	0b 87       	std	Y+11, r16	; 0x0b
+    5824:	c8 01       	movw	r24, r16
+    5826:	0e 94 c2 28 	call	0x5184	; 0x5184 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15requestSyncTimeEv>
+    582a:	8b 85       	ldd	r24, Y+11	; 0x0b
+    582c:	9c 85       	ldd	r25, Y+12	; 0x0c
+    582e:	0e 94 fa 28 	call	0x51f4	; 0x51f4 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv>
+    5832:	eb 85       	ldd	r30, Y+11	; 0x0b
+    5834:	fc 85       	ldd	r31, Y+12	; 0x0c
+    5836:	ed 57       	subi	r30, 0x7D	; 125
+    5838:	fb 4f       	sbci	r31, 0xFB	; 251
+    583a:	c0 82       	st	Z, r12
+    583c:	d1 82       	std	Z+1, r13	; 0x01
+    583e:	e2 82       	std	Z+2, r14	; 0x02
+    5840:	f3 82       	std	Z+3, r15	; 0x03
+    5842:	eb 85       	ldd	r30, Y+11	; 0x0b
+    5844:	fc 85       	ldd	r31, Y+12	; 0x0c
+    5846:	e9 57       	subi	r30, 0x79	; 121
+    5848:	fb 4f       	sbci	r31, 0xFB	; 251
+    584a:	c0 82       	st	Z, r12
+    584c:	d1 82       	std	Z+1, r13	; 0x01
+    584e:	e2 82       	std	Z+2, r14	; 0x02
+    5850:	f3 82       	std	Z+3, r15	; 0x03
+    5852:	2f ef       	ldi	r18, 0xFF	; 255
+    5854:	3f ef       	ldi	r19, 0xFF	; 255
+    5856:	54 c0       	rjmp	.+168    	; 0x5900 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x398>
+    5858:	ea 30       	cpi	r30, 0x0A	; 10
+    585a:	f1 05       	cpc	r31, r1
+    585c:	29 f4       	brne	.+10     	; 0x5868 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x300>
+    585e:	c8 01       	movw	r24, r16
+    5860:	b2 01       	movw	r22, r4
+    5862:	0e 94 36 2a 	call	0x546c	; 0x546c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8syncTimeEPh>
+    5866:	16 cf       	rjmp	.-468    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    5868:	e6 30       	cpi	r30, 0x06	; 6
+    586a:	f1 05       	cpc	r31, r1
+    586c:	51 f4       	brne	.+20     	; 0x5882 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x31a>
+    586e:	89 81       	ldd	r24, Y+1	; 0x01
+    5870:	9a 81       	ldd	r25, Y+2	; 0x02
+    5872:	b2 01       	movw	r22, r4
+    5874:	0e 94 eb 16 	call	0x2dd6	; 0x2dd6 <_ZN14rosserial_msgs20RequestParamResponse11deserializeEPh>
+    5878:	21 e0       	ldi	r18, 0x01	; 1
+    587a:	eb 81       	ldd	r30, Y+3	; 0x03
+    587c:	fc 81       	ldd	r31, Y+4	; 0x04
+    587e:	20 83       	st	Z, r18
+    5880:	09 cf       	rjmp	.-494    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    5882:	e1 54       	subi	r30, 0x41	; 65
+    5884:	fe 4f       	sbci	r31, 0xFE	; 254
+    5886:	ee 0f       	add	r30, r30
+    5888:	ff 1f       	adc	r31, r31
+    588a:	e0 0f       	add	r30, r16
+    588c:	f1 1f       	adc	r31, r17
+    588e:	80 81       	ld	r24, Z
+    5890:	91 81       	ldd	r25, Z+1	; 0x01
+    5892:	00 97       	sbiw	r24, 0x00	; 0
+    5894:	09 f4       	brne	.+2      	; 0x5898 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x330>
+    5896:	fe ce       	rjmp	.-516    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    5898:	dc 01       	movw	r26, r24
+    589a:	ed 91       	ld	r30, X+
+    589c:	fc 91       	ld	r31, X
+    589e:	01 90       	ld	r0, Z+
+    58a0:	f0 81       	ld	r31, Z
+    58a2:	e0 2d       	mov	r30, r0
+    58a4:	b2 01       	movw	r22, r4
+    58a6:	19 95       	eicall
+    58a8:	f5 ce       	rjmp	.-534    	; 0x5694 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x12c>
+    58aa:	1c 87       	std	Y+12, r17	; 0x0c
+    58ac:	0b 87       	std	Y+11, r16	; 0x0b
+    58ae:	f8 01       	movw	r30, r16
+    58b0:	ee 57       	subi	r30, 0x7E	; 126
+    58b2:	fb 4f       	sbci	r31, 0xFB	; 251
+    58b4:	80 81       	ld	r24, Z
+    58b6:	88 23       	and	r24, r24
+    58b8:	09 f1       	breq	.+66     	; 0x58fc <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x394>
+    58ba:	0d 57       	subi	r16, 0x7D	; 125
+    58bc:	1b 4f       	sbci	r17, 0xFB	; 251
+    58be:	f8 01       	movw	r30, r16
+    58c0:	80 81       	ld	r24, Z
+    58c2:	91 81       	ldd	r25, Z+1	; 0x01
+    58c4:	a2 81       	ldd	r26, Z+2	; 0x02
+    58c6:	b3 81       	ldd	r27, Z+3	; 0x03
+    58c8:	a7 01       	movw	r20, r14
+    58ca:	96 01       	movw	r18, r12
+    58cc:	28 1b       	sub	r18, r24
+    58ce:	39 0b       	sbc	r19, r25
+    58d0:	4a 0b       	sbc	r20, r26
+    58d2:	5b 0b       	sbc	r21, r27
+    58d4:	da 01       	movw	r26, r20
+    58d6:	c9 01       	movw	r24, r18
+    58d8:	85 3c       	cpi	r24, 0xC5	; 197
+    58da:	39 e0       	ldi	r19, 0x09	; 9
+    58dc:	93 07       	cpc	r25, r19
+    58de:	30 e0       	ldi	r19, 0x00	; 0
+    58e0:	a3 07       	cpc	r26, r19
+    58e2:	30 e0       	ldi	r19, 0x00	; 0
+    58e4:	b3 07       	cpc	r27, r19
+    58e6:	50 f0       	brcs	.+20     	; 0x58fc <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv+0x394>
+    58e8:	8b 85       	ldd	r24, Y+11	; 0x0b
+    58ea:	9c 85       	ldd	r25, Y+12	; 0x0c
+    58ec:	0e 94 c2 28 	call	0x5184	; 0x5184 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15requestSyncTimeEv>
+    58f0:	d8 01       	movw	r26, r16
+    58f2:	cd 92       	st	X+, r12
+    58f4:	dd 92       	st	X+, r13
+    58f6:	ed 92       	st	X+, r14
+    58f8:	fc 92       	st	X, r15
+    58fa:	13 97       	sbiw	r26, 0x03	; 3
+    58fc:	20 e0       	ldi	r18, 0x00	; 0
+    58fe:	30 e0       	ldi	r19, 0x00	; 0
+    5900:	c9 01       	movw	r24, r18
+    5902:	2c 96       	adiw	r28, 0x0c	; 12
+    5904:	0f b6       	in	r0, 0x3f	; 63
+    5906:	f8 94       	cli
+    5908:	de bf       	out	0x3e, r29	; 62
+    590a:	0f be       	out	0x3f, r0	; 63
+    590c:	cd bf       	out	0x3d, r28	; 61
+    590e:	cf 91       	pop	r28
+    5910:	df 91       	pop	r29
+    5912:	1f 91       	pop	r17
+    5914:	0f 91       	pop	r16
+    5916:	ff 90       	pop	r15
+    5918:	ef 90       	pop	r14
+    591a:	df 90       	pop	r13
+    591c:	cf 90       	pop	r12
+    591e:	bf 90       	pop	r11
+    5920:	af 90       	pop	r10
+    5922:	9f 90       	pop	r9
+    5924:	8f 90       	pop	r8
+    5926:	7f 90       	pop	r7
+    5928:	6f 90       	pop	r6
+    592a:	5f 90       	pop	r5
+    592c:	4f 90       	pop	r4
+    592e:	3f 90       	pop	r3
+    5930:	2f 90       	pop	r2
+    5932:	08 95       	ret
+
+00005934 <main>:
+    5934:	2f 92       	push	r2
+    5936:	3f 92       	push	r3
+    5938:	4f 92       	push	r4
+    593a:	5f 92       	push	r5
+    593c:	6f 92       	push	r6
+    593e:	7f 92       	push	r7
+    5940:	8f 92       	push	r8
+    5942:	9f 92       	push	r9
+    5944:	af 92       	push	r10
+    5946:	bf 92       	push	r11
+    5948:	cf 92       	push	r12
+    594a:	df 92       	push	r13
+    594c:	ef 92       	push	r14
+    594e:	ff 92       	push	r15
+    5950:	0f 93       	push	r16
+    5952:	1f 93       	push	r17
+    5954:	df 93       	push	r29
+    5956:	cf 93       	push	r28
+    5958:	0f 92       	push	r0
+    595a:	0f 92       	push	r0
+    595c:	cd b7       	in	r28, 0x3d	; 61
+    595e:	de b7       	in	r29, 0x3e	; 62
+    5960:	0e 94 f4 34 	call	0x69e8	; 0x69e8 <init>
+    5964:	0e 94 00 1d 	call	0x3a00	; 0x3a00 <_ZN3IMU7initIMUEv>
+    5968:	80 e9       	ldi	r24, 0x90	; 144
+    596a:	90 ed       	ldi	r25, 0xD0	; 208
+    596c:	a3 e0       	ldi	r26, 0x03	; 3
+    596e:	b0 e0       	ldi	r27, 0x00	; 0
+    5970:	80 93 14 08 	sts	0x0814, r24
+    5974:	90 93 15 08 	sts	0x0815, r25
+    5978:	a0 93 16 08 	sts	0x0816, r26
+    597c:	b0 93 17 08 	sts	0x0817, r27
+    5980:	82 e1       	ldi	r24, 0x12	; 18
+    5982:	98 e0       	ldi	r25, 0x08	; 8
+    5984:	0e 94 e0 19 	call	0x33c0	; 0x33c0 <_ZN15ArduinoHardware4initEv>
+    5988:	10 92 89 0c 	sts	0x0C89, r1
+    598c:	10 92 88 0c 	sts	0x0C88, r1
+    5990:	10 92 8b 0c 	sts	0x0C8B, r1
+    5994:	10 92 8a 0c 	sts	0x0C8A, r1
+    5998:	10 92 8f 0c 	sts	0x0C8F, r1
+    599c:	10 92 8e 0c 	sts	0x0C8E, r1
+    59a0:	10 92 8d 0c 	sts	0x0C8D, r1
+    59a4:	10 92 8c 0c 	sts	0x0C8C, r1
+    59a8:	80 e1       	ldi	r24, 0x10	; 16
+    59aa:	98 e0       	ldi	r25, 0x08	; 8
+    59ac:	69 eb       	ldi	r22, 0xB9	; 185
+    59ae:	7c e0       	ldi	r23, 0x0C	; 12
+    59b0:	0e 94 38 28 	call	0x5070	; 0x5070 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>
+    59b4:	80 e1       	ldi	r24, 0x10	; 16
+    59b6:	98 e0       	ldi	r25, 0x08	; 8
+    59b8:	65 ef       	ldi	r22, 0xF5	; 245
+    59ba:	7c e0       	ldi	r23, 0x0C	; 12
+    59bc:	0e 94 38 28 	call	0x5070	; 0x5070 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>
+    59c0:	80 e1       	ldi	r24, 0x10	; 16
+    59c2:	98 e0       	ldi	r25, 0x08	; 8
+    59c4:	69 e1       	ldi	r22, 0x19	; 25
+    59c6:	7d e0       	ldi	r23, 0x0D	; 13
+    59c8:	0e 94 38 28 	call	0x5070	; 0x5070 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>
+    59cc:	80 e1       	ldi	r24, 0x10	; 16
+    59ce:	98 e0       	ldi	r25, 0x08	; 8
+    59d0:	6d e5       	ldi	r22, 0x5D	; 93
+    59d2:	7d e0       	ldi	r23, 0x0D	; 13
+    59d4:	0e 94 38 28 	call	0x5070	; 0x5070 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>
+    59d8:	82 e0       	ldi	r24, 0x02	; 2
+    59da:	90 e0       	ldi	r25, 0x00	; 0
+    59dc:	0e 94 7e 3b 	call	0x76fc	; 0x76fc <malloc>
+    59e0:	80 93 80 0d 	sts	0x0D80, r24
+    59e4:	90 93 81 0d 	sts	0x0D81, r25
+    59e8:	82 e0       	ldi	r24, 0x02	; 2
+    59ea:	80 93 7e 0d 	sts	0x0D7E, r24
+    59ee:	80 e1       	ldi	r24, 0x10	; 16
+    59f0:	98 e0       	ldi	r25, 0x08	; 8
+    59f2:	62 e8       	ldi	r22, 0x82	; 130
+    59f4:	7d e0       	ldi	r23, 0x0D	; 13
+    59f6:	0e 94 38 28 	call	0x5070	; 0x5070 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE>
+    59fa:	80 e1       	ldi	r24, 0x10	; 16
+    59fc:	98 e0       	ldi	r25, 0x08	; 8
+    59fe:	69 eb       	ldi	r22, 0xB9	; 185
+    5a00:	7d e0       	ldi	r23, 0x0D	; 13
+    5a02:	0e 94 5f 28 	call	0x50be	; 0x50be <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover7EnabledEEEbRNS_10SubscriberIT_EE>
+    5a06:	80 e1       	ldi	r24, 0x10	; 16
+    5a08:	98 e0       	ldi	r25, 0x08	; 8
+    5a0a:	65 e9       	ldi	r22, 0x95	; 149
+    5a0c:	7d e0       	ldi	r23, 0x0D	; 13
+    5a0e:	0e 94 80 28 	call	0x5100	; 0x5100 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover6MotorsEEEbRNS_10SubscriberIT_EE>
+    5a12:	80 e1       	ldi	r24, 0x10	; 16
+    5a14:	98 e0       	ldi	r25, 0x08	; 8
+    5a16:	67 ec       	ldi	r22, 0xC7	; 199
+    5a18:	7d e0       	ldi	r23, 0x0D	; 13
+    5a1a:	0e 94 a1 28 	call	0x5142	; 0x5142 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN8std_msgs15UInt8MultiArrayEEEbRNS_10SubscriberIT_EE>
+    5a1e:	e1 2c       	mov	r14, r1
+    5a20:	f1 2c       	mov	r15, r1
+    5a22:	71 e0       	ldi	r23, 0x01	; 1
+    5a24:	07 2f       	mov	r16, r23
+    5a26:	11 2d       	mov	r17, r1
+    5a28:	e0 92 d8 07 	sts	0x07D8, r14
+    5a2c:	f0 92 d9 07 	sts	0x07D9, r15
+    5a30:	00 93 da 07 	sts	0x07DA, r16
+    5a34:	10 93 db 07 	sts	0x07DB, r17
+    5a38:	20 e0       	ldi	r18, 0x00	; 0
+    5a3a:	30 e8       	ldi	r19, 0x80	; 128
+    5a3c:	40 e0       	ldi	r20, 0x00	; 0
+    5a3e:	50 e0       	ldi	r21, 0x00	; 0
+    5a40:	20 93 dc 07 	sts	0x07DC, r18
+    5a44:	30 93 dd 07 	sts	0x07DD, r19
+    5a48:	40 93 de 07 	sts	0x07DE, r20
+    5a4c:	50 93 df 07 	sts	0x07DF, r21
+    5a50:	80 e0       	ldi	r24, 0x00	; 0
+    5a52:	90 e4       	ldi	r25, 0x40	; 64
+    5a54:	a0 e0       	ldi	r26, 0x00	; 0
+    5a56:	b0 e0       	ldi	r27, 0x00	; 0
+    5a58:	80 93 e0 07 	sts	0x07E0, r24
+    5a5c:	90 93 e1 07 	sts	0x07E1, r25
+    5a60:	a0 93 e2 07 	sts	0x07E2, r26
+    5a64:	b0 93 e3 07 	sts	0x07E3, r27
+    5a68:	0f 2e       	mov	r0, r31
+    5a6a:	f3 e2       	ldi	r31, 0x23	; 35
+    5a6c:	af 2e       	mov	r10, r31
+    5a6e:	f9 e4       	ldi	r31, 0x49	; 73
+    5a70:	bf 2e       	mov	r11, r31
+    5a72:	f7 ef       	ldi	r31, 0xF7	; 247
+    5a74:	cf 2e       	mov	r12, r31
+    5a76:	f8 e3       	ldi	r31, 0x38	; 56
+    5a78:	df 2e       	mov	r13, r31
+    5a7a:	f0 2d       	mov	r31, r0
+    5a7c:	a0 92 e4 07 	sts	0x07E4, r10
+    5a80:	b0 92 e5 07 	sts	0x07E5, r11
+    5a84:	c0 92 e6 07 	sts	0x07E6, r12
+    5a88:	d0 92 e7 07 	sts	0x07E7, r13
+    5a8c:	e0 92 f0 07 	sts	0x07F0, r14
+    5a90:	f0 92 f1 07 	sts	0x07F1, r15
+    5a94:	00 93 f2 07 	sts	0x07F2, r16
+    5a98:	10 93 f3 07 	sts	0x07F3, r17
+    5a9c:	20 93 f4 07 	sts	0x07F4, r18
+    5aa0:	30 93 f5 07 	sts	0x07F5, r19
+    5aa4:	40 93 f6 07 	sts	0x07F6, r20
+    5aa8:	50 93 f7 07 	sts	0x07F7, r21
+    5aac:	80 93 f8 07 	sts	0x07F8, r24
+    5ab0:	90 93 f9 07 	sts	0x07F9, r25
+    5ab4:	a0 93 fa 07 	sts	0x07FA, r26
+    5ab8:	b0 93 fb 07 	sts	0x07FB, r27
+    5abc:	a0 92 fc 07 	sts	0x07FC, r10
+    5ac0:	b0 92 fd 07 	sts	0x07FD, r11
+    5ac4:	c0 92 fe 07 	sts	0x07FE, r12
+    5ac8:	d0 92 ff 07 	sts	0x07FF, r13
+    5acc:	0d ec       	ldi	r16, 0xCD	; 205
+    5ace:	17 e0       	ldi	r17, 0x07	; 7
+    5ad0:	c8 01       	movw	r24, r16
+    5ad2:	60 e0       	ldi	r22, 0x00	; 0
+    5ad4:	70 e0       	ldi	r23, 0x00	; 0
+    5ad6:	4a e0       	ldi	r20, 0x0A	; 10
+    5ad8:	2b e0       	ldi	r18, 0x0B	; 11
+    5ada:	0e 94 0b 05 	call	0xa16	; 0xa16 <_ZN7Battery3setEP10CD74HC4067hh>
+    5ade:	f8 01       	movw	r30, r16
+    5ae0:	13 ae       	std	Z+59, r1	; 0x3b
+    5ae2:	8d e0       	ldi	r24, 0x0D	; 13
+    5ae4:	61 e0       	ldi	r22, 0x01	; 1
+    5ae6:	0e 94 89 35 	call	0x6b12	; 0x6b12 <pinMode>
+    5aea:	89 e0       	ldi	r24, 0x09	; 9
+    5aec:	98 e0       	ldi	r25, 0x08	; 8
+    5aee:	60 e8       	ldi	r22, 0x80	; 128
+    5af0:	40 e0       	ldi	r20, 0x00	; 0
+    5af2:	50 e0       	ldi	r21, 0x00	; 0
+    5af4:	20 e0       	ldi	r18, 0x00	; 0
+    5af6:	30 e0       	ldi	r19, 0x00	; 0
+    5af8:	0e 94 e0 06 	call	0xdc0	; 0xdc0 <_ZN8RoboClaw8DutyM1M2Ehjj>
+    5afc:	89 e0       	ldi	r24, 0x09	; 9
+    5afe:	98 e0       	ldi	r25, 0x08	; 8
+    5b00:	60 e8       	ldi	r22, 0x80	; 128
+    5b02:	40 e0       	ldi	r20, 0x00	; 0
+    5b04:	0e 94 f4 05 	call	0xbe8	; 0xbe8 <_ZN8RoboClaw25SetMinVoltageLogicBatteryEhh>
+    5b08:	89 e0       	ldi	r24, 0x09	; 9
+    5b0a:	98 e0       	ldi	r25, 0x08	; 8
+    5b0c:	60 e8       	ldi	r22, 0x80	; 128
+    5b0e:	40 e0       	ldi	r20, 0x00	; 0
+    5b10:	0e 94 cc 05 	call	0xb98	; 0xb98 <_ZN8RoboClaw24SetMinVoltageMainBatteryEhh>
+    5b14:	00 d0       	rcall	.+0      	; 0x5b16 <main+0x1e2>
+    5b16:	0f 92       	push	r0
+    5b18:	20 91 e0 07 	lds	r18, 0x07E0
+    5b1c:	30 91 e1 07 	lds	r19, 0x07E1
+    5b20:	40 91 e2 07 	lds	r20, 0x07E2
+    5b24:	50 91 e3 07 	lds	r21, 0x07E3
+    5b28:	e0 90 d8 07 	lds	r14, 0x07D8
+    5b2c:	f0 90 d9 07 	lds	r15, 0x07D9
+    5b30:	00 91 da 07 	lds	r16, 0x07DA
+    5b34:	10 91 db 07 	lds	r17, 0x07DB
+    5b38:	a0 90 dc 07 	lds	r10, 0x07DC
+    5b3c:	b0 90 dd 07 	lds	r11, 0x07DD
+    5b40:	c0 90 de 07 	lds	r12, 0x07DE
+    5b44:	d0 90 df 07 	lds	r13, 0x07DF
+    5b48:	66 e8       	ldi	r22, 0x86	; 134
+    5b4a:	66 2e       	mov	r6, r22
+    5b4c:	64 e2       	ldi	r22, 0x24	; 36
+    5b4e:	76 2e       	mov	r7, r22
+    5b50:	81 2c       	mov	r8, r1
+    5b52:	91 2c       	mov	r9, r1
+    5b54:	ed b7       	in	r30, 0x3d	; 61
+    5b56:	fe b7       	in	r31, 0x3e	; 62
+    5b58:	61 82       	std	Z+1, r6	; 0x01
+    5b5a:	72 82       	std	Z+2, r7	; 0x02
+    5b5c:	83 82       	std	Z+3, r8	; 0x03
+    5b5e:	94 82       	std	Z+4, r9	; 0x04
+    5b60:	89 e0       	ldi	r24, 0x09	; 9
+    5b62:	98 e0       	ldi	r25, 0x08	; 8
+    5b64:	60 e8       	ldi	r22, 0x80	; 128
+    5b66:	0e 94 1c 06 	call	0xc38	; 0xc38 <_ZN8RoboClaw14SetM1ConstantsEhmmmm>
+    5b6a:	20 91 f8 07 	lds	r18, 0x07F8
+    5b6e:	30 91 f9 07 	lds	r19, 0x07F9
+    5b72:	40 91 fa 07 	lds	r20, 0x07FA
+    5b76:	50 91 fb 07 	lds	r21, 0x07FB
+    5b7a:	e0 90 f0 07 	lds	r14, 0x07F0
+    5b7e:	f0 90 f1 07 	lds	r15, 0x07F1
+    5b82:	00 91 f2 07 	lds	r16, 0x07F2
+    5b86:	10 91 f3 07 	lds	r17, 0x07F3
+    5b8a:	a0 90 f4 07 	lds	r10, 0x07F4
+    5b8e:	b0 90 f5 07 	lds	r11, 0x07F5
+    5b92:	c0 90 f6 07 	lds	r12, 0x07F6
+    5b96:	d0 90 f7 07 	lds	r13, 0x07F7
+    5b9a:	ed b7       	in	r30, 0x3d	; 61
+    5b9c:	fe b7       	in	r31, 0x3e	; 62
+    5b9e:	61 82       	std	Z+1, r6	; 0x01
+    5ba0:	72 82       	std	Z+2, r7	; 0x02
+    5ba2:	83 82       	std	Z+3, r8	; 0x03
+    5ba4:	94 82       	std	Z+4, r9	; 0x04
+    5ba6:	89 e0       	ldi	r24, 0x09	; 9
+    5ba8:	98 e0       	ldi	r25, 0x08	; 8
+    5baa:	60 e8       	ldi	r22, 0x80	; 128
+    5bac:	0e 94 7e 06 	call	0xcfc	; 0xcfc <_ZN8RoboClaw14SetM2ConstantsEhmmmm>
+    5bb0:	0f 90       	pop	r0
+    5bb2:	0f 90       	pop	r0
+    5bb4:	0f 90       	pop	r0
+    5bb6:	0f 90       	pop	r0
+    5bb8:	36 e8       	ldi	r19, 0x86	; 134
+    5bba:	23 2e       	mov	r2, r19
+    5bbc:	34 e2       	ldi	r19, 0x24	; 36
+    5bbe:	33 2e       	mov	r3, r19
+    5bc0:	41 2c       	mov	r4, r1
+    5bc2:	51 2c       	mov	r5, r1
+    5bc4:	22 e0       	ldi	r18, 0x02	; 2
+    5bc6:	62 2e       	mov	r6, r18
+    5bc8:	71 2c       	mov	r7, r1
+    5bca:	6c 0e       	add	r6, r28
+    5bcc:	7d 1e       	adc	r7, r29
+    5bce:	4e 01       	movw	r8, r28
+    5bd0:	08 94       	sec
+    5bd2:	81 1c       	adc	r8, r1
+    5bd4:	91 1c       	adc	r9, r1
+    5bd6:	0e 94 99 34 	call	0x6932	; 0x6932 <millis>
+    5bda:	60 93 c9 07 	sts	0x07C9, r22
+    5bde:	70 93 ca 07 	sts	0x07CA, r23
+    5be2:	80 93 cb 07 	sts	0x07CB, r24
+    5be6:	90 93 cc 07 	sts	0x07CC, r25
+    5bea:	0e 94 bd 23 	call	0x477a	; 0x477a <_ZN3IMU9updateIMUEv>
+    5bee:	80 91 08 08 	lds	r24, 0x0808
+    5bf2:	88 23       	and	r24, r24
+    5bf4:	09 f4       	brne	.+2      	; 0x5bf8 <main+0x2c4>
+    5bf6:	64 c0       	rjmp	.+200    	; 0x5cc0 <main+0x38c>
+    5bf8:	8b e0       	ldi	r24, 0x0B	; 11
+    5bfa:	98 e0       	ldi	r25, 0x08	; 8
+    5bfc:	0e 94 a9 09 	call	0x1352	; 0x1352 <_ZN17StrongDriveOutput3getEv>
+    5c00:	88 23       	and	r24, r24
+    5c02:	09 f0       	breq	.+2      	; 0x5c06 <main+0x2d2>
+    5c04:	6a c0       	rjmp	.+212    	; 0x5cda <main+0x3a6>
+    5c06:	8b e0       	ldi	r24, 0x0B	; 11
+    5c08:	98 e0       	ldi	r25, 0x08	; 8
+    5c0a:	0e 94 67 09 	call	0x12ce	; 0x12ce <_ZN17StrongDriveOutput2onEv>
     5c0e:	89 e0       	ldi	r24, 0x09	; 9
     5c10:	98 e0       	ldi	r25, 0x08	; 8
     5c12:	60 e8       	ldi	r22, 0x80	; 128
-    5c14:	0e 94 1c 06 	call	0xc38	; 0xc38 <_ZN8RoboClaw14SetM1ConstantsEhmmmm>
-    5c18:	20 91 f8 07 	lds	r18, 0x07F8
-    5c1c:	30 91 f9 07 	lds	r19, 0x07F9
-    5c20:	40 91 fa 07 	lds	r20, 0x07FA
-    5c24:	50 91 fb 07 	lds	r21, 0x07FB
-    5c28:	e0 90 f0 07 	lds	r14, 0x07F0
-    5c2c:	f0 90 f1 07 	lds	r15, 0x07F1
-    5c30:	00 91 f2 07 	lds	r16, 0x07F2
-    5c34:	10 91 f3 07 	lds	r17, 0x07F3
-    5c38:	a0 90 f4 07 	lds	r10, 0x07F4
-    5c3c:	b0 90 f5 07 	lds	r11, 0x07F5
-    5c40:	c0 90 f6 07 	lds	r12, 0x07F6
-    5c44:	d0 90 f7 07 	lds	r13, 0x07F7
-    5c48:	ed b7       	in	r30, 0x3d	; 61
-    5c4a:	fe b7       	in	r31, 0x3e	; 62
-    5c4c:	61 82       	std	Z+1, r6	; 0x01
-    5c4e:	72 82       	std	Z+2, r7	; 0x02
-    5c50:	83 82       	std	Z+3, r8	; 0x03
-    5c52:	94 82       	std	Z+4, r9	; 0x04
-    5c54:	89 e0       	ldi	r24, 0x09	; 9
-    5c56:	98 e0       	ldi	r25, 0x08	; 8
-    5c58:	60 e8       	ldi	r22, 0x80	; 128
-    5c5a:	0e 94 7e 06 	call	0xcfc	; 0xcfc <_ZN8RoboClaw14SetM2ConstantsEhmmmm>
-    5c5e:	0f 90       	pop	r0
-    5c60:	0f 90       	pop	r0
-    5c62:	0f 90       	pop	r0
-    5c64:	0f 90       	pop	r0
-    5c66:	36 e8       	ldi	r19, 0x86	; 134
-    5c68:	23 2e       	mov	r2, r19
-    5c6a:	34 e2       	ldi	r19, 0x24	; 36
-    5c6c:	33 2e       	mov	r3, r19
-    5c6e:	41 2c       	mov	r4, r1
-    5c70:	51 2c       	mov	r5, r1
-    5c72:	22 e0       	ldi	r18, 0x02	; 2
-    5c74:	62 2e       	mov	r6, r18
-    5c76:	71 2c       	mov	r7, r1
-    5c78:	6c 0e       	add	r6, r28
-    5c7a:	7d 1e       	adc	r7, r29
-    5c7c:	4e 01       	movw	r8, r28
-    5c7e:	08 94       	sec
-    5c80:	81 1c       	adc	r8, r1
-    5c82:	91 1c       	adc	r9, r1
-    5c84:	0e 94 9c 35 	call	0x6b38	; 0x6b38 <millis>
-    5c88:	60 93 c9 07 	sts	0x07C9, r22
-    5c8c:	70 93 ca 07 	sts	0x07CA, r23
-    5c90:	80 93 cb 07 	sts	0x07CB, r24
-    5c94:	90 93 cc 07 	sts	0x07CC, r25
-    5c98:	0e 94 1d 24 	call	0x483a	; 0x483a <_ZN3IMU9updateIMUEv>
-    5c9c:	88 23       	and	r24, r24
-    5c9e:	11 f0       	breq	.+4      	; 0x5ca4 <main+0x2b0>
-    5ca0:	0e 94 f5 1d 	call	0x3bea	; 0x3bea <_ZN3IMU9printdataEv>
-    5ca4:	80 91 08 08 	lds	r24, 0x0808
-    5ca8:	88 23       	and	r24, r24
-    5caa:	09 f4       	brne	.+2      	; 0x5cae <main+0x2ba>
-    5cac:	6d c0       	rjmp	.+218    	; 0x5d88 <main+0x394>
-    5cae:	8b e0       	ldi	r24, 0x0B	; 11
-    5cb0:	98 e0       	ldi	r25, 0x08	; 8
-    5cb2:	0e 94 a9 09 	call	0x1352	; 0x1352 <_ZN17StrongDriveOutput3getEv>
-    5cb6:	88 23       	and	r24, r24
-    5cb8:	09 f0       	breq	.+2      	; 0x5cbc <main+0x2c8>
-    5cba:	6a c0       	rjmp	.+212    	; 0x5d90 <main+0x39c>
-    5cbc:	8b e0       	ldi	r24, 0x0B	; 11
-    5cbe:	98 e0       	ldi	r25, 0x08	; 8
-    5cc0:	0e 94 67 09 	call	0x12ce	; 0x12ce <_ZN17StrongDriveOutput2onEv>
-    5cc4:	89 e0       	ldi	r24, 0x09	; 9
-    5cc6:	98 e0       	ldi	r25, 0x08	; 8
-    5cc8:	60 e8       	ldi	r22, 0x80	; 128
-    5cca:	40 e0       	ldi	r20, 0x00	; 0
-    5ccc:	50 e0       	ldi	r21, 0x00	; 0
-    5cce:	20 e0       	ldi	r18, 0x00	; 0
-    5cd0:	30 e0       	ldi	r19, 0x00	; 0
-    5cd2:	0e 94 e0 06 	call	0xdc0	; 0xdc0 <_ZN8RoboClaw8DutyM1M2Ehjj>
-    5cd6:	89 e0       	ldi	r24, 0x09	; 9
-    5cd8:	98 e0       	ldi	r25, 0x08	; 8
-    5cda:	60 e8       	ldi	r22, 0x80	; 128
-    5cdc:	40 e0       	ldi	r20, 0x00	; 0
-    5cde:	0e 94 f4 05 	call	0xbe8	; 0xbe8 <_ZN8RoboClaw25SetMinVoltageLogicBatteryEhh>
-    5ce2:	89 e0       	ldi	r24, 0x09	; 9
-    5ce4:	98 e0       	ldi	r25, 0x08	; 8
-    5ce6:	60 e8       	ldi	r22, 0x80	; 128
-    5ce8:	40 e0       	ldi	r20, 0x00	; 0
-    5cea:	0e 94 cc 05 	call	0xb98	; 0xb98 <_ZN8RoboClaw24SetMinVoltageMainBatteryEhh>
-    5cee:	00 d0       	rcall	.+0      	; 0x5cf0 <main+0x2fc>
-    5cf0:	0f 92       	push	r0
-    5cf2:	20 91 e0 07 	lds	r18, 0x07E0
-    5cf6:	30 91 e1 07 	lds	r19, 0x07E1
-    5cfa:	40 91 e2 07 	lds	r20, 0x07E2
-    5cfe:	50 91 e3 07 	lds	r21, 0x07E3
-    5d02:	e0 90 d8 07 	lds	r14, 0x07D8
-    5d06:	f0 90 d9 07 	lds	r15, 0x07D9
-    5d0a:	00 91 da 07 	lds	r16, 0x07DA
-    5d0e:	10 91 db 07 	lds	r17, 0x07DB
-    5d12:	a0 90 dc 07 	lds	r10, 0x07DC
-    5d16:	b0 90 dd 07 	lds	r11, 0x07DD
-    5d1a:	c0 90 de 07 	lds	r12, 0x07DE
-    5d1e:	d0 90 df 07 	lds	r13, 0x07DF
-    5d22:	ed b7       	in	r30, 0x3d	; 61
-    5d24:	fe b7       	in	r31, 0x3e	; 62
-    5d26:	21 82       	std	Z+1, r2	; 0x01
-    5d28:	32 82       	std	Z+2, r3	; 0x02
-    5d2a:	43 82       	std	Z+3, r4	; 0x03
-    5d2c:	54 82       	std	Z+4, r5	; 0x04
+    5c14:	40 e0       	ldi	r20, 0x00	; 0
+    5c16:	0e 94 f4 05 	call	0xbe8	; 0xbe8 <_ZN8RoboClaw25SetMinVoltageLogicBatteryEhh>
+    5c1a:	89 e0       	ldi	r24, 0x09	; 9
+    5c1c:	98 e0       	ldi	r25, 0x08	; 8
+    5c1e:	60 e8       	ldi	r22, 0x80	; 128
+    5c20:	40 e0       	ldi	r20, 0x00	; 0
+    5c22:	0e 94 cc 05 	call	0xb98	; 0xb98 <_ZN8RoboClaw24SetMinVoltageMainBatteryEhh>
+    5c26:	00 d0       	rcall	.+0      	; 0x5c28 <main+0x2f4>
+    5c28:	0f 92       	push	r0
+    5c2a:	20 91 e0 07 	lds	r18, 0x07E0
+    5c2e:	30 91 e1 07 	lds	r19, 0x07E1
+    5c32:	40 91 e2 07 	lds	r20, 0x07E2
+    5c36:	50 91 e3 07 	lds	r21, 0x07E3
+    5c3a:	e0 90 d8 07 	lds	r14, 0x07D8
+    5c3e:	f0 90 d9 07 	lds	r15, 0x07D9
+    5c42:	00 91 da 07 	lds	r16, 0x07DA
+    5c46:	10 91 db 07 	lds	r17, 0x07DB
+    5c4a:	a0 90 dc 07 	lds	r10, 0x07DC
+    5c4e:	b0 90 dd 07 	lds	r11, 0x07DD
+    5c52:	c0 90 de 07 	lds	r12, 0x07DE
+    5c56:	d0 90 df 07 	lds	r13, 0x07DF
+    5c5a:	ed b7       	in	r30, 0x3d	; 61
+    5c5c:	fe b7       	in	r31, 0x3e	; 62
+    5c5e:	21 82       	std	Z+1, r2	; 0x01
+    5c60:	32 82       	std	Z+2, r3	; 0x02
+    5c62:	43 82       	std	Z+3, r4	; 0x03
+    5c64:	54 82       	std	Z+4, r5	; 0x04
+    5c66:	89 e0       	ldi	r24, 0x09	; 9
+    5c68:	98 e0       	ldi	r25, 0x08	; 8
+    5c6a:	60 e8       	ldi	r22, 0x80	; 128
+    5c6c:	0e 94 1c 06 	call	0xc38	; 0xc38 <_ZN8RoboClaw14SetM1ConstantsEhmmmm>
+    5c70:	20 91 f8 07 	lds	r18, 0x07F8
+    5c74:	30 91 f9 07 	lds	r19, 0x07F9
+    5c78:	40 91 fa 07 	lds	r20, 0x07FA
+    5c7c:	50 91 fb 07 	lds	r21, 0x07FB
+    5c80:	e0 90 f0 07 	lds	r14, 0x07F0
+    5c84:	f0 90 f1 07 	lds	r15, 0x07F1
+    5c88:	00 91 f2 07 	lds	r16, 0x07F2
+    5c8c:	10 91 f3 07 	lds	r17, 0x07F3
+    5c90:	a0 90 f4 07 	lds	r10, 0x07F4
+    5c94:	b0 90 f5 07 	lds	r11, 0x07F5
+    5c98:	c0 90 f6 07 	lds	r12, 0x07F6
+    5c9c:	d0 90 f7 07 	lds	r13, 0x07F7
+    5ca0:	ed b7       	in	r30, 0x3d	; 61
+    5ca2:	fe b7       	in	r31, 0x3e	; 62
+    5ca4:	21 82       	std	Z+1, r2	; 0x01
+    5ca6:	32 82       	std	Z+2, r3	; 0x02
+    5ca8:	43 82       	std	Z+3, r4	; 0x03
+    5caa:	54 82       	std	Z+4, r5	; 0x04
+    5cac:	89 e0       	ldi	r24, 0x09	; 9
+    5cae:	98 e0       	ldi	r25, 0x08	; 8
+    5cb0:	60 e8       	ldi	r22, 0x80	; 128
+    5cb2:	0e 94 7e 06 	call	0xcfc	; 0xcfc <_ZN8RoboClaw14SetM2ConstantsEhmmmm>
+    5cb6:	0f 90       	pop	r0
+    5cb8:	0f 90       	pop	r0
+    5cba:	0f 90       	pop	r0
+    5cbc:	0f 90       	pop	r0
+    5cbe:	0d c0       	rjmp	.+26     	; 0x5cda <main+0x3a6>
+    5cc0:	8b e0       	ldi	r24, 0x0B	; 11
+    5cc2:	98 e0       	ldi	r25, 0x08	; 8
+    5cc4:	0e 94 88 09 	call	0x1310	; 0x1310 <_ZN17StrongDriveOutput3offEv>
+    5cc8:	89 e0       	ldi	r24, 0x09	; 9
+    5cca:	98 e0       	ldi	r25, 0x08	; 8
+    5ccc:	60 e8       	ldi	r22, 0x80	; 128
+    5cce:	40 e0       	ldi	r20, 0x00	; 0
+    5cd0:	50 e0       	ldi	r21, 0x00	; 0
+    5cd2:	20 e0       	ldi	r18, 0x00	; 0
+    5cd4:	30 e0       	ldi	r19, 0x00	; 0
+    5cd6:	0e 94 e0 06 	call	0xdc0	; 0xdc0 <_ZN8RoboClaw8DutyM1M2Ehjj>
+    5cda:	20 91 c5 07 	lds	r18, 0x07C5
+    5cde:	30 91 c6 07 	lds	r19, 0x07C6
+    5ce2:	40 91 c7 07 	lds	r20, 0x07C7
+    5ce6:	50 91 c8 07 	lds	r21, 0x07C8
+    5cea:	80 91 c9 07 	lds	r24, 0x07C9
+    5cee:	90 91 ca 07 	lds	r25, 0x07CA
+    5cf2:	a0 91 cb 07 	lds	r26, 0x07CB
+    5cf6:	b0 91 cc 07 	lds	r27, 0x07CC
+    5cfa:	82 17       	cp	r24, r18
+    5cfc:	93 07       	cpc	r25, r19
+    5cfe:	a4 07       	cpc	r26, r20
+    5d00:	b5 07       	cpc	r27, r21
+    5d02:	08 f4       	brcc	.+2      	; 0x5d06 <main+0x3d2>
+    5d04:	55 c0       	rjmp	.+170    	; 0x5db0 <main+0x47c>
+    5d06:	80 91 08 08 	lds	r24, 0x0808
+    5d0a:	88 23       	and	r24, r24
+    5d0c:	09 f4       	brne	.+2      	; 0x5d10 <main+0x3dc>
+    5d0e:	50 c0       	rjmp	.+160    	; 0x5db0 <main+0x47c>
+    5d10:	89 e0       	ldi	r24, 0x09	; 9
+    5d12:	98 e0       	ldi	r25, 0x08	; 8
+    5d14:	60 e8       	ldi	r22, 0x80	; 128
+    5d16:	a4 01       	movw	r20, r8
+    5d18:	93 01       	movw	r18, r6
+    5d1a:	0e 94 60 08 	call	0x10c0	; 0x10c0 <_ZN8RoboClaw9ReadEncM1EhPhPb>
+    5d1e:	60 93 e8 07 	sts	0x07E8, r22
+    5d22:	70 93 e9 07 	sts	0x07E9, r23
+    5d26:	80 93 ea 07 	sts	0x07EA, r24
+    5d2a:	90 93 eb 07 	sts	0x07EB, r25
     5d2e:	89 e0       	ldi	r24, 0x09	; 9
     5d30:	98 e0       	ldi	r25, 0x08	; 8
     5d32:	60 e8       	ldi	r22, 0x80	; 128
-    5d34:	0e 94 1c 06 	call	0xc38	; 0xc38 <_ZN8RoboClaw14SetM1ConstantsEhmmmm>
-    5d38:	20 91 f8 07 	lds	r18, 0x07F8
-    5d3c:	30 91 f9 07 	lds	r19, 0x07F9
-    5d40:	40 91 fa 07 	lds	r20, 0x07FA
-    5d44:	50 91 fb 07 	lds	r21, 0x07FB
-    5d48:	e0 90 f0 07 	lds	r14, 0x07F0
-    5d4c:	f0 90 f1 07 	lds	r15, 0x07F1
-    5d50:	00 91 f2 07 	lds	r16, 0x07F2
-    5d54:	10 91 f3 07 	lds	r17, 0x07F3
-    5d58:	a0 90 f4 07 	lds	r10, 0x07F4
-    5d5c:	b0 90 f5 07 	lds	r11, 0x07F5
-    5d60:	c0 90 f6 07 	lds	r12, 0x07F6
-    5d64:	d0 90 f7 07 	lds	r13, 0x07F7
-    5d68:	ed b7       	in	r30, 0x3d	; 61
-    5d6a:	fe b7       	in	r31, 0x3e	; 62
-    5d6c:	21 82       	std	Z+1, r2	; 0x01
-    5d6e:	32 82       	std	Z+2, r3	; 0x02
-    5d70:	43 82       	std	Z+3, r4	; 0x03
-    5d72:	54 82       	std	Z+4, r5	; 0x04
-    5d74:	89 e0       	ldi	r24, 0x09	; 9
-    5d76:	98 e0       	ldi	r25, 0x08	; 8
-    5d78:	60 e8       	ldi	r22, 0x80	; 128
-    5d7a:	0e 94 7e 06 	call	0xcfc	; 0xcfc <_ZN8RoboClaw14SetM2ConstantsEhmmmm>
-    5d7e:	0f 90       	pop	r0
-    5d80:	0f 90       	pop	r0
-    5d82:	0f 90       	pop	r0
-    5d84:	0f 90       	pop	r0
-    5d86:	04 c0       	rjmp	.+8      	; 0x5d90 <main+0x39c>
-    5d88:	8b e0       	ldi	r24, 0x0B	; 11
-    5d8a:	98 e0       	ldi	r25, 0x08	; 8
-    5d8c:	0e 94 88 09 	call	0x1310	; 0x1310 <_ZN17StrongDriveOutput3offEv>
-    5d90:	20 91 c5 07 	lds	r18, 0x07C5
-    5d94:	30 91 c6 07 	lds	r19, 0x07C6
-    5d98:	40 91 c7 07 	lds	r20, 0x07C7
-    5d9c:	50 91 c8 07 	lds	r21, 0x07C8
-    5da0:	80 91 c9 07 	lds	r24, 0x07C9
-    5da4:	90 91 ca 07 	lds	r25, 0x07CA
-    5da8:	a0 91 cb 07 	lds	r26, 0x07CB
-    5dac:	b0 91 cc 07 	lds	r27, 0x07CC
-    5db0:	82 17       	cp	r24, r18
-    5db2:	93 07       	cpc	r25, r19
-    5db4:	a4 07       	cpc	r26, r20
-    5db6:	b5 07       	cpc	r27, r21
-    5db8:	08 f4       	brcc	.+2      	; 0x5dbc <main+0x3c8>
-    5dba:	55 c0       	rjmp	.+170    	; 0x5e66 <main+0x472>
-    5dbc:	80 91 08 08 	lds	r24, 0x0808
-    5dc0:	88 23       	and	r24, r24
-    5dc2:	09 f4       	brne	.+2      	; 0x5dc6 <main+0x3d2>
-    5dc4:	50 c0       	rjmp	.+160    	; 0x5e66 <main+0x472>
-    5dc6:	89 e0       	ldi	r24, 0x09	; 9
-    5dc8:	98 e0       	ldi	r25, 0x08	; 8
-    5dca:	60 e8       	ldi	r22, 0x80	; 128
-    5dcc:	a4 01       	movw	r20, r8
-    5dce:	93 01       	movw	r18, r6
-    5dd0:	0e 94 60 08 	call	0x10c0	; 0x10c0 <_ZN8RoboClaw9ReadEncM1EhPhPb>
-    5dd4:	60 93 e8 07 	sts	0x07E8, r22
-    5dd8:	70 93 e9 07 	sts	0x07E9, r23
-    5ddc:	80 93 ea 07 	sts	0x07EA, r24
-    5de0:	90 93 eb 07 	sts	0x07EB, r25
-    5de4:	89 e0       	ldi	r24, 0x09	; 9
-    5de6:	98 e0       	ldi	r25, 0x08	; 8
-    5de8:	60 e8       	ldi	r22, 0x80	; 128
-    5dea:	a4 01       	movw	r20, r8
-    5dec:	93 01       	movw	r18, r6
-    5dee:	0e 94 55 08 	call	0x10aa	; 0x10aa <_ZN8RoboClaw9ReadEncM2EhPhPb>
-    5df2:	60 93 00 08 	sts	0x0800, r22
-    5df6:	70 93 01 08 	sts	0x0801, r23
-    5dfa:	80 93 02 08 	sts	0x0802, r24
-    5dfe:	90 93 03 08 	sts	0x0803, r25
-    5e02:	89 e0       	ldi	r24, 0x09	; 9
-    5e04:	98 e0       	ldi	r25, 0x08	; 8
-    5e06:	60 e8       	ldi	r22, 0x80	; 128
-    5e08:	a4 01       	movw	r20, r8
-    5e0a:	93 01       	movw	r18, r6
-    5e0c:	0e 94 4a 08 	call	0x1094	; 0x1094 <_ZN8RoboClaw12ReadISpeedM1EhPhPb>
-    5e10:	60 93 ec 07 	sts	0x07EC, r22
-    5e14:	70 93 ed 07 	sts	0x07ED, r23
-    5e18:	80 93 ee 07 	sts	0x07EE, r24
-    5e1c:	90 93 ef 07 	sts	0x07EF, r25
-    5e20:	89 e0       	ldi	r24, 0x09	; 9
-    5e22:	98 e0       	ldi	r25, 0x08	; 8
-    5e24:	60 e8       	ldi	r22, 0x80	; 128
-    5e26:	a4 01       	movw	r20, r8
-    5e28:	93 01       	movw	r18, r6
-    5e2a:	0e 94 3f 08 	call	0x107e	; 0x107e <_ZN8RoboClaw12ReadISpeedM2EhPhPb>
-    5e2e:	60 93 04 08 	sts	0x0804, r22
-    5e32:	70 93 05 08 	sts	0x0805, r23
-    5e36:	80 93 06 08 	sts	0x0806, r24
-    5e3a:	90 93 07 08 	sts	0x0807, r25
-    5e3e:	80 91 c5 07 	lds	r24, 0x07C5
-    5e42:	90 91 c6 07 	lds	r25, 0x07C6
-    5e46:	a0 91 c7 07 	lds	r26, 0x07C7
-    5e4a:	b0 91 c8 07 	lds	r27, 0x07C8
-    5e4e:	8c 59       	subi	r24, 0x9C	; 156
-    5e50:	9f 4f       	sbci	r25, 0xFF	; 255
-    5e52:	af 4f       	sbci	r26, 0xFF	; 255
-    5e54:	bf 4f       	sbci	r27, 0xFF	; 255
-    5e56:	80 93 c5 07 	sts	0x07C5, r24
-    5e5a:	90 93 c6 07 	sts	0x07C6, r25
-    5e5e:	a0 93 c7 07 	sts	0x07C7, r26
-    5e62:	b0 93 c8 07 	sts	0x07C8, r27
-    5e66:	20 91 90 0d 	lds	r18, 0x0D90
-    5e6a:	30 91 91 0d 	lds	r19, 0x0D91
-    5e6e:	40 91 92 0d 	lds	r20, 0x0D92
-    5e72:	50 91 93 0d 	lds	r21, 0x0D93
-    5e76:	80 91 c9 07 	lds	r24, 0x07C9
-    5e7a:	90 91 ca 07 	lds	r25, 0x07CA
-    5e7e:	a0 91 cb 07 	lds	r26, 0x07CB
-    5e82:	b0 91 cc 07 	lds	r27, 0x07CC
-    5e86:	82 17       	cp	r24, r18
-    5e88:	93 07       	cpc	r25, r19
-    5e8a:	a4 07       	cpc	r26, r20
-    5e8c:	b5 07       	cpc	r27, r21
-    5e8e:	d0 f0       	brcs	.+52     	; 0x5ec4 <main+0x4d0>
-    5e90:	0e 94 89 26 	call	0x4d12	; 0x4d12 <_Z7publishv>
-    5e94:	8d e0       	ldi	r24, 0x0D	; 13
-    5e96:	60 91 92 0c 	lds	r22, 0x0C92
-    5e9a:	0e 94 b0 36 	call	0x6d60	; 0x6d60 <digitalWrite>
-    5e9e:	80 91 90 0d 	lds	r24, 0x0D90
-    5ea2:	90 91 91 0d 	lds	r25, 0x0D91
-    5ea6:	a0 91 92 0d 	lds	r26, 0x0D92
-    5eaa:	b0 91 93 0d 	lds	r27, 0x0D93
-    5eae:	c2 96       	adiw	r24, 0x32	; 50
-    5eb0:	a1 1d       	adc	r26, r1
-    5eb2:	b1 1d       	adc	r27, r1
-    5eb4:	80 93 90 0d 	sts	0x0D90, r24
-    5eb8:	90 93 91 0d 	sts	0x0D91, r25
-    5ebc:	a0 93 92 0d 	sts	0x0D92, r26
-    5ec0:	b0 93 93 0d 	sts	0x0D93, r27
-    5ec4:	80 91 92 0c 	lds	r24, 0x0C92
-    5ec8:	88 23       	and	r24, r24
-    5eca:	11 f4       	brne	.+4      	; 0x5ed0 <main+0x4dc>
-    5ecc:	10 92 08 08 	sts	0x0808, r1
-    5ed0:	80 e1       	ldi	r24, 0x10	; 16
-    5ed2:	98 e0       	ldi	r25, 0x08	; 8
-    5ed4:	0e 94 14 2b 	call	0x5628	; 0x5628 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv>
-    5ed8:	d5 ce       	rjmp	.-598    	; 0x5c84 <main+0x290>
-
-00005eda <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3logEcPKc>:
-    5eda:	df 93       	push	r29
-    5edc:	cf 93       	push	r28
-    5ede:	00 d0       	rcall	.+0      	; 0x5ee0 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3logEcPKc+0x6>
-    5ee0:	0f 92       	push	r0
-    5ee2:	0f 92       	push	r0
-    5ee4:	cd b7       	in	r28, 0x3d	; 61
-    5ee6:	de b7       	in	r29, 0x3e	; 62
-    5ee8:	25 ed       	ldi	r18, 0xD5	; 213
-    5eea:	35 e0       	ldi	r19, 0x05	; 5
-    5eec:	3a 83       	std	Y+2, r19	; 0x02
-    5eee:	29 83       	std	Y+1, r18	; 0x01
-    5ef0:	6b 83       	std	Y+3, r22	; 0x03
-    5ef2:	5d 83       	std	Y+5, r21	; 0x05
-    5ef4:	4c 83       	std	Y+4, r20	; 0x04
-    5ef6:	dc 01       	movw	r26, r24
-    5ef8:	ed 91       	ld	r30, X+
-    5efa:	fc 91       	ld	r31, X
-    5efc:	01 90       	ld	r0, Z+
-    5efe:	f0 81       	ld	r31, Z
-    5f00:	e0 2d       	mov	r30, r0
-    5f02:	67 e0       	ldi	r22, 0x07	; 7
-    5f04:	70 e0       	ldi	r23, 0x00	; 0
-    5f06:	ae 01       	movw	r20, r28
-    5f08:	4f 5f       	subi	r20, 0xFF	; 255
-    5f0a:	5f 4f       	sbci	r21, 0xFF	; 255
-    5f0c:	19 95       	eicall
-    5f0e:	0f 90       	pop	r0
-    5f10:	0f 90       	pop	r0
-    5f12:	0f 90       	pop	r0
-    5f14:	0f 90       	pop	r0
-    5f16:	0f 90       	pop	r0
-    5f18:	cf 91       	pop	r28
-    5f1a:	df 91       	pop	r29
-    5f1c:	08 95       	ret
-
-00005f1e <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8logerrorEPKc>:
-    5f1e:	ab 01       	movw	r20, r22
-    5f20:	63 e0       	ldi	r22, 0x03	; 3
-    5f22:	0e 94 6d 2f 	call	0x5eda	; 0x5eda <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3logEcPKc>
-    5f26:	08 95       	ret
-
-00005f28 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE>:
-    5f28:	cf 92       	push	r12
-    5f2a:	df 92       	push	r13
-    5f2c:	ef 92       	push	r14
-    5f2e:	ff 92       	push	r15
-    5f30:	0f 93       	push	r16
-    5f32:	1f 93       	push	r17
-    5f34:	cf 93       	push	r28
-    5f36:	df 93       	push	r29
-    5f38:	ec 01       	movw	r28, r24
-    5f3a:	e6 2e       	mov	r14, r22
-    5f3c:	ca 01       	movw	r24, r20
-    5f3e:	fe 01       	movw	r30, r28
-    5f40:	ee 57       	subi	r30, 0x7E	; 126
-    5f42:	fb 4f       	sbci	r31, 0xFB	; 251
-    5f44:	20 81       	ld	r18, Z
-    5f46:	22 23       	and	r18, r18
-    5f48:	09 f4       	brne	.+2      	; 0x5f4c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0x24>
-    5f4a:	63 c0       	rjmp	.+198    	; 0x6012 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0xea>
-    5f4c:	da 01       	movw	r26, r20
-    5f4e:	ed 91       	ld	r30, X+
-    5f50:	fc 91       	ld	r31, X
-    5f52:	9e 01       	movw	r18, r28
-    5f54:	26 5e       	subi	r18, 0xE6	; 230
-    5f56:	3d 4f       	sbci	r19, 0xFD	; 253
-    5f58:	01 90       	ld	r0, Z+
-    5f5a:	f0 81       	ld	r31, Z
-    5f5c:	e0 2d       	mov	r30, r0
-    5f5e:	b9 01       	movw	r22, r18
-    5f60:	19 95       	eicall
-    5f62:	fe 01       	movw	r30, r28
-    5f64:	ec 5e       	subi	r30, 0xEC	; 236
-    5f66:	fd 4f       	sbci	r31, 0xFD	; 253
-    5f68:	2f ef       	ldi	r18, 0xFF	; 255
-    5f6a:	20 83       	st	Z, r18
-    5f6c:	fe 01       	movw	r30, r28
-    5f6e:	eb 5e       	subi	r30, 0xEB	; 235
-    5f70:	fd 4f       	sbci	r31, 0xFD	; 253
-    5f72:	20 83       	st	Z, r18
-    5f74:	fe 01       	movw	r30, r28
-    5f76:	ea 5e       	subi	r30, 0xEA	; 234
-    5f78:	fd 4f       	sbci	r31, 0xFD	; 253
-    5f7a:	e0 82       	st	Z, r14
-    5f7c:	de 01       	movw	r26, r28
-    5f7e:	a9 5e       	subi	r26, 0xE9	; 233
-    5f80:	bd 4f       	sbci	r27, 0xFD	; 253
-    5f82:	1c 92       	st	X, r1
-    5f84:	de 01       	movw	r26, r28
-    5f86:	a8 5e       	subi	r26, 0xE8	; 232
-    5f88:	bd 4f       	sbci	r27, 0xFD	; 253
-    5f8a:	8c 93       	st	X, r24
-    5f8c:	de 01       	movw	r26, r28
-    5f8e:	a7 5e       	subi	r26, 0xE7	; 231
-    5f90:	bd 4f       	sbci	r27, 0xFD	; 253
-    5f92:	1c 92       	st	X, r1
-    5f94:	42 e0       	ldi	r20, 0x02	; 2
-    5f96:	50 e0       	ldi	r21, 0x00	; 0
-    5f98:	20 e0       	ldi	r18, 0x00	; 0
-    5f9a:	30 e0       	ldi	r19, 0x00	; 0
-    5f9c:	bc 01       	movw	r22, r24
-    5f9e:	6b 5f       	subi	r22, 0xFB	; 251
-    5fa0:	7f 4f       	sbci	r23, 0xFF	; 255
-    5fa2:	05 c0       	rjmp	.+10     	; 0x5fae <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0x86>
-    5fa4:	a1 91       	ld	r26, Z+
-    5fa6:	2a 0f       	add	r18, r26
-    5fa8:	31 1d       	adc	r19, r1
-    5faa:	4f 5f       	subi	r20, 0xFF	; 255
-    5fac:	5f 4f       	sbci	r21, 0xFF	; 255
-    5fae:	64 17       	cp	r22, r20
-    5fb0:	75 07       	cpc	r23, r21
-    5fb2:	c4 f7       	brge	.-16     	; 0x5fa4 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0x7c>
-    5fb4:	fe 01       	movw	r30, r28
-    5fb6:	e8 0f       	add	r30, r24
-    5fb8:	f9 1f       	adc	r31, r25
-    5fba:	e6 5e       	subi	r30, 0xE6	; 230
-    5fbc:	fd 4f       	sbci	r31, 0xFD	; 253
-    5fbe:	20 95       	com	r18
-    5fc0:	20 83       	st	Z, r18
-    5fc2:	8c 01       	movw	r16, r24
-    5fc4:	09 5f       	subi	r16, 0xF9	; 249
-    5fc6:	1f 4f       	sbci	r17, 0xFF	; 255
-    5fc8:	b2 e0       	ldi	r27, 0x02	; 2
-    5fca:	01 30       	cpi	r16, 0x01	; 1
-    5fcc:	1b 07       	cpc	r17, r27
-    5fce:	e4 f4       	brge	.+56     	; 0x6008 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0xe0>
-    5fd0:	e4 e1       	ldi	r30, 0x14	; 20
-    5fd2:	ce 2e       	mov	r12, r30
-    5fd4:	e2 e0       	ldi	r30, 0x02	; 2
-    5fd6:	de 2e       	mov	r13, r30
-    5fd8:	cc 0e       	add	r12, r28
-    5fda:	dd 1e       	adc	r13, r29
-    5fdc:	ee 24       	eor	r14, r14
-    5fde:	ff 24       	eor	r15, r15
-    5fe0:	0f c0       	rjmp	.+30     	; 0x6000 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0xd8>
-    5fe2:	8a 81       	ldd	r24, Y+2	; 0x02
-    5fe4:	9b 81       	ldd	r25, Y+3	; 0x03
-    5fe6:	f6 01       	movw	r30, r12
-    5fe8:	61 91       	ld	r22, Z+
-    5fea:	6f 01       	movw	r12, r30
-    5fec:	dc 01       	movw	r26, r24
-    5fee:	ed 91       	ld	r30, X+
-    5ff0:	fc 91       	ld	r31, X
-    5ff2:	01 90       	ld	r0, Z+
-    5ff4:	f0 81       	ld	r31, Z
-    5ff6:	e0 2d       	mov	r30, r0
-    5ff8:	19 95       	eicall
-    5ffa:	08 94       	sec
-    5ffc:	e1 1c       	adc	r14, r1
-    5ffe:	f1 1c       	adc	r15, r1
-    6000:	e0 16       	cp	r14, r16
-    6002:	f1 06       	cpc	r15, r17
-    6004:	74 f3       	brlt	.-36     	; 0x5fe2 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0xba>
-    6006:	07 c0       	rjmp	.+14     	; 0x6016 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0xee>
-    6008:	ce 01       	movw	r24, r28
-    600a:	60 e0       	ldi	r22, 0x00	; 0
-    600c:	75 e0       	ldi	r23, 0x05	; 5
-    600e:	0e 94 8f 2f 	call	0x5f1e	; 0x5f1e <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8logerrorEPKc>
-    6012:	00 e0       	ldi	r16, 0x00	; 0
-    6014:	10 e0       	ldi	r17, 0x00	; 0
-    6016:	c8 01       	movw	r24, r16
-    6018:	df 91       	pop	r29
-    601a:	cf 91       	pop	r28
-    601c:	1f 91       	pop	r17
-    601e:	0f 91       	pop	r16
-    6020:	ff 90       	pop	r15
-    6022:	ef 90       	pop	r14
-    6024:	df 90       	pop	r13
-    6026:	cf 90       	pop	r12
-    6028:	08 95       	ret
-
-0000602a <_GLOBAL__I__ZN3IMU11SENSOR_SIGNE>:
-    602a:	81 e0       	ldi	r24, 0x01	; 1
-    602c:	90 e0       	ldi	r25, 0x00	; 0
-    602e:	0e 94 b6 24 	call	0x496c	; 0x496c <_Z41__static_initialization_and_destruction_0ii.clone.11>
-    6032:	08 95       	ret
-
-00006034 <_GLOBAL__D__ZN3IMU11SENSOR_SIGNE>:
-    6034:	80 e0       	ldi	r24, 0x00	; 0
-    6036:	90 e0       	ldi	r25, 0x00	; 0
-    6038:	0e 94 b6 24 	call	0x496c	; 0x496c <_Z41__static_initialization_and_destruction_0ii.clone.11>
-    603c:	08 95       	ret
-
-0000603e <_ZN14HardwareSerial9availableEv>:
-    603e:	fc 01       	movw	r30, r24
-    6040:	22 81       	ldd	r18, Z+2	; 0x02
-    6042:	33 81       	ldd	r19, Z+3	; 0x03
-    6044:	f9 01       	movw	r30, r18
-    6046:	e0 58       	subi	r30, 0x80	; 128
-    6048:	ff 4f       	sbci	r31, 0xFF	; 255
-    604a:	80 81       	ld	r24, Z
-    604c:	91 81       	ldd	r25, Z+1	; 0x01
-    604e:	80 58       	subi	r24, 0x80	; 128
-    6050:	9f 4f       	sbci	r25, 0xFF	; 255
-    6052:	2e 57       	subi	r18, 0x7E	; 126
-    6054:	3f 4f       	sbci	r19, 0xFF	; 255
-    6056:	f9 01       	movw	r30, r18
-    6058:	20 81       	ld	r18, Z
-    605a:	31 81       	ldd	r19, Z+1	; 0x01
-    605c:	82 1b       	sub	r24, r18
-    605e:	93 0b       	sbc	r25, r19
-    6060:	60 e8       	ldi	r22, 0x80	; 128
-    6062:	70 e0       	ldi	r23, 0x00	; 0
-    6064:	0e 94 54 42 	call	0x84a8	; 0x84a8 <__divmodhi4>
-    6068:	08 95       	ret
-
-0000606a <_ZN14HardwareSerial4peekEv>:
-    606a:	fc 01       	movw	r30, r24
-    606c:	82 81       	ldd	r24, Z+2	; 0x02
-    606e:	93 81       	ldd	r25, Z+3	; 0x03
-    6070:	fc 01       	movw	r30, r24
-    6072:	ee 57       	subi	r30, 0x7E	; 126
-    6074:	ff 4f       	sbci	r31, 0xFF	; 255
-    6076:	20 81       	ld	r18, Z
-    6078:	31 81       	ldd	r19, Z+1	; 0x01
-    607a:	fc 01       	movw	r30, r24
-    607c:	e0 58       	subi	r30, 0x80	; 128
-    607e:	ff 4f       	sbci	r31, 0xFF	; 255
-    6080:	40 81       	ld	r20, Z
-    6082:	51 81       	ldd	r21, Z+1	; 0x01
-    6084:	42 17       	cp	r20, r18
-    6086:	53 07       	cpc	r21, r19
-    6088:	31 f0       	breq	.+12     	; 0x6096 <_ZN14HardwareSerial4peekEv+0x2c>
-    608a:	82 0f       	add	r24, r18
-    608c:	93 1f       	adc	r25, r19
-    608e:	fc 01       	movw	r30, r24
-    6090:	20 81       	ld	r18, Z
-    6092:	30 e0       	ldi	r19, 0x00	; 0
-    6094:	02 c0       	rjmp	.+4      	; 0x609a <_ZN14HardwareSerial4peekEv+0x30>
-    6096:	2f ef       	ldi	r18, 0xFF	; 255
-    6098:	3f ef       	ldi	r19, 0xFF	; 255
-    609a:	c9 01       	movw	r24, r18
-    609c:	08 95       	ret
-
-0000609e <_ZN14HardwareSerial4readEv>:
-    609e:	dc 01       	movw	r26, r24
-    60a0:	12 96       	adiw	r26, 0x02	; 2
-    60a2:	2d 91       	ld	r18, X+
-    60a4:	3c 91       	ld	r19, X
-    60a6:	13 97       	sbiw	r26, 0x03	; 3
-    60a8:	f9 01       	movw	r30, r18
-    60aa:	ee 57       	subi	r30, 0x7E	; 126
-    60ac:	ff 4f       	sbci	r31, 0xFF	; 255
-    60ae:	80 81       	ld	r24, Z
-    60b0:	91 81       	ldd	r25, Z+1	; 0x01
-    60b2:	d9 01       	movw	r26, r18
-    60b4:	a0 58       	subi	r26, 0x80	; 128
-    60b6:	bf 4f       	sbci	r27, 0xFF	; 255
-    60b8:	4d 91       	ld	r20, X+
-    60ba:	5c 91       	ld	r21, X
-    60bc:	11 97       	sbiw	r26, 0x01	; 1
-    60be:	48 17       	cp	r20, r24
-    60c0:	59 07       	cpc	r21, r25
-    60c2:	69 f0       	breq	.+26     	; 0x60de <_ZN14HardwareSerial4readEv+0x40>
-    60c4:	28 0f       	add	r18, r24
-    60c6:	39 1f       	adc	r19, r25
-    60c8:	d9 01       	movw	r26, r18
-    60ca:	2c 91       	ld	r18, X
-    60cc:	01 96       	adiw	r24, 0x01	; 1
-    60ce:	60 e8       	ldi	r22, 0x80	; 128
-    60d0:	70 e0       	ldi	r23, 0x00	; 0
-    60d2:	0e 94 54 42 	call	0x84a8	; 0x84a8 <__divmodhi4>
-    60d6:	91 83       	std	Z+1, r25	; 0x01
-    60d8:	80 83       	st	Z, r24
-    60da:	30 e0       	ldi	r19, 0x00	; 0
-    60dc:	02 c0       	rjmp	.+4      	; 0x60e2 <_ZN14HardwareSerial4readEv+0x44>
-    60de:	2f ef       	ldi	r18, 0xFF	; 255
-    60e0:	3f ef       	ldi	r19, 0xFF	; 255
-    60e2:	c9 01       	movw	r24, r18
-    60e4:	08 95       	ret
-
-000060e6 <_ZN14HardwareSerial5flushEv>:
-    60e6:	dc 01       	movw	r26, r24
-    60e8:	12 96       	adiw	r26, 0x02	; 2
-    60ea:	8d 91       	ld	r24, X+
-    60ec:	9c 91       	ld	r25, X
-    60ee:	13 97       	sbiw	r26, 0x03	; 3
-    60f0:	fc 01       	movw	r30, r24
-    60f2:	e0 58       	subi	r30, 0x80	; 128
-    60f4:	ff 4f       	sbci	r31, 0xFF	; 255
-    60f6:	8e 57       	subi	r24, 0x7E	; 126
-    60f8:	9f 4f       	sbci	r25, 0xFF	; 255
-    60fa:	dc 01       	movw	r26, r24
-    60fc:	8d 91       	ld	r24, X+
-    60fe:	9c 91       	ld	r25, X
-    6100:	11 97       	sbiw	r26, 0x01	; 1
-    6102:	91 83       	std	Z+1, r25	; 0x01
-    6104:	80 83       	st	Z, r24
-    6106:	08 95       	ret
-
-00006108 <_ZN14HardwareSerial5writeEh>:
-    6108:	fc 01       	movw	r30, r24
-    610a:	a0 85       	ldd	r26, Z+8	; 0x08
-    610c:	b1 85       	ldd	r27, Z+9	; 0x09
-    610e:	21 89       	ldd	r18, Z+17	; 0x11
-    6110:	8c 91       	ld	r24, X
-    6112:	90 e0       	ldi	r25, 0x00	; 0
-    6114:	02 2e       	mov	r0, r18
-    6116:	02 c0       	rjmp	.+4      	; 0x611c <_ZN14HardwareSerial5writeEh+0x14>
-    6118:	95 95       	asr	r25
-    611a:	87 95       	ror	r24
-    611c:	0a 94       	dec	r0
-    611e:	e2 f7       	brpl	.-8      	; 0x6118 <_ZN14HardwareSerial5writeEh+0x10>
-    6120:	80 ff       	sbrs	r24, 0
-    6122:	f6 cf       	rjmp	.-20     	; 0x6110 <_ZN14HardwareSerial5writeEh+0x8>
-    6124:	04 84       	ldd	r0, Z+12	; 0x0c
-    6126:	f5 85       	ldd	r31, Z+13	; 0x0d
-    6128:	e0 2d       	mov	r30, r0
-    612a:	60 83       	st	Z, r22
-    612c:	08 95       	ret
-
-0000612e <_Z10store_charhP11ring_buffer>:
-    612e:	1f 93       	push	r17
-    6130:	cf 93       	push	r28
-    6132:	df 93       	push	r29
-    6134:	18 2f       	mov	r17, r24
-    6136:	9b 01       	movw	r18, r22
-    6138:	eb 01       	movw	r28, r22
-    613a:	c0 58       	subi	r28, 0x80	; 128
-    613c:	df 4f       	sbci	r29, 0xFF	; 255
-    613e:	e8 81       	ld	r30, Y
-    6140:	f9 81       	ldd	r31, Y+1	; 0x01
-    6142:	cf 01       	movw	r24, r30
-    6144:	01 96       	adiw	r24, 0x01	; 1
-    6146:	60 e8       	ldi	r22, 0x80	; 128
-    6148:	70 e0       	ldi	r23, 0x00	; 0
-    614a:	0e 94 54 42 	call	0x84a8	; 0x84a8 <__divmodhi4>
-    614e:	ac 01       	movw	r20, r24
-    6150:	d9 01       	movw	r26, r18
-    6152:	ae 57       	subi	r26, 0x7E	; 126
-    6154:	bf 4f       	sbci	r27, 0xFF	; 255
-    6156:	8d 91       	ld	r24, X+
-    6158:	9c 91       	ld	r25, X
-    615a:	11 97       	sbiw	r26, 0x01	; 1
-    615c:	48 17       	cp	r20, r24
-    615e:	59 07       	cpc	r21, r25
-    6160:	29 f0       	breq	.+10     	; 0x616c <_Z10store_charhP11ring_buffer+0x3e>
-    6162:	e2 0f       	add	r30, r18
-    6164:	f3 1f       	adc	r31, r19
-    6166:	10 83       	st	Z, r17
-    6168:	59 83       	std	Y+1, r21	; 0x01
-    616a:	48 83       	st	Y, r20
-    616c:	df 91       	pop	r29
-    616e:	cf 91       	pop	r28
-    6170:	1f 91       	pop	r17
-    6172:	08 95       	ret
-
-00006174 <__vector_25>:
-    6174:	1f 92       	push	r1
-    6176:	0f 92       	push	r0
-    6178:	0f b6       	in	r0, 0x3f	; 63
-    617a:	0f 92       	push	r0
-    617c:	0b b6       	in	r0, 0x3b	; 59
-    617e:	0f 92       	push	r0
-    6180:	11 24       	eor	r1, r1
-    6182:	2f 93       	push	r18
-    6184:	3f 93       	push	r19
-    6186:	4f 93       	push	r20
-    6188:	5f 93       	push	r21
-    618a:	6f 93       	push	r22
-    618c:	7f 93       	push	r23
-    618e:	8f 93       	push	r24
-    6190:	9f 93       	push	r25
-    6192:	af 93       	push	r26
-    6194:	bf 93       	push	r27
-    6196:	ef 93       	push	r30
-    6198:	ff 93       	push	r31
-    619a:	80 91 c6 00 	lds	r24, 0x00C6
-    619e:	64 e0       	ldi	r22, 0x04	; 4
-    61a0:	7e e0       	ldi	r23, 0x0E	; 14
-    61a2:	0e 94 97 30 	call	0x612e	; 0x612e <_Z10store_charhP11ring_buffer>
-    61a6:	ff 91       	pop	r31
-    61a8:	ef 91       	pop	r30
-    61aa:	bf 91       	pop	r27
-    61ac:	af 91       	pop	r26
-    61ae:	9f 91       	pop	r25
-    61b0:	8f 91       	pop	r24
-    61b2:	7f 91       	pop	r23
-    61b4:	6f 91       	pop	r22
-    61b6:	5f 91       	pop	r21
-    61b8:	4f 91       	pop	r20
-    61ba:	3f 91       	pop	r19
-    61bc:	2f 91       	pop	r18
-    61be:	0f 90       	pop	r0
-    61c0:	0b be       	out	0x3b, r0	; 59
-    61c2:	0f 90       	pop	r0
-    61c4:	0f be       	out	0x3f, r0	; 63
-    61c6:	0f 90       	pop	r0
-    61c8:	1f 90       	pop	r1
-    61ca:	18 95       	reti
-
-000061cc <__vector_36>:
-    61cc:	1f 92       	push	r1
-    61ce:	0f 92       	push	r0
-    61d0:	0f b6       	in	r0, 0x3f	; 63
-    61d2:	0f 92       	push	r0
-    61d4:	0b b6       	in	r0, 0x3b	; 59
-    61d6:	0f 92       	push	r0
-    61d8:	11 24       	eor	r1, r1
-    61da:	2f 93       	push	r18
-    61dc:	3f 93       	push	r19
-    61de:	4f 93       	push	r20
-    61e0:	5f 93       	push	r21
-    61e2:	6f 93       	push	r22
-    61e4:	7f 93       	push	r23
-    61e6:	8f 93       	push	r24
-    61e8:	9f 93       	push	r25
-    61ea:	af 93       	push	r26
-    61ec:	bf 93       	push	r27
-    61ee:	ef 93       	push	r30
-    61f0:	ff 93       	push	r31
-    61f2:	80 91 ce 00 	lds	r24, 0x00CE
-    61f6:	68 e8       	ldi	r22, 0x88	; 136
-    61f8:	7e e0       	ldi	r23, 0x0E	; 14
-    61fa:	0e 94 97 30 	call	0x612e	; 0x612e <_Z10store_charhP11ring_buffer>
-    61fe:	ff 91       	pop	r31
-    6200:	ef 91       	pop	r30
-    6202:	bf 91       	pop	r27
-    6204:	af 91       	pop	r26
-    6206:	9f 91       	pop	r25
-    6208:	8f 91       	pop	r24
-    620a:	7f 91       	pop	r23
-    620c:	6f 91       	pop	r22
-    620e:	5f 91       	pop	r21
-    6210:	4f 91       	pop	r20
-    6212:	3f 91       	pop	r19
-    6214:	2f 91       	pop	r18
-    6216:	0f 90       	pop	r0
-    6218:	0b be       	out	0x3b, r0	; 59
-    621a:	0f 90       	pop	r0
-    621c:	0f be       	out	0x3f, r0	; 63
-    621e:	0f 90       	pop	r0
-    6220:	1f 90       	pop	r1
-    6222:	18 95       	reti
-
-00006224 <__vector_51>:
-    6224:	1f 92       	push	r1
-    6226:	0f 92       	push	r0
-    6228:	0f b6       	in	r0, 0x3f	; 63
-    622a:	0f 92       	push	r0
-    622c:	0b b6       	in	r0, 0x3b	; 59
-    622e:	0f 92       	push	r0
-    6230:	11 24       	eor	r1, r1
-    6232:	2f 93       	push	r18
-    6234:	3f 93       	push	r19
-    6236:	4f 93       	push	r20
-    6238:	5f 93       	push	r21
-    623a:	6f 93       	push	r22
-    623c:	7f 93       	push	r23
-    623e:	8f 93       	push	r24
-    6240:	9f 93       	push	r25
-    6242:	af 93       	push	r26
-    6244:	bf 93       	push	r27
-    6246:	ef 93       	push	r30
-    6248:	ff 93       	push	r31
-    624a:	80 91 d6 00 	lds	r24, 0x00D6
-    624e:	6c e0       	ldi	r22, 0x0C	; 12
-    6250:	7f e0       	ldi	r23, 0x0F	; 15
-    6252:	0e 94 97 30 	call	0x612e	; 0x612e <_Z10store_charhP11ring_buffer>
-    6256:	ff 91       	pop	r31
-    6258:	ef 91       	pop	r30
-    625a:	bf 91       	pop	r27
-    625c:	af 91       	pop	r26
-    625e:	9f 91       	pop	r25
-    6260:	8f 91       	pop	r24
-    6262:	7f 91       	pop	r23
-    6264:	6f 91       	pop	r22
-    6266:	5f 91       	pop	r21
-    6268:	4f 91       	pop	r20
-    626a:	3f 91       	pop	r19
-    626c:	2f 91       	pop	r18
-    626e:	0f 90       	pop	r0
-    6270:	0b be       	out	0x3b, r0	; 59
-    6272:	0f 90       	pop	r0
-    6274:	0f be       	out	0x3f, r0	; 63
-    6276:	0f 90       	pop	r0
-    6278:	1f 90       	pop	r1
-    627a:	18 95       	reti
-
-0000627c <__vector_54>:
-    627c:	1f 92       	push	r1
-    627e:	0f 92       	push	r0
-    6280:	0f b6       	in	r0, 0x3f	; 63
-    6282:	0f 92       	push	r0
-    6284:	0b b6       	in	r0, 0x3b	; 59
-    6286:	0f 92       	push	r0
-    6288:	11 24       	eor	r1, r1
-    628a:	2f 93       	push	r18
-    628c:	3f 93       	push	r19
-    628e:	4f 93       	push	r20
-    6290:	5f 93       	push	r21
-    6292:	6f 93       	push	r22
-    6294:	7f 93       	push	r23
-    6296:	8f 93       	push	r24
-    6298:	9f 93       	push	r25
-    629a:	af 93       	push	r26
-    629c:	bf 93       	push	r27
-    629e:	ef 93       	push	r30
-    62a0:	ff 93       	push	r31
-    62a2:	80 91 36 01 	lds	r24, 0x0136
-    62a6:	60 e9       	ldi	r22, 0x90	; 144
-    62a8:	7f e0       	ldi	r23, 0x0F	; 15
-    62aa:	0e 94 97 30 	call	0x612e	; 0x612e <_Z10store_charhP11ring_buffer>
-    62ae:	ff 91       	pop	r31
-    62b0:	ef 91       	pop	r30
-    62b2:	bf 91       	pop	r27
-    62b4:	af 91       	pop	r26
-    62b6:	9f 91       	pop	r25
-    62b8:	8f 91       	pop	r24
-    62ba:	7f 91       	pop	r23
-    62bc:	6f 91       	pop	r22
-    62be:	5f 91       	pop	r21
-    62c0:	4f 91       	pop	r20
-    62c2:	3f 91       	pop	r19
-    62c4:	2f 91       	pop	r18
-    62c6:	0f 90       	pop	r0
-    62c8:	0b be       	out	0x3b, r0	; 59
-    62ca:	0f 90       	pop	r0
-    62cc:	0f be       	out	0x3f, r0	; 63
-    62ce:	0f 90       	pop	r0
-    62d0:	1f 90       	pop	r1
-    62d2:	18 95       	reti
-
-000062d4 <_ZN14HardwareSerial5beginEl>:
-    62d4:	9f 92       	push	r9
-    62d6:	af 92       	push	r10
-    62d8:	bf 92       	push	r11
-    62da:	cf 92       	push	r12
-    62dc:	df 92       	push	r13
-    62de:	ef 92       	push	r14
-    62e0:	ff 92       	push	r15
-    62e2:	0f 93       	push	r16
-    62e4:	1f 93       	push	r17
-    62e6:	cf 93       	push	r28
-    62e8:	df 93       	push	r29
-    62ea:	ec 01       	movw	r28, r24
-    62ec:	7a 01       	movw	r14, r20
-    62ee:	8b 01       	movw	r16, r22
-    62f0:	81 e4       	ldi	r24, 0x41	; 65
-    62f2:	e8 16       	cp	r14, r24
-    62f4:	82 e4       	ldi	r24, 0x42	; 66
-    62f6:	f8 06       	cpc	r15, r24
-    62f8:	8f e0       	ldi	r24, 0x0F	; 15
-    62fa:	08 07       	cpc	r16, r24
-    62fc:	80 e0       	ldi	r24, 0x00	; 0
-    62fe:	18 07       	cpc	r17, r24
-    6300:	08 f0       	brcs	.+2      	; 0x6304 <_ZN14HardwareSerial5beginEl+0x30>
-    6302:	77 c0       	rjmp	.+238    	; 0x63f2 <_ZN14HardwareSerial5beginEl+0x11e>
-    6304:	60 e8       	ldi	r22, 0x80	; 128
-    6306:	74 e8       	ldi	r23, 0x84	; 132
-    6308:	8e e1       	ldi	r24, 0x1E	; 30
-    630a:	90 e0       	ldi	r25, 0x00	; 0
-    630c:	a8 01       	movw	r20, r16
-    630e:	97 01       	movw	r18, r14
-    6310:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
-    6314:	59 01       	movw	r10, r18
-    6316:	6a 01       	movw	r12, r20
-    6318:	08 94       	sec
-    631a:	a1 08       	sbc	r10, r1
-    631c:	b1 08       	sbc	r11, r1
-    631e:	c1 08       	sbc	r12, r1
-    6320:	d1 08       	sbc	r13, r1
-    6322:	d6 94       	lsr	r13
-    6324:	c7 94       	ror	r12
-    6326:	b7 94       	ror	r11
-    6328:	a7 94       	ror	r10
-    632a:	a6 01       	movw	r20, r12
-    632c:	95 01       	movw	r18, r10
-    632e:	2f 5f       	subi	r18, 0xFF	; 255
-    6330:	3f 4f       	sbci	r19, 0xFF	; 255
-    6332:	4f 4f       	sbci	r20, 0xFF	; 255
-    6334:	5f 4f       	sbci	r21, 0xFF	; 255
-    6336:	74 e0       	ldi	r23, 0x04	; 4
-    6338:	22 0f       	add	r18, r18
-    633a:	33 1f       	adc	r19, r19
-    633c:	44 1f       	adc	r20, r20
-    633e:	55 1f       	adc	r21, r21
-    6340:	7a 95       	dec	r23
-    6342:	d1 f7       	brne	.-12     	; 0x6338 <_ZN14HardwareSerial5beginEl+0x64>
-    6344:	60 e0       	ldi	r22, 0x00	; 0
-    6346:	74 e2       	ldi	r23, 0x24	; 36
-    6348:	84 ef       	ldi	r24, 0xF4	; 244
-    634a:	90 e0       	ldi	r25, 0x00	; 0
-    634c:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
-    6350:	ca 01       	movw	r24, r20
-    6352:	b9 01       	movw	r22, r18
-    6354:	2f ef       	ldi	r18, 0xFF	; 255
-    6356:	30 e0       	ldi	r19, 0x00	; 0
-    6358:	40 e0       	ldi	r20, 0x00	; 0
-    635a:	50 e0       	ldi	r21, 0x00	; 0
-    635c:	0e 94 21 42 	call	0x8442	; 0x8442 <__mulsi3>
-    6360:	a8 01       	movw	r20, r16
-    6362:	97 01       	movw	r18, r14
-    6364:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
-    6368:	8f ef       	ldi	r24, 0xFF	; 255
+    5d34:	a4 01       	movw	r20, r8
+    5d36:	93 01       	movw	r18, r6
+    5d38:	0e 94 55 08 	call	0x10aa	; 0x10aa <_ZN8RoboClaw9ReadEncM2EhPhPb>
+    5d3c:	60 93 00 08 	sts	0x0800, r22
+    5d40:	70 93 01 08 	sts	0x0801, r23
+    5d44:	80 93 02 08 	sts	0x0802, r24
+    5d48:	90 93 03 08 	sts	0x0803, r25
+    5d4c:	89 e0       	ldi	r24, 0x09	; 9
+    5d4e:	98 e0       	ldi	r25, 0x08	; 8
+    5d50:	60 e8       	ldi	r22, 0x80	; 128
+    5d52:	a4 01       	movw	r20, r8
+    5d54:	93 01       	movw	r18, r6
+    5d56:	0e 94 4a 08 	call	0x1094	; 0x1094 <_ZN8RoboClaw12ReadISpeedM1EhPhPb>
+    5d5a:	60 93 ec 07 	sts	0x07EC, r22
+    5d5e:	70 93 ed 07 	sts	0x07ED, r23
+    5d62:	80 93 ee 07 	sts	0x07EE, r24
+    5d66:	90 93 ef 07 	sts	0x07EF, r25
+    5d6a:	89 e0       	ldi	r24, 0x09	; 9
+    5d6c:	98 e0       	ldi	r25, 0x08	; 8
+    5d6e:	60 e8       	ldi	r22, 0x80	; 128
+    5d70:	a4 01       	movw	r20, r8
+    5d72:	93 01       	movw	r18, r6
+    5d74:	0e 94 3f 08 	call	0x107e	; 0x107e <_ZN8RoboClaw12ReadISpeedM2EhPhPb>
+    5d78:	60 93 04 08 	sts	0x0804, r22
+    5d7c:	70 93 05 08 	sts	0x0805, r23
+    5d80:	80 93 06 08 	sts	0x0806, r24
+    5d84:	90 93 07 08 	sts	0x0807, r25
+    5d88:	80 91 c5 07 	lds	r24, 0x07C5
+    5d8c:	90 91 c6 07 	lds	r25, 0x07C6
+    5d90:	a0 91 c7 07 	lds	r26, 0x07C7
+    5d94:	b0 91 c8 07 	lds	r27, 0x07C8
+    5d98:	8c 59       	subi	r24, 0x9C	; 156
+    5d9a:	9f 4f       	sbci	r25, 0xFF	; 255
+    5d9c:	af 4f       	sbci	r26, 0xFF	; 255
+    5d9e:	bf 4f       	sbci	r27, 0xFF	; 255
+    5da0:	80 93 c5 07 	sts	0x07C5, r24
+    5da4:	90 93 c6 07 	sts	0x07C6, r25
+    5da8:	a0 93 c7 07 	sts	0x07C7, r26
+    5dac:	b0 93 c8 07 	sts	0x07C8, r27
+    5db0:	20 91 90 0d 	lds	r18, 0x0D90
+    5db4:	30 91 91 0d 	lds	r19, 0x0D91
+    5db8:	40 91 92 0d 	lds	r20, 0x0D92
+    5dbc:	50 91 93 0d 	lds	r21, 0x0D93
+    5dc0:	80 91 c9 07 	lds	r24, 0x07C9
+    5dc4:	90 91 ca 07 	lds	r25, 0x07CA
+    5dc8:	a0 91 cb 07 	lds	r26, 0x07CB
+    5dcc:	b0 91 cc 07 	lds	r27, 0x07CC
+    5dd0:	82 17       	cp	r24, r18
+    5dd2:	93 07       	cpc	r25, r19
+    5dd4:	a4 07       	cpc	r26, r20
+    5dd6:	b5 07       	cpc	r27, r21
+    5dd8:	d0 f0       	brcs	.+52     	; 0x5e0e <main+0x4da>
+    5dda:	0e 94 29 26 	call	0x4c52	; 0x4c52 <_Z7publishv>
+    5dde:	8d e0       	ldi	r24, 0x0D	; 13
+    5de0:	60 91 92 0c 	lds	r22, 0x0C92
+    5de4:	0e 94 ad 35 	call	0x6b5a	; 0x6b5a <digitalWrite>
+    5de8:	80 91 90 0d 	lds	r24, 0x0D90
+    5dec:	90 91 91 0d 	lds	r25, 0x0D91
+    5df0:	a0 91 92 0d 	lds	r26, 0x0D92
+    5df4:	b0 91 93 0d 	lds	r27, 0x0D93
+    5df8:	c2 96       	adiw	r24, 0x32	; 50
+    5dfa:	a1 1d       	adc	r26, r1
+    5dfc:	b1 1d       	adc	r27, r1
+    5dfe:	80 93 90 0d 	sts	0x0D90, r24
+    5e02:	90 93 91 0d 	sts	0x0D91, r25
+    5e06:	a0 93 92 0d 	sts	0x0D92, r26
+    5e0a:	b0 93 93 0d 	sts	0x0D93, r27
+    5e0e:	80 91 92 0c 	lds	r24, 0x0C92
+    5e12:	88 23       	and	r24, r24
+    5e14:	59 f4       	brne	.+22     	; 0x5e2c <main+0x4f8>
+    5e16:	10 92 08 08 	sts	0x0808, r1
+    5e1a:	89 e0       	ldi	r24, 0x09	; 9
+    5e1c:	98 e0       	ldi	r25, 0x08	; 8
+    5e1e:	60 e8       	ldi	r22, 0x80	; 128
+    5e20:	40 e0       	ldi	r20, 0x00	; 0
+    5e22:	50 e0       	ldi	r21, 0x00	; 0
+    5e24:	20 e0       	ldi	r18, 0x00	; 0
+    5e26:	30 e0       	ldi	r19, 0x00	; 0
+    5e28:	0e 94 e0 06 	call	0xdc0	; 0xdc0 <_ZN8RoboClaw8DutyM1M2Ehjj>
+    5e2c:	80 e1       	ldi	r24, 0x10	; 16
+    5e2e:	98 e0       	ldi	r25, 0x08	; 8
+    5e30:	0e 94 b4 2a 	call	0x5568	; 0x5568 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8spinOnceEv>
+    5e34:	d0 ce       	rjmp	.-608    	; 0x5bd6 <main+0x2a2>
+
+00005e36 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3logEcPKc>:
+    5e36:	df 93       	push	r29
+    5e38:	cf 93       	push	r28
+    5e3a:	00 d0       	rcall	.+0      	; 0x5e3c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3logEcPKc+0x6>
+    5e3c:	0f 92       	push	r0
+    5e3e:	0f 92       	push	r0
+    5e40:	cd b7       	in	r28, 0x3d	; 61
+    5e42:	de b7       	in	r29, 0x3e	; 62
+    5e44:	26 ed       	ldi	r18, 0xD6	; 214
+    5e46:	35 e0       	ldi	r19, 0x05	; 5
+    5e48:	3a 83       	std	Y+2, r19	; 0x02
+    5e4a:	29 83       	std	Y+1, r18	; 0x01
+    5e4c:	6b 83       	std	Y+3, r22	; 0x03
+    5e4e:	5d 83       	std	Y+5, r21	; 0x05
+    5e50:	4c 83       	std	Y+4, r20	; 0x04
+    5e52:	dc 01       	movw	r26, r24
+    5e54:	ed 91       	ld	r30, X+
+    5e56:	fc 91       	ld	r31, X
+    5e58:	01 90       	ld	r0, Z+
+    5e5a:	f0 81       	ld	r31, Z
+    5e5c:	e0 2d       	mov	r30, r0
+    5e5e:	67 e0       	ldi	r22, 0x07	; 7
+    5e60:	70 e0       	ldi	r23, 0x00	; 0
+    5e62:	ae 01       	movw	r20, r28
+    5e64:	4f 5f       	subi	r20, 0xFF	; 255
+    5e66:	5f 4f       	sbci	r21, 0xFF	; 255
+    5e68:	19 95       	eicall
+    5e6a:	0f 90       	pop	r0
+    5e6c:	0f 90       	pop	r0
+    5e6e:	0f 90       	pop	r0
+    5e70:	0f 90       	pop	r0
+    5e72:	0f 90       	pop	r0
+    5e74:	cf 91       	pop	r28
+    5e76:	df 91       	pop	r29
+    5e78:	08 95       	ret
+
+00005e7a <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8logerrorEPKc>:
+    5e7a:	ab 01       	movw	r20, r22
+    5e7c:	63 e0       	ldi	r22, 0x03	; 3
+    5e7e:	0e 94 1b 2f 	call	0x5e36	; 0x5e36 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3logEcPKc>
+    5e82:	08 95       	ret
+
+00005e84 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE>:
+    5e84:	cf 92       	push	r12
+    5e86:	df 92       	push	r13
+    5e88:	ef 92       	push	r14
+    5e8a:	ff 92       	push	r15
+    5e8c:	0f 93       	push	r16
+    5e8e:	1f 93       	push	r17
+    5e90:	cf 93       	push	r28
+    5e92:	df 93       	push	r29
+    5e94:	ec 01       	movw	r28, r24
+    5e96:	e6 2e       	mov	r14, r22
+    5e98:	ca 01       	movw	r24, r20
+    5e9a:	fe 01       	movw	r30, r28
+    5e9c:	ee 57       	subi	r30, 0x7E	; 126
+    5e9e:	fb 4f       	sbci	r31, 0xFB	; 251
+    5ea0:	20 81       	ld	r18, Z
+    5ea2:	22 23       	and	r18, r18
+    5ea4:	09 f4       	brne	.+2      	; 0x5ea8 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0x24>
+    5ea6:	63 c0       	rjmp	.+198    	; 0x5f6e <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0xea>
+    5ea8:	da 01       	movw	r26, r20
+    5eaa:	ed 91       	ld	r30, X+
+    5eac:	fc 91       	ld	r31, X
+    5eae:	9e 01       	movw	r18, r28
+    5eb0:	26 5e       	subi	r18, 0xE6	; 230
+    5eb2:	3d 4f       	sbci	r19, 0xFD	; 253
+    5eb4:	01 90       	ld	r0, Z+
+    5eb6:	f0 81       	ld	r31, Z
+    5eb8:	e0 2d       	mov	r30, r0
+    5eba:	b9 01       	movw	r22, r18
+    5ebc:	19 95       	eicall
+    5ebe:	fe 01       	movw	r30, r28
+    5ec0:	ec 5e       	subi	r30, 0xEC	; 236
+    5ec2:	fd 4f       	sbci	r31, 0xFD	; 253
+    5ec4:	2f ef       	ldi	r18, 0xFF	; 255
+    5ec6:	20 83       	st	Z, r18
+    5ec8:	fe 01       	movw	r30, r28
+    5eca:	eb 5e       	subi	r30, 0xEB	; 235
+    5ecc:	fd 4f       	sbci	r31, 0xFD	; 253
+    5ece:	20 83       	st	Z, r18
+    5ed0:	fe 01       	movw	r30, r28
+    5ed2:	ea 5e       	subi	r30, 0xEA	; 234
+    5ed4:	fd 4f       	sbci	r31, 0xFD	; 253
+    5ed6:	e0 82       	st	Z, r14
+    5ed8:	de 01       	movw	r26, r28
+    5eda:	a9 5e       	subi	r26, 0xE9	; 233
+    5edc:	bd 4f       	sbci	r27, 0xFD	; 253
+    5ede:	1c 92       	st	X, r1
+    5ee0:	de 01       	movw	r26, r28
+    5ee2:	a8 5e       	subi	r26, 0xE8	; 232
+    5ee4:	bd 4f       	sbci	r27, 0xFD	; 253
+    5ee6:	8c 93       	st	X, r24
+    5ee8:	de 01       	movw	r26, r28
+    5eea:	a7 5e       	subi	r26, 0xE7	; 231
+    5eec:	bd 4f       	sbci	r27, 0xFD	; 253
+    5eee:	1c 92       	st	X, r1
+    5ef0:	42 e0       	ldi	r20, 0x02	; 2
+    5ef2:	50 e0       	ldi	r21, 0x00	; 0
+    5ef4:	20 e0       	ldi	r18, 0x00	; 0
+    5ef6:	30 e0       	ldi	r19, 0x00	; 0
+    5ef8:	bc 01       	movw	r22, r24
+    5efa:	6b 5f       	subi	r22, 0xFB	; 251
+    5efc:	7f 4f       	sbci	r23, 0xFF	; 255
+    5efe:	05 c0       	rjmp	.+10     	; 0x5f0a <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0x86>
+    5f00:	a1 91       	ld	r26, Z+
+    5f02:	2a 0f       	add	r18, r26
+    5f04:	31 1d       	adc	r19, r1
+    5f06:	4f 5f       	subi	r20, 0xFF	; 255
+    5f08:	5f 4f       	sbci	r21, 0xFF	; 255
+    5f0a:	64 17       	cp	r22, r20
+    5f0c:	75 07       	cpc	r23, r21
+    5f0e:	c4 f7       	brge	.-16     	; 0x5f00 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0x7c>
+    5f10:	fe 01       	movw	r30, r28
+    5f12:	e8 0f       	add	r30, r24
+    5f14:	f9 1f       	adc	r31, r25
+    5f16:	e6 5e       	subi	r30, 0xE6	; 230
+    5f18:	fd 4f       	sbci	r31, 0xFD	; 253
+    5f1a:	20 95       	com	r18
+    5f1c:	20 83       	st	Z, r18
+    5f1e:	8c 01       	movw	r16, r24
+    5f20:	09 5f       	subi	r16, 0xF9	; 249
+    5f22:	1f 4f       	sbci	r17, 0xFF	; 255
+    5f24:	b2 e0       	ldi	r27, 0x02	; 2
+    5f26:	01 30       	cpi	r16, 0x01	; 1
+    5f28:	1b 07       	cpc	r17, r27
+    5f2a:	e4 f4       	brge	.+56     	; 0x5f64 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0xe0>
+    5f2c:	e4 e1       	ldi	r30, 0x14	; 20
+    5f2e:	ce 2e       	mov	r12, r30
+    5f30:	e2 e0       	ldi	r30, 0x02	; 2
+    5f32:	de 2e       	mov	r13, r30
+    5f34:	cc 0e       	add	r12, r28
+    5f36:	dd 1e       	adc	r13, r29
+    5f38:	ee 24       	eor	r14, r14
+    5f3a:	ff 24       	eor	r15, r15
+    5f3c:	0f c0       	rjmp	.+30     	; 0x5f5c <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0xd8>
+    5f3e:	8a 81       	ldd	r24, Y+2	; 0x02
+    5f40:	9b 81       	ldd	r25, Y+3	; 0x03
+    5f42:	f6 01       	movw	r30, r12
+    5f44:	61 91       	ld	r22, Z+
+    5f46:	6f 01       	movw	r12, r30
+    5f48:	dc 01       	movw	r26, r24
+    5f4a:	ed 91       	ld	r30, X+
+    5f4c:	fc 91       	ld	r31, X
+    5f4e:	01 90       	ld	r0, Z+
+    5f50:	f0 81       	ld	r31, Z
+    5f52:	e0 2d       	mov	r30, r0
+    5f54:	19 95       	eicall
+    5f56:	08 94       	sec
+    5f58:	e1 1c       	adc	r14, r1
+    5f5a:	f1 1c       	adc	r15, r1
+    5f5c:	e0 16       	cp	r14, r16
+    5f5e:	f1 06       	cpc	r15, r17
+    5f60:	74 f3       	brlt	.-36     	; 0x5f3e <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0xba>
+    5f62:	07 c0       	rjmp	.+14     	; 0x5f72 <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE7publishEiPKNS_3MsgE+0xee>
+    5f64:	ce 01       	movw	r24, r28
+    5f66:	63 e0       	ldi	r22, 0x03	; 3
+    5f68:	75 e0       	ldi	r23, 0x05	; 5
+    5f6a:	0e 94 3d 2f 	call	0x5e7a	; 0x5e7a <_ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE8logerrorEPKc>
+    5f6e:	00 e0       	ldi	r16, 0x00	; 0
+    5f70:	10 e0       	ldi	r17, 0x00	; 0
+    5f72:	c8 01       	movw	r24, r16
+    5f74:	df 91       	pop	r29
+    5f76:	cf 91       	pop	r28
+    5f78:	1f 91       	pop	r17
+    5f7a:	0f 91       	pop	r16
+    5f7c:	ff 90       	pop	r15
+    5f7e:	ef 90       	pop	r14
+    5f80:	df 90       	pop	r13
+    5f82:	cf 90       	pop	r12
+    5f84:	08 95       	ret
+
+00005f86 <_GLOBAL__I__ZN3IMU11SENSOR_SIGNE>:
+    5f86:	81 e0       	ldi	r24, 0x01	; 1
+    5f88:	90 e0       	ldi	r25, 0x00	; 0
+    5f8a:	0e 94 56 24 	call	0x48ac	; 0x48ac <_Z41__static_initialization_and_destruction_0ii.clone.11>
+    5f8e:	08 95       	ret
+
+00005f90 <_GLOBAL__D__ZN3IMU11SENSOR_SIGNE>:
+    5f90:	80 e0       	ldi	r24, 0x00	; 0
+    5f92:	90 e0       	ldi	r25, 0x00	; 0
+    5f94:	0e 94 56 24 	call	0x48ac	; 0x48ac <_Z41__static_initialization_and_destruction_0ii.clone.11>
+    5f98:	08 95       	ret
+
+00005f9a <_ZN14HardwareSerial9availableEv>:
+    5f9a:	fc 01       	movw	r30, r24
+    5f9c:	22 81       	ldd	r18, Z+2	; 0x02
+    5f9e:	33 81       	ldd	r19, Z+3	; 0x03
+    5fa0:	f9 01       	movw	r30, r18
+    5fa2:	e0 58       	subi	r30, 0x80	; 128
+    5fa4:	ff 4f       	sbci	r31, 0xFF	; 255
+    5fa6:	80 81       	ld	r24, Z
+    5fa8:	91 81       	ldd	r25, Z+1	; 0x01
+    5faa:	80 58       	subi	r24, 0x80	; 128
+    5fac:	9f 4f       	sbci	r25, 0xFF	; 255
+    5fae:	2e 57       	subi	r18, 0x7E	; 126
+    5fb0:	3f 4f       	sbci	r19, 0xFF	; 255
+    5fb2:	f9 01       	movw	r30, r18
+    5fb4:	20 81       	ld	r18, Z
+    5fb6:	31 81       	ldd	r19, Z+1	; 0x01
+    5fb8:	82 1b       	sub	r24, r18
+    5fba:	93 0b       	sbc	r25, r19
+    5fbc:	60 e8       	ldi	r22, 0x80	; 128
+    5fbe:	70 e0       	ldi	r23, 0x00	; 0
+    5fc0:	0e 94 51 41 	call	0x82a2	; 0x82a2 <__divmodhi4>
+    5fc4:	08 95       	ret
+
+00005fc6 <_ZN14HardwareSerial4peekEv>:
+    5fc6:	fc 01       	movw	r30, r24
+    5fc8:	82 81       	ldd	r24, Z+2	; 0x02
+    5fca:	93 81       	ldd	r25, Z+3	; 0x03
+    5fcc:	fc 01       	movw	r30, r24
+    5fce:	ee 57       	subi	r30, 0x7E	; 126
+    5fd0:	ff 4f       	sbci	r31, 0xFF	; 255
+    5fd2:	20 81       	ld	r18, Z
+    5fd4:	31 81       	ldd	r19, Z+1	; 0x01
+    5fd6:	fc 01       	movw	r30, r24
+    5fd8:	e0 58       	subi	r30, 0x80	; 128
+    5fda:	ff 4f       	sbci	r31, 0xFF	; 255
+    5fdc:	40 81       	ld	r20, Z
+    5fde:	51 81       	ldd	r21, Z+1	; 0x01
+    5fe0:	42 17       	cp	r20, r18
+    5fe2:	53 07       	cpc	r21, r19
+    5fe4:	31 f0       	breq	.+12     	; 0x5ff2 <_ZN14HardwareSerial4peekEv+0x2c>
+    5fe6:	82 0f       	add	r24, r18
+    5fe8:	93 1f       	adc	r25, r19
+    5fea:	fc 01       	movw	r30, r24
+    5fec:	20 81       	ld	r18, Z
+    5fee:	30 e0       	ldi	r19, 0x00	; 0
+    5ff0:	02 c0       	rjmp	.+4      	; 0x5ff6 <_ZN14HardwareSerial4peekEv+0x30>
+    5ff2:	2f ef       	ldi	r18, 0xFF	; 255
+    5ff4:	3f ef       	ldi	r19, 0xFF	; 255
+    5ff6:	c9 01       	movw	r24, r18
+    5ff8:	08 95       	ret
+
+00005ffa <_ZN14HardwareSerial4readEv>:
+    5ffa:	dc 01       	movw	r26, r24
+    5ffc:	12 96       	adiw	r26, 0x02	; 2
+    5ffe:	2d 91       	ld	r18, X+
+    6000:	3c 91       	ld	r19, X
+    6002:	13 97       	sbiw	r26, 0x03	; 3
+    6004:	f9 01       	movw	r30, r18
+    6006:	ee 57       	subi	r30, 0x7E	; 126
+    6008:	ff 4f       	sbci	r31, 0xFF	; 255
+    600a:	80 81       	ld	r24, Z
+    600c:	91 81       	ldd	r25, Z+1	; 0x01
+    600e:	d9 01       	movw	r26, r18
+    6010:	a0 58       	subi	r26, 0x80	; 128
+    6012:	bf 4f       	sbci	r27, 0xFF	; 255
+    6014:	4d 91       	ld	r20, X+
+    6016:	5c 91       	ld	r21, X
+    6018:	11 97       	sbiw	r26, 0x01	; 1
+    601a:	48 17       	cp	r20, r24
+    601c:	59 07       	cpc	r21, r25
+    601e:	69 f0       	breq	.+26     	; 0x603a <_ZN14HardwareSerial4readEv+0x40>
+    6020:	28 0f       	add	r18, r24
+    6022:	39 1f       	adc	r19, r25
+    6024:	d9 01       	movw	r26, r18
+    6026:	2c 91       	ld	r18, X
+    6028:	01 96       	adiw	r24, 0x01	; 1
+    602a:	60 e8       	ldi	r22, 0x80	; 128
+    602c:	70 e0       	ldi	r23, 0x00	; 0
+    602e:	0e 94 51 41 	call	0x82a2	; 0x82a2 <__divmodhi4>
+    6032:	91 83       	std	Z+1, r25	; 0x01
+    6034:	80 83       	st	Z, r24
+    6036:	30 e0       	ldi	r19, 0x00	; 0
+    6038:	02 c0       	rjmp	.+4      	; 0x603e <_ZN14HardwareSerial4readEv+0x44>
+    603a:	2f ef       	ldi	r18, 0xFF	; 255
+    603c:	3f ef       	ldi	r19, 0xFF	; 255
+    603e:	c9 01       	movw	r24, r18
+    6040:	08 95       	ret
+
+00006042 <_ZN14HardwareSerial5flushEv>:
+    6042:	dc 01       	movw	r26, r24
+    6044:	12 96       	adiw	r26, 0x02	; 2
+    6046:	8d 91       	ld	r24, X+
+    6048:	9c 91       	ld	r25, X
+    604a:	13 97       	sbiw	r26, 0x03	; 3
+    604c:	fc 01       	movw	r30, r24
+    604e:	e0 58       	subi	r30, 0x80	; 128
+    6050:	ff 4f       	sbci	r31, 0xFF	; 255
+    6052:	8e 57       	subi	r24, 0x7E	; 126
+    6054:	9f 4f       	sbci	r25, 0xFF	; 255
+    6056:	dc 01       	movw	r26, r24
+    6058:	8d 91       	ld	r24, X+
+    605a:	9c 91       	ld	r25, X
+    605c:	11 97       	sbiw	r26, 0x01	; 1
+    605e:	91 83       	std	Z+1, r25	; 0x01
+    6060:	80 83       	st	Z, r24
+    6062:	08 95       	ret
+
+00006064 <_ZN14HardwareSerial5writeEh>:
+    6064:	fc 01       	movw	r30, r24
+    6066:	a0 85       	ldd	r26, Z+8	; 0x08
+    6068:	b1 85       	ldd	r27, Z+9	; 0x09
+    606a:	21 89       	ldd	r18, Z+17	; 0x11
+    606c:	8c 91       	ld	r24, X
+    606e:	90 e0       	ldi	r25, 0x00	; 0
+    6070:	02 2e       	mov	r0, r18
+    6072:	02 c0       	rjmp	.+4      	; 0x6078 <_ZN14HardwareSerial5writeEh+0x14>
+    6074:	95 95       	asr	r25
+    6076:	87 95       	ror	r24
+    6078:	0a 94       	dec	r0
+    607a:	e2 f7       	brpl	.-8      	; 0x6074 <_ZN14HardwareSerial5writeEh+0x10>
+    607c:	80 ff       	sbrs	r24, 0
+    607e:	f6 cf       	rjmp	.-20     	; 0x606c <_ZN14HardwareSerial5writeEh+0x8>
+    6080:	04 84       	ldd	r0, Z+12	; 0x0c
+    6082:	f5 85       	ldd	r31, Z+13	; 0x0d
+    6084:	e0 2d       	mov	r30, r0
+    6086:	60 83       	st	Z, r22
+    6088:	08 95       	ret
+
+0000608a <_Z10store_charhP11ring_buffer>:
+    608a:	1f 93       	push	r17
+    608c:	cf 93       	push	r28
+    608e:	df 93       	push	r29
+    6090:	18 2f       	mov	r17, r24
+    6092:	9b 01       	movw	r18, r22
+    6094:	eb 01       	movw	r28, r22
+    6096:	c0 58       	subi	r28, 0x80	; 128
+    6098:	df 4f       	sbci	r29, 0xFF	; 255
+    609a:	e8 81       	ld	r30, Y
+    609c:	f9 81       	ldd	r31, Y+1	; 0x01
+    609e:	cf 01       	movw	r24, r30
+    60a0:	01 96       	adiw	r24, 0x01	; 1
+    60a2:	60 e8       	ldi	r22, 0x80	; 128
+    60a4:	70 e0       	ldi	r23, 0x00	; 0
+    60a6:	0e 94 51 41 	call	0x82a2	; 0x82a2 <__divmodhi4>
+    60aa:	ac 01       	movw	r20, r24
+    60ac:	d9 01       	movw	r26, r18
+    60ae:	ae 57       	subi	r26, 0x7E	; 126
+    60b0:	bf 4f       	sbci	r27, 0xFF	; 255
+    60b2:	8d 91       	ld	r24, X+
+    60b4:	9c 91       	ld	r25, X
+    60b6:	11 97       	sbiw	r26, 0x01	; 1
+    60b8:	48 17       	cp	r20, r24
+    60ba:	59 07       	cpc	r21, r25
+    60bc:	29 f0       	breq	.+10     	; 0x60c8 <_Z10store_charhP11ring_buffer+0x3e>
+    60be:	e2 0f       	add	r30, r18
+    60c0:	f3 1f       	adc	r31, r19
+    60c2:	10 83       	st	Z, r17
+    60c4:	59 83       	std	Y+1, r21	; 0x01
+    60c6:	48 83       	st	Y, r20
+    60c8:	df 91       	pop	r29
+    60ca:	cf 91       	pop	r28
+    60cc:	1f 91       	pop	r17
+    60ce:	08 95       	ret
+
+000060d0 <__vector_25>:
+    60d0:	1f 92       	push	r1
+    60d2:	0f 92       	push	r0
+    60d4:	0f b6       	in	r0, 0x3f	; 63
+    60d6:	0f 92       	push	r0
+    60d8:	0b b6       	in	r0, 0x3b	; 59
+    60da:	0f 92       	push	r0
+    60dc:	11 24       	eor	r1, r1
+    60de:	2f 93       	push	r18
+    60e0:	3f 93       	push	r19
+    60e2:	4f 93       	push	r20
+    60e4:	5f 93       	push	r21
+    60e6:	6f 93       	push	r22
+    60e8:	7f 93       	push	r23
+    60ea:	8f 93       	push	r24
+    60ec:	9f 93       	push	r25
+    60ee:	af 93       	push	r26
+    60f0:	bf 93       	push	r27
+    60f2:	ef 93       	push	r30
+    60f4:	ff 93       	push	r31
+    60f6:	80 91 c6 00 	lds	r24, 0x00C6
+    60fa:	64 e0       	ldi	r22, 0x04	; 4
+    60fc:	7e e0       	ldi	r23, 0x0E	; 14
+    60fe:	0e 94 45 30 	call	0x608a	; 0x608a <_Z10store_charhP11ring_buffer>
+    6102:	ff 91       	pop	r31
+    6104:	ef 91       	pop	r30
+    6106:	bf 91       	pop	r27
+    6108:	af 91       	pop	r26
+    610a:	9f 91       	pop	r25
+    610c:	8f 91       	pop	r24
+    610e:	7f 91       	pop	r23
+    6110:	6f 91       	pop	r22
+    6112:	5f 91       	pop	r21
+    6114:	4f 91       	pop	r20
+    6116:	3f 91       	pop	r19
+    6118:	2f 91       	pop	r18
+    611a:	0f 90       	pop	r0
+    611c:	0b be       	out	0x3b, r0	; 59
+    611e:	0f 90       	pop	r0
+    6120:	0f be       	out	0x3f, r0	; 63
+    6122:	0f 90       	pop	r0
+    6124:	1f 90       	pop	r1
+    6126:	18 95       	reti
+
+00006128 <__vector_36>:
+    6128:	1f 92       	push	r1
+    612a:	0f 92       	push	r0
+    612c:	0f b6       	in	r0, 0x3f	; 63
+    612e:	0f 92       	push	r0
+    6130:	0b b6       	in	r0, 0x3b	; 59
+    6132:	0f 92       	push	r0
+    6134:	11 24       	eor	r1, r1
+    6136:	2f 93       	push	r18
+    6138:	3f 93       	push	r19
+    613a:	4f 93       	push	r20
+    613c:	5f 93       	push	r21
+    613e:	6f 93       	push	r22
+    6140:	7f 93       	push	r23
+    6142:	8f 93       	push	r24
+    6144:	9f 93       	push	r25
+    6146:	af 93       	push	r26
+    6148:	bf 93       	push	r27
+    614a:	ef 93       	push	r30
+    614c:	ff 93       	push	r31
+    614e:	80 91 ce 00 	lds	r24, 0x00CE
+    6152:	68 e8       	ldi	r22, 0x88	; 136
+    6154:	7e e0       	ldi	r23, 0x0E	; 14
+    6156:	0e 94 45 30 	call	0x608a	; 0x608a <_Z10store_charhP11ring_buffer>
+    615a:	ff 91       	pop	r31
+    615c:	ef 91       	pop	r30
+    615e:	bf 91       	pop	r27
+    6160:	af 91       	pop	r26
+    6162:	9f 91       	pop	r25
+    6164:	8f 91       	pop	r24
+    6166:	7f 91       	pop	r23
+    6168:	6f 91       	pop	r22
+    616a:	5f 91       	pop	r21
+    616c:	4f 91       	pop	r20
+    616e:	3f 91       	pop	r19
+    6170:	2f 91       	pop	r18
+    6172:	0f 90       	pop	r0
+    6174:	0b be       	out	0x3b, r0	; 59
+    6176:	0f 90       	pop	r0
+    6178:	0f be       	out	0x3f, r0	; 63
+    617a:	0f 90       	pop	r0
+    617c:	1f 90       	pop	r1
+    617e:	18 95       	reti
+
+00006180 <__vector_51>:
+    6180:	1f 92       	push	r1
+    6182:	0f 92       	push	r0
+    6184:	0f b6       	in	r0, 0x3f	; 63
+    6186:	0f 92       	push	r0
+    6188:	0b b6       	in	r0, 0x3b	; 59
+    618a:	0f 92       	push	r0
+    618c:	11 24       	eor	r1, r1
+    618e:	2f 93       	push	r18
+    6190:	3f 93       	push	r19
+    6192:	4f 93       	push	r20
+    6194:	5f 93       	push	r21
+    6196:	6f 93       	push	r22
+    6198:	7f 93       	push	r23
+    619a:	8f 93       	push	r24
+    619c:	9f 93       	push	r25
+    619e:	af 93       	push	r26
+    61a0:	bf 93       	push	r27
+    61a2:	ef 93       	push	r30
+    61a4:	ff 93       	push	r31
+    61a6:	80 91 d6 00 	lds	r24, 0x00D6
+    61aa:	6c e0       	ldi	r22, 0x0C	; 12
+    61ac:	7f e0       	ldi	r23, 0x0F	; 15
+    61ae:	0e 94 45 30 	call	0x608a	; 0x608a <_Z10store_charhP11ring_buffer>
+    61b2:	ff 91       	pop	r31
+    61b4:	ef 91       	pop	r30
+    61b6:	bf 91       	pop	r27
+    61b8:	af 91       	pop	r26
+    61ba:	9f 91       	pop	r25
+    61bc:	8f 91       	pop	r24
+    61be:	7f 91       	pop	r23
+    61c0:	6f 91       	pop	r22
+    61c2:	5f 91       	pop	r21
+    61c4:	4f 91       	pop	r20
+    61c6:	3f 91       	pop	r19
+    61c8:	2f 91       	pop	r18
+    61ca:	0f 90       	pop	r0
+    61cc:	0b be       	out	0x3b, r0	; 59
+    61ce:	0f 90       	pop	r0
+    61d0:	0f be       	out	0x3f, r0	; 63
+    61d2:	0f 90       	pop	r0
+    61d4:	1f 90       	pop	r1
+    61d6:	18 95       	reti
+
+000061d8 <__vector_54>:
+    61d8:	1f 92       	push	r1
+    61da:	0f 92       	push	r0
+    61dc:	0f b6       	in	r0, 0x3f	; 63
+    61de:	0f 92       	push	r0
+    61e0:	0b b6       	in	r0, 0x3b	; 59
+    61e2:	0f 92       	push	r0
+    61e4:	11 24       	eor	r1, r1
+    61e6:	2f 93       	push	r18
+    61e8:	3f 93       	push	r19
+    61ea:	4f 93       	push	r20
+    61ec:	5f 93       	push	r21
+    61ee:	6f 93       	push	r22
+    61f0:	7f 93       	push	r23
+    61f2:	8f 93       	push	r24
+    61f4:	9f 93       	push	r25
+    61f6:	af 93       	push	r26
+    61f8:	bf 93       	push	r27
+    61fa:	ef 93       	push	r30
+    61fc:	ff 93       	push	r31
+    61fe:	80 91 36 01 	lds	r24, 0x0136
+    6202:	60 e9       	ldi	r22, 0x90	; 144
+    6204:	7f e0       	ldi	r23, 0x0F	; 15
+    6206:	0e 94 45 30 	call	0x608a	; 0x608a <_Z10store_charhP11ring_buffer>
+    620a:	ff 91       	pop	r31
+    620c:	ef 91       	pop	r30
+    620e:	bf 91       	pop	r27
+    6210:	af 91       	pop	r26
+    6212:	9f 91       	pop	r25
+    6214:	8f 91       	pop	r24
+    6216:	7f 91       	pop	r23
+    6218:	6f 91       	pop	r22
+    621a:	5f 91       	pop	r21
+    621c:	4f 91       	pop	r20
+    621e:	3f 91       	pop	r19
+    6220:	2f 91       	pop	r18
+    6222:	0f 90       	pop	r0
+    6224:	0b be       	out	0x3b, r0	; 59
+    6226:	0f 90       	pop	r0
+    6228:	0f be       	out	0x3f, r0	; 63
+    622a:	0f 90       	pop	r0
+    622c:	1f 90       	pop	r1
+    622e:	18 95       	reti
+
+00006230 <_ZN14HardwareSerial5beginEl>:
+    6230:	9f 92       	push	r9
+    6232:	af 92       	push	r10
+    6234:	bf 92       	push	r11
+    6236:	cf 92       	push	r12
+    6238:	df 92       	push	r13
+    623a:	ef 92       	push	r14
+    623c:	ff 92       	push	r15
+    623e:	0f 93       	push	r16
+    6240:	1f 93       	push	r17
+    6242:	cf 93       	push	r28
+    6244:	df 93       	push	r29
+    6246:	ec 01       	movw	r28, r24
+    6248:	7a 01       	movw	r14, r20
+    624a:	8b 01       	movw	r16, r22
+    624c:	81 e4       	ldi	r24, 0x41	; 65
+    624e:	e8 16       	cp	r14, r24
+    6250:	82 e4       	ldi	r24, 0x42	; 66
+    6252:	f8 06       	cpc	r15, r24
+    6254:	8f e0       	ldi	r24, 0x0F	; 15
+    6256:	08 07       	cpc	r16, r24
+    6258:	80 e0       	ldi	r24, 0x00	; 0
+    625a:	18 07       	cpc	r17, r24
+    625c:	08 f0       	brcs	.+2      	; 0x6260 <_ZN14HardwareSerial5beginEl+0x30>
+    625e:	77 c0       	rjmp	.+238    	; 0x634e <_ZN14HardwareSerial5beginEl+0x11e>
+    6260:	60 e8       	ldi	r22, 0x80	; 128
+    6262:	74 e8       	ldi	r23, 0x84	; 132
+    6264:	8e e1       	ldi	r24, 0x1E	; 30
+    6266:	90 e0       	ldi	r25, 0x00	; 0
+    6268:	a8 01       	movw	r20, r16
+    626a:	97 01       	movw	r18, r14
+    626c:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
+    6270:	59 01       	movw	r10, r18
+    6272:	6a 01       	movw	r12, r20
+    6274:	08 94       	sec
+    6276:	a1 08       	sbc	r10, r1
+    6278:	b1 08       	sbc	r11, r1
+    627a:	c1 08       	sbc	r12, r1
+    627c:	d1 08       	sbc	r13, r1
+    627e:	d6 94       	lsr	r13
+    6280:	c7 94       	ror	r12
+    6282:	b7 94       	ror	r11
+    6284:	a7 94       	ror	r10
+    6286:	a6 01       	movw	r20, r12
+    6288:	95 01       	movw	r18, r10
+    628a:	2f 5f       	subi	r18, 0xFF	; 255
+    628c:	3f 4f       	sbci	r19, 0xFF	; 255
+    628e:	4f 4f       	sbci	r20, 0xFF	; 255
+    6290:	5f 4f       	sbci	r21, 0xFF	; 255
+    6292:	74 e0       	ldi	r23, 0x04	; 4
+    6294:	22 0f       	add	r18, r18
+    6296:	33 1f       	adc	r19, r19
+    6298:	44 1f       	adc	r20, r20
+    629a:	55 1f       	adc	r21, r21
+    629c:	7a 95       	dec	r23
+    629e:	d1 f7       	brne	.-12     	; 0x6294 <_ZN14HardwareSerial5beginEl+0x64>
+    62a0:	60 e0       	ldi	r22, 0x00	; 0
+    62a2:	74 e2       	ldi	r23, 0x24	; 36
+    62a4:	84 ef       	ldi	r24, 0xF4	; 244
+    62a6:	90 e0       	ldi	r25, 0x00	; 0
+    62a8:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
+    62ac:	ca 01       	movw	r24, r20
+    62ae:	b9 01       	movw	r22, r18
+    62b0:	2f ef       	ldi	r18, 0xFF	; 255
+    62b2:	30 e0       	ldi	r19, 0x00	; 0
+    62b4:	40 e0       	ldi	r20, 0x00	; 0
+    62b6:	50 e0       	ldi	r21, 0x00	; 0
+    62b8:	0e 94 1e 41 	call	0x823c	; 0x823c <__mulsi3>
+    62bc:	a8 01       	movw	r20, r16
+    62be:	97 01       	movw	r18, r14
+    62c0:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
+    62c4:	8f ef       	ldi	r24, 0xFF	; 255
+    62c6:	90 e0       	ldi	r25, 0x00	; 0
+    62c8:	82 1b       	sub	r24, r18
+    62ca:	93 0b       	sbc	r25, r19
+    62cc:	18 16       	cp	r1, r24
+    62ce:	19 06       	cpc	r1, r25
+    62d0:	1c f4       	brge	.+6      	; 0x62d8 <_ZN14HardwareSerial5beginEl+0xa8>
+    62d2:	92 2e       	mov	r9, r18
+    62d4:	90 94       	com	r9
+    62d6:	02 c0       	rjmp	.+4      	; 0x62dc <_ZN14HardwareSerial5beginEl+0xac>
+    62d8:	92 2e       	mov	r9, r18
+    62da:	93 94       	inc	r9
+    62dc:	60 e0       	ldi	r22, 0x00	; 0
+    62de:	79 e0       	ldi	r23, 0x09	; 9
+    62e0:	8d e3       	ldi	r24, 0x3D	; 61
+    62e2:	90 e0       	ldi	r25, 0x00	; 0
+    62e4:	a8 01       	movw	r20, r16
+    62e6:	97 01       	movw	r18, r14
+    62e8:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
+    62ec:	21 50       	subi	r18, 0x01	; 1
+    62ee:	30 40       	sbci	r19, 0x00	; 0
+    62f0:	40 40       	sbci	r20, 0x00	; 0
+    62f2:	50 40       	sbci	r21, 0x00	; 0
+    62f4:	56 95       	lsr	r21
+    62f6:	47 95       	ror	r20
+    62f8:	37 95       	ror	r19
+    62fa:	27 95       	ror	r18
+    62fc:	2f 5f       	subi	r18, 0xFF	; 255
+    62fe:	3f 4f       	sbci	r19, 0xFF	; 255
+    6300:	4f 4f       	sbci	r20, 0xFF	; 255
+    6302:	5f 4f       	sbci	r21, 0xFF	; 255
+    6304:	93 e0       	ldi	r25, 0x03	; 3
+    6306:	22 0f       	add	r18, r18
+    6308:	33 1f       	adc	r19, r19
+    630a:	44 1f       	adc	r20, r20
+    630c:	55 1f       	adc	r21, r21
+    630e:	9a 95       	dec	r25
+    6310:	d1 f7       	brne	.-12     	; 0x6306 <_ZN14HardwareSerial5beginEl+0xd6>
+    6312:	60 e0       	ldi	r22, 0x00	; 0
+    6314:	74 e2       	ldi	r23, 0x24	; 36
+    6316:	84 ef       	ldi	r24, 0xF4	; 244
+    6318:	90 e0       	ldi	r25, 0x00	; 0
+    631a:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
+    631e:	ca 01       	movw	r24, r20
+    6320:	b9 01       	movw	r22, r18
+    6322:	2f ef       	ldi	r18, 0xFF	; 255
+    6324:	30 e0       	ldi	r19, 0x00	; 0
+    6326:	40 e0       	ldi	r20, 0x00	; 0
+    6328:	50 e0       	ldi	r21, 0x00	; 0
+    632a:	0e 94 1e 41 	call	0x823c	; 0x823c <__mulsi3>
+    632e:	a8 01       	movw	r20, r16
+    6330:	97 01       	movw	r18, r14
+    6332:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
+    6336:	8f ef       	ldi	r24, 0xFF	; 255
+    6338:	90 e0       	ldi	r25, 0x00	; 0
+    633a:	82 1b       	sub	r24, r18
+    633c:	93 0b       	sbc	r25, r19
+    633e:	18 16       	cp	r1, r24
+    6340:	19 06       	cpc	r1, r25
+    6342:	14 f4       	brge	.+4      	; 0x6348 <_ZN14HardwareSerial5beginEl+0x118>
+    6344:	20 95       	com	r18
+    6346:	01 c0       	rjmp	.+2      	; 0x634a <_ZN14HardwareSerial5beginEl+0x11a>
+    6348:	2f 5f       	subi	r18, 0xFF	; 255
+    634a:	29 15       	cp	r18, r9
+    634c:	e8 f4       	brcc	.+58     	; 0x6388 <_ZN14HardwareSerial5beginEl+0x158>
+    634e:	e8 85       	ldd	r30, Y+8	; 0x08
+    6350:	f9 85       	ldd	r31, Y+9	; 0x09
+    6352:	81 e0       	ldi	r24, 0x01	; 1
+    6354:	90 e0       	ldi	r25, 0x00	; 0
+    6356:	0a 88       	ldd	r0, Y+18	; 0x12
+    6358:	02 c0       	rjmp	.+4      	; 0x635e <_ZN14HardwareSerial5beginEl+0x12e>
+    635a:	88 0f       	add	r24, r24
+    635c:	99 1f       	adc	r25, r25
+    635e:	0a 94       	dec	r0
+    6360:	e2 f7       	brpl	.-8      	; 0x635a <_ZN14HardwareSerial5beginEl+0x12a>
+    6362:	80 83       	st	Z, r24
+    6364:	60 e0       	ldi	r22, 0x00	; 0
+    6366:	79 e0       	ldi	r23, 0x09	; 9
+    6368:	8d e3       	ldi	r24, 0x3D	; 61
     636a:	90 e0       	ldi	r25, 0x00	; 0
-    636c:	82 1b       	sub	r24, r18
-    636e:	93 0b       	sbc	r25, r19
-    6370:	18 16       	cp	r1, r24
-    6372:	19 06       	cpc	r1, r25
-    6374:	1c f4       	brge	.+6      	; 0x637c <_ZN14HardwareSerial5beginEl+0xa8>
-    6376:	92 2e       	mov	r9, r18
-    6378:	90 94       	com	r9
-    637a:	02 c0       	rjmp	.+4      	; 0x6380 <_ZN14HardwareSerial5beginEl+0xac>
-    637c:	92 2e       	mov	r9, r18
-    637e:	93 94       	inc	r9
-    6380:	60 e0       	ldi	r22, 0x00	; 0
-    6382:	79 e0       	ldi	r23, 0x09	; 9
-    6384:	8d e3       	ldi	r24, 0x3D	; 61
-    6386:	90 e0       	ldi	r25, 0x00	; 0
-    6388:	a8 01       	movw	r20, r16
-    638a:	97 01       	movw	r18, r14
-    638c:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
-    6390:	21 50       	subi	r18, 0x01	; 1
-    6392:	30 40       	sbci	r19, 0x00	; 0
-    6394:	40 40       	sbci	r20, 0x00	; 0
-    6396:	50 40       	sbci	r21, 0x00	; 0
-    6398:	56 95       	lsr	r21
-    639a:	47 95       	ror	r20
-    639c:	37 95       	ror	r19
-    639e:	27 95       	ror	r18
-    63a0:	2f 5f       	subi	r18, 0xFF	; 255
-    63a2:	3f 4f       	sbci	r19, 0xFF	; 255
-    63a4:	4f 4f       	sbci	r20, 0xFF	; 255
-    63a6:	5f 4f       	sbci	r21, 0xFF	; 255
-    63a8:	93 e0       	ldi	r25, 0x03	; 3
-    63aa:	22 0f       	add	r18, r18
-    63ac:	33 1f       	adc	r19, r19
-    63ae:	44 1f       	adc	r20, r20
-    63b0:	55 1f       	adc	r21, r21
-    63b2:	9a 95       	dec	r25
-    63b4:	d1 f7       	brne	.-12     	; 0x63aa <_ZN14HardwareSerial5beginEl+0xd6>
-    63b6:	60 e0       	ldi	r22, 0x00	; 0
-    63b8:	74 e2       	ldi	r23, 0x24	; 36
-    63ba:	84 ef       	ldi	r24, 0xF4	; 244
-    63bc:	90 e0       	ldi	r25, 0x00	; 0
-    63be:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
-    63c2:	ca 01       	movw	r24, r20
-    63c4:	b9 01       	movw	r22, r18
-    63c6:	2f ef       	ldi	r18, 0xFF	; 255
-    63c8:	30 e0       	ldi	r19, 0x00	; 0
-    63ca:	40 e0       	ldi	r20, 0x00	; 0
-    63cc:	50 e0       	ldi	r21, 0x00	; 0
-    63ce:	0e 94 21 42 	call	0x8442	; 0x8442 <__mulsi3>
-    63d2:	a8 01       	movw	r20, r16
-    63d4:	97 01       	movw	r18, r14
-    63d6:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
-    63da:	8f ef       	ldi	r24, 0xFF	; 255
-    63dc:	90 e0       	ldi	r25, 0x00	; 0
-    63de:	82 1b       	sub	r24, r18
-    63e0:	93 0b       	sbc	r25, r19
-    63e2:	18 16       	cp	r1, r24
-    63e4:	19 06       	cpc	r1, r25
-    63e6:	14 f4       	brge	.+4      	; 0x63ec <_ZN14HardwareSerial5beginEl+0x118>
-    63e8:	20 95       	com	r18
-    63ea:	01 c0       	rjmp	.+2      	; 0x63ee <_ZN14HardwareSerial5beginEl+0x11a>
-    63ec:	2f 5f       	subi	r18, 0xFF	; 255
-    63ee:	29 15       	cp	r18, r9
-    63f0:	e8 f4       	brcc	.+58     	; 0x642c <_ZN14HardwareSerial5beginEl+0x158>
-    63f2:	e8 85       	ldd	r30, Y+8	; 0x08
-    63f4:	f9 85       	ldd	r31, Y+9	; 0x09
-    63f6:	81 e0       	ldi	r24, 0x01	; 1
-    63f8:	90 e0       	ldi	r25, 0x00	; 0
-    63fa:	0a 88       	ldd	r0, Y+18	; 0x12
-    63fc:	02 c0       	rjmp	.+4      	; 0x6402 <_ZN14HardwareSerial5beginEl+0x12e>
-    63fe:	88 0f       	add	r24, r24
-    6400:	99 1f       	adc	r25, r25
-    6402:	0a 94       	dec	r0
-    6404:	e2 f7       	brpl	.-8      	; 0x63fe <_ZN14HardwareSerial5beginEl+0x12a>
-    6406:	80 83       	st	Z, r24
-    6408:	60 e0       	ldi	r22, 0x00	; 0
-    640a:	79 e0       	ldi	r23, 0x09	; 9
-    640c:	8d e3       	ldi	r24, 0x3D	; 61
-    640e:	90 e0       	ldi	r25, 0x00	; 0
-    6410:	a8 01       	movw	r20, r16
-    6412:	97 01       	movw	r18, r14
-    6414:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
-    6418:	21 50       	subi	r18, 0x01	; 1
-    641a:	30 40       	sbci	r19, 0x00	; 0
-    641c:	40 40       	sbci	r20, 0x00	; 0
-    641e:	50 40       	sbci	r21, 0x00	; 0
-    6420:	56 95       	lsr	r21
-    6422:	47 95       	ror	r20
-    6424:	37 95       	ror	r19
-    6426:	27 95       	ror	r18
-    6428:	c9 01       	movw	r24, r18
-    642a:	04 c0       	rjmp	.+8      	; 0x6434 <_ZN14HardwareSerial5beginEl+0x160>
-    642c:	e8 85       	ldd	r30, Y+8	; 0x08
-    642e:	f9 85       	ldd	r31, Y+9	; 0x09
-    6430:	10 82       	st	Z, r1
-    6432:	c5 01       	movw	r24, r10
-    6434:	ec 81       	ldd	r30, Y+4	; 0x04
-    6436:	fd 81       	ldd	r31, Y+5	; 0x05
-    6438:	90 83       	st	Z, r25
-    643a:	ee 81       	ldd	r30, Y+6	; 0x06
-    643c:	ff 81       	ldd	r31, Y+7	; 0x07
-    643e:	80 83       	st	Z, r24
-    6440:	ea 85       	ldd	r30, Y+10	; 0x0a
-    6442:	fb 85       	ldd	r31, Y+11	; 0x0b
-    6444:	40 81       	ld	r20, Z
-    6446:	81 e0       	ldi	r24, 0x01	; 1
-    6448:	90 e0       	ldi	r25, 0x00	; 0
-    644a:	9c 01       	movw	r18, r24
-    644c:	0e 84       	ldd	r0, Y+14	; 0x0e
-    644e:	02 c0       	rjmp	.+4      	; 0x6454 <_ZN14HardwareSerial5beginEl+0x180>
-    6450:	22 0f       	add	r18, r18
-    6452:	33 1f       	adc	r19, r19
-    6454:	0a 94       	dec	r0
-    6456:	e2 f7       	brpl	.-8      	; 0x6450 <_ZN14HardwareSerial5beginEl+0x17c>
-    6458:	42 2b       	or	r20, r18
-    645a:	40 83       	st	Z, r20
-    645c:	ea 85       	ldd	r30, Y+10	; 0x0a
-    645e:	fb 85       	ldd	r31, Y+11	; 0x0b
-    6460:	40 81       	ld	r20, Z
-    6462:	9c 01       	movw	r18, r24
-    6464:	0f 84       	ldd	r0, Y+15	; 0x0f
-    6466:	02 c0       	rjmp	.+4      	; 0x646c <_ZN14HardwareSerial5beginEl+0x198>
-    6468:	22 0f       	add	r18, r18
-    646a:	33 1f       	adc	r19, r19
-    646c:	0a 94       	dec	r0
-    646e:	e2 f7       	brpl	.-8      	; 0x6468 <_ZN14HardwareSerial5beginEl+0x194>
-    6470:	42 2b       	or	r20, r18
-    6472:	40 83       	st	Z, r20
-    6474:	ea 85       	ldd	r30, Y+10	; 0x0a
-    6476:	fb 85       	ldd	r31, Y+11	; 0x0b
-    6478:	20 81       	ld	r18, Z
-    647a:	08 88       	ldd	r0, Y+16	; 0x10
-    647c:	02 c0       	rjmp	.+4      	; 0x6482 <_ZN14HardwareSerial5beginEl+0x1ae>
-    647e:	88 0f       	add	r24, r24
-    6480:	99 1f       	adc	r25, r25
-    6482:	0a 94       	dec	r0
-    6484:	e2 f7       	brpl	.-8      	; 0x647e <_ZN14HardwareSerial5beginEl+0x1aa>
-    6486:	28 2b       	or	r18, r24
-    6488:	20 83       	st	Z, r18
-    648a:	df 91       	pop	r29
-    648c:	cf 91       	pop	r28
-    648e:	1f 91       	pop	r17
-    6490:	0f 91       	pop	r16
-    6492:	ff 90       	pop	r15
-    6494:	ef 90       	pop	r14
-    6496:	df 90       	pop	r13
-    6498:	cf 90       	pop	r12
-    649a:	bf 90       	pop	r11
-    649c:	af 90       	pop	r10
-    649e:	9f 90       	pop	r9
-    64a0:	08 95       	ret
-
-000064a2 <_GLOBAL__I_rx_buffer>:
-    64a2:	89 e9       	ldi	r24, 0x99	; 153
-    64a4:	96 e0       	ldi	r25, 0x06	; 6
-    64a6:	90 93 15 10 	sts	0x1015, r25
-    64aa:	80 93 14 10 	sts	0x1014, r24
-    64ae:	24 e0       	ldi	r18, 0x04	; 4
-    64b0:	3e e0       	ldi	r19, 0x0E	; 14
-    64b2:	30 93 17 10 	sts	0x1017, r19
-    64b6:	20 93 16 10 	sts	0x1016, r18
-    64ba:	25 ec       	ldi	r18, 0xC5	; 197
-    64bc:	30 e0       	ldi	r19, 0x00	; 0
-    64be:	30 93 19 10 	sts	0x1019, r19
-    64c2:	20 93 18 10 	sts	0x1018, r18
-    64c6:	24 ec       	ldi	r18, 0xC4	; 196
-    64c8:	30 e0       	ldi	r19, 0x00	; 0
-    64ca:	30 93 1b 10 	sts	0x101B, r19
-    64ce:	20 93 1a 10 	sts	0x101A, r18
-    64d2:	20 ec       	ldi	r18, 0xC0	; 192
-    64d4:	30 e0       	ldi	r19, 0x00	; 0
-    64d6:	30 93 1d 10 	sts	0x101D, r19
-    64da:	20 93 1c 10 	sts	0x101C, r18
-    64de:	21 ec       	ldi	r18, 0xC1	; 193
-    64e0:	30 e0       	ldi	r19, 0x00	; 0
-    64e2:	30 93 1f 10 	sts	0x101F, r19
-    64e6:	20 93 1e 10 	sts	0x101E, r18
-    64ea:	26 ec       	ldi	r18, 0xC6	; 198
-    64ec:	30 e0       	ldi	r19, 0x00	; 0
-    64ee:	30 93 21 10 	sts	0x1021, r19
-    64f2:	20 93 20 10 	sts	0x1020, r18
-    64f6:	e4 e0       	ldi	r30, 0x04	; 4
-    64f8:	e0 93 22 10 	sts	0x1022, r30
-    64fc:	73 e0       	ldi	r23, 0x03	; 3
-    64fe:	70 93 23 10 	sts	0x1023, r23
-    6502:	67 e0       	ldi	r22, 0x07	; 7
-    6504:	60 93 24 10 	sts	0x1024, r22
-    6508:	55 e0       	ldi	r21, 0x05	; 5
-    650a:	50 93 25 10 	sts	0x1025, r21
-    650e:	41 e0       	ldi	r20, 0x01	; 1
-    6510:	40 93 26 10 	sts	0x1026, r20
-    6514:	90 93 28 10 	sts	0x1028, r25
-    6518:	80 93 27 10 	sts	0x1027, r24
-    651c:	28 e8       	ldi	r18, 0x88	; 136
-    651e:	3e e0       	ldi	r19, 0x0E	; 14
-    6520:	30 93 2a 10 	sts	0x102A, r19
-    6524:	20 93 29 10 	sts	0x1029, r18
-    6528:	2d ec       	ldi	r18, 0xCD	; 205
-    652a:	30 e0       	ldi	r19, 0x00	; 0
-    652c:	30 93 2c 10 	sts	0x102C, r19
-    6530:	20 93 2b 10 	sts	0x102B, r18
-    6534:	2c ec       	ldi	r18, 0xCC	; 204
-    6536:	30 e0       	ldi	r19, 0x00	; 0
-    6538:	30 93 2e 10 	sts	0x102E, r19
-    653c:	20 93 2d 10 	sts	0x102D, r18
-    6540:	28 ec       	ldi	r18, 0xC8	; 200
-    6542:	30 e0       	ldi	r19, 0x00	; 0
-    6544:	30 93 30 10 	sts	0x1030, r19
-    6548:	20 93 2f 10 	sts	0x102F, r18
-    654c:	29 ec       	ldi	r18, 0xC9	; 201
-    654e:	30 e0       	ldi	r19, 0x00	; 0
-    6550:	30 93 32 10 	sts	0x1032, r19
-    6554:	20 93 31 10 	sts	0x1031, r18
-    6558:	2e ec       	ldi	r18, 0xCE	; 206
-    655a:	30 e0       	ldi	r19, 0x00	; 0
-    655c:	30 93 34 10 	sts	0x1034, r19
-    6560:	20 93 33 10 	sts	0x1033, r18
-    6564:	e0 93 35 10 	sts	0x1035, r30
-    6568:	70 93 36 10 	sts	0x1036, r23
-    656c:	60 93 37 10 	sts	0x1037, r22
-    6570:	50 93 38 10 	sts	0x1038, r21
-    6574:	40 93 39 10 	sts	0x1039, r20
-    6578:	90 93 3b 10 	sts	0x103B, r25
-    657c:	80 93 3a 10 	sts	0x103A, r24
-    6580:	2c e0       	ldi	r18, 0x0C	; 12
-    6582:	3f e0       	ldi	r19, 0x0F	; 15
-    6584:	30 93 3d 10 	sts	0x103D, r19
-    6588:	20 93 3c 10 	sts	0x103C, r18
-    658c:	25 ed       	ldi	r18, 0xD5	; 213
-    658e:	30 e0       	ldi	r19, 0x00	; 0
-    6590:	30 93 3f 10 	sts	0x103F, r19
-    6594:	20 93 3e 10 	sts	0x103E, r18
-    6598:	24 ed       	ldi	r18, 0xD4	; 212
-    659a:	30 e0       	ldi	r19, 0x00	; 0
-    659c:	30 93 41 10 	sts	0x1041, r19
-    65a0:	20 93 40 10 	sts	0x1040, r18
-    65a4:	20 ed       	ldi	r18, 0xD0	; 208
-    65a6:	30 e0       	ldi	r19, 0x00	; 0
-    65a8:	30 93 43 10 	sts	0x1043, r19
-    65ac:	20 93 42 10 	sts	0x1042, r18
-    65b0:	21 ed       	ldi	r18, 0xD1	; 209
-    65b2:	30 e0       	ldi	r19, 0x00	; 0
-    65b4:	30 93 45 10 	sts	0x1045, r19
-    65b8:	20 93 44 10 	sts	0x1044, r18
-    65bc:	26 ed       	ldi	r18, 0xD6	; 214
-    65be:	30 e0       	ldi	r19, 0x00	; 0
-    65c0:	30 93 47 10 	sts	0x1047, r19
-    65c4:	20 93 46 10 	sts	0x1046, r18
-    65c8:	e0 93 48 10 	sts	0x1048, r30
-    65cc:	70 93 49 10 	sts	0x1049, r23
-    65d0:	60 93 4a 10 	sts	0x104A, r22
-    65d4:	50 93 4b 10 	sts	0x104B, r21
-    65d8:	40 93 4c 10 	sts	0x104C, r20
-    65dc:	90 93 4e 10 	sts	0x104E, r25
-    65e0:	80 93 4d 10 	sts	0x104D, r24
-    65e4:	80 e9       	ldi	r24, 0x90	; 144
-    65e6:	9f e0       	ldi	r25, 0x0F	; 15
-    65e8:	90 93 50 10 	sts	0x1050, r25
-    65ec:	80 93 4f 10 	sts	0x104F, r24
-    65f0:	85 e3       	ldi	r24, 0x35	; 53
-    65f2:	91 e0       	ldi	r25, 0x01	; 1
-    65f4:	90 93 52 10 	sts	0x1052, r25
-    65f8:	80 93 51 10 	sts	0x1051, r24
-    65fc:	84 e3       	ldi	r24, 0x34	; 52
-    65fe:	91 e0       	ldi	r25, 0x01	; 1
-    6600:	90 93 54 10 	sts	0x1054, r25
-    6604:	80 93 53 10 	sts	0x1053, r24
-    6608:	80 e3       	ldi	r24, 0x30	; 48
-    660a:	91 e0       	ldi	r25, 0x01	; 1
-    660c:	90 93 56 10 	sts	0x1056, r25
-    6610:	80 93 55 10 	sts	0x1055, r24
-    6614:	81 e3       	ldi	r24, 0x31	; 49
-    6616:	91 e0       	ldi	r25, 0x01	; 1
-    6618:	90 93 58 10 	sts	0x1058, r25
-    661c:	80 93 57 10 	sts	0x1057, r24
-    6620:	86 e3       	ldi	r24, 0x36	; 54
-    6622:	91 e0       	ldi	r25, 0x01	; 1
-    6624:	90 93 5a 10 	sts	0x105A, r25
-    6628:	80 93 59 10 	sts	0x1059, r24
-    662c:	e0 93 5b 10 	sts	0x105B, r30
-    6630:	70 93 5c 10 	sts	0x105C, r23
-    6634:	60 93 5d 10 	sts	0x105D, r22
-    6638:	50 93 5e 10 	sts	0x105E, r21
-    663c:	40 93 5f 10 	sts	0x105F, r20
-    6640:	08 95       	ret
-
-00006642 <_ZN5Print5writeEPKc>:
-    6642:	0f 93       	push	r16
-    6644:	1f 93       	push	r17
-    6646:	cf 93       	push	r28
-    6648:	df 93       	push	r29
-    664a:	ec 01       	movw	r28, r24
-    664c:	06 2f       	mov	r16, r22
-    664e:	17 2f       	mov	r17, r23
-    6650:	07 c0       	rjmp	.+14     	; 0x6660 <_ZN5Print5writeEPKc+0x1e>
-    6652:	e8 81       	ld	r30, Y
-    6654:	f9 81       	ldd	r31, Y+1	; 0x01
-    6656:	01 90       	ld	r0, Z+
-    6658:	f0 81       	ld	r31, Z
-    665a:	e0 2d       	mov	r30, r0
-    665c:	ce 01       	movw	r24, r28
-    665e:	19 95       	eicall
-    6660:	f8 01       	movw	r30, r16
-    6662:	61 91       	ld	r22, Z+
-    6664:	8f 01       	movw	r16, r30
-    6666:	66 23       	and	r22, r22
-    6668:	a1 f7       	brne	.-24     	; 0x6652 <_ZN5Print5writeEPKc+0x10>
-    666a:	df 91       	pop	r29
-    666c:	cf 91       	pop	r28
-    666e:	1f 91       	pop	r17
-    6670:	0f 91       	pop	r16
-    6672:	08 95       	ret
-
-00006674 <_ZN5Print5writeEPKhj>:
-    6674:	ef 92       	push	r14
-    6676:	ff 92       	push	r15
-    6678:	0f 93       	push	r16
-    667a:	1f 93       	push	r17
-    667c:	cf 93       	push	r28
-    667e:	df 93       	push	r29
-    6680:	7c 01       	movw	r14, r24
-    6682:	eb 01       	movw	r28, r22
-    6684:	8a 01       	movw	r16, r20
-    6686:	0b c0       	rjmp	.+22     	; 0x669e <_ZN5Print5writeEPKhj+0x2a>
-    6688:	69 91       	ld	r22, Y+
-    668a:	d7 01       	movw	r26, r14
-    668c:	ed 91       	ld	r30, X+
-    668e:	fc 91       	ld	r31, X
-    6690:	01 90       	ld	r0, Z+
-    6692:	f0 81       	ld	r31, Z
-    6694:	e0 2d       	mov	r30, r0
-    6696:	c7 01       	movw	r24, r14
-    6698:	19 95       	eicall
-    669a:	01 50       	subi	r16, 0x01	; 1
-    669c:	10 40       	sbci	r17, 0x00	; 0
-    669e:	01 15       	cp	r16, r1
-    66a0:	11 05       	cpc	r17, r1
-    66a2:	91 f7       	brne	.-28     	; 0x6688 <_ZN5Print5writeEPKhj+0x14>
-    66a4:	df 91       	pop	r29
-    66a6:	cf 91       	pop	r28
-    66a8:	1f 91       	pop	r17
-    66aa:	0f 91       	pop	r16
-    66ac:	ff 90       	pop	r15
-    66ae:	ef 90       	pop	r14
-    66b0:	08 95       	ret
-
-000066b2 <_ZN5Print5printEPKc>:
-    66b2:	dc 01       	movw	r26, r24
-    66b4:	ed 91       	ld	r30, X+
-    66b6:	fc 91       	ld	r31, X
-    66b8:	02 80       	ldd	r0, Z+2	; 0x02
-    66ba:	f3 81       	ldd	r31, Z+3	; 0x03
-    66bc:	e0 2d       	mov	r30, r0
-    66be:	19 95       	eicall
-    66c0:	08 95       	ret
-
-000066c2 <_ZN5Print11printNumberEmh>:
-    66c2:	6f 92       	push	r6
-    66c4:	7f 92       	push	r7
-    66c6:	8f 92       	push	r8
-    66c8:	9f 92       	push	r9
-    66ca:	af 92       	push	r10
-    66cc:	bf 92       	push	r11
-    66ce:	cf 92       	push	r12
-    66d0:	df 92       	push	r13
-    66d2:	ef 92       	push	r14
-    66d4:	ff 92       	push	r15
-    66d6:	0f 93       	push	r16
-    66d8:	1f 93       	push	r17
-    66da:	df 93       	push	r29
-    66dc:	cf 93       	push	r28
-    66de:	cd b7       	in	r28, 0x3d	; 61
-    66e0:	de b7       	in	r29, 0x3e	; 62
-    66e2:	a0 97       	sbiw	r28, 0x20	; 32
-    66e4:	0f b6       	in	r0, 0x3f	; 63
-    66e6:	f8 94       	cli
-    66e8:	de bf       	out	0x3e, r29	; 62
-    66ea:	0f be       	out	0x3f, r0	; 63
-    66ec:	cd bf       	out	0x3d, r28	; 61
-    66ee:	5c 01       	movw	r10, r24
-    66f0:	cb 01       	movw	r24, r22
-    66f2:	ba 01       	movw	r22, r20
-    66f4:	61 15       	cp	r22, r1
-    66f6:	71 05       	cpc	r23, r1
-    66f8:	81 05       	cpc	r24, r1
-    66fa:	91 05       	cpc	r25, r1
-    66fc:	51 f4       	brne	.+20     	; 0x6712 <_ZN5Print11printNumberEmh+0x50>
-    66fe:	c5 01       	movw	r24, r10
-    6700:	40 e3       	ldi	r20, 0x30	; 48
-    6702:	50 e0       	ldi	r21, 0x00	; 0
-    6704:	60 e0       	ldi	r22, 0x00	; 0
-    6706:	70 e0       	ldi	r23, 0x00	; 0
-    6708:	20 e0       	ldi	r18, 0x00	; 0
-    670a:	30 e0       	ldi	r19, 0x00	; 0
-    670c:	0e 94 f3 33 	call	0x67e6	; 0x67e6 <_ZN5Print5printEli>
-    6710:	46 c0       	rjmp	.+140    	; 0x679e <_ZN5Print11printNumberEmh+0xdc>
-    6712:	6e 01       	movw	r12, r28
-    6714:	08 94       	sec
-    6716:	c1 1c       	adc	r12, r1
-    6718:	d1 1c       	adc	r13, r1
-    671a:	ee 24       	eor	r14, r14
-    671c:	ff 24       	eor	r15, r15
-    671e:	87 01       	movw	r16, r14
-    6720:	62 2e       	mov	r6, r18
-    6722:	77 24       	eor	r7, r7
-    6724:	88 24       	eor	r8, r8
-    6726:	99 24       	eor	r9, r9
-    6728:	a4 01       	movw	r20, r8
-    672a:	93 01       	movw	r18, r6
-    672c:	0e 94 67 42 	call	0x84ce	; 0x84ce <__udivmodsi4>
-    6730:	f6 01       	movw	r30, r12
-    6732:	61 93       	st	Z+, r22
-    6734:	6f 01       	movw	r12, r30
-    6736:	08 94       	sec
-    6738:	e1 1c       	adc	r14, r1
-    673a:	f1 1c       	adc	r15, r1
-    673c:	01 1d       	adc	r16, r1
-    673e:	11 1d       	adc	r17, r1
-    6740:	b9 01       	movw	r22, r18
-    6742:	ca 01       	movw	r24, r20
-    6744:	61 15       	cp	r22, r1
-    6746:	71 05       	cpc	r23, r1
-    6748:	81 05       	cpc	r24, r1
-    674a:	91 05       	cpc	r25, r1
-    674c:	69 f7       	brne	.-38     	; 0x6728 <_ZN5Print11printNumberEmh+0x66>
-    674e:	d8 01       	movw	r26, r16
-    6750:	c7 01       	movw	r24, r14
-    6752:	01 97       	sbiw	r24, 0x01	; 1
-    6754:	a1 09       	sbc	r26, r1
-    6756:	b1 09       	sbc	r27, r1
-    6758:	6e 01       	movw	r12, r28
-    675a:	08 94       	sec
-    675c:	c1 1c       	adc	r12, r1
-    675e:	d1 1c       	adc	r13, r1
-    6760:	c8 0e       	add	r12, r24
-    6762:	d9 1e       	adc	r13, r25
-    6764:	17 c0       	rjmp	.+46     	; 0x6794 <_ZN5Print11printNumberEmh+0xd2>
-    6766:	f6 01       	movw	r30, r12
-    6768:	40 81       	ld	r20, Z
-    676a:	4a 30       	cpi	r20, 0x0A	; 10
-    676c:	10 f4       	brcc	.+4      	; 0x6772 <_ZN5Print11printNumberEmh+0xb0>
-    676e:	40 5d       	subi	r20, 0xD0	; 208
-    6770:	01 c0       	rjmp	.+2      	; 0x6774 <_ZN5Print11printNumberEmh+0xb2>
-    6772:	49 5c       	subi	r20, 0xC9	; 201
-    6774:	50 e0       	ldi	r21, 0x00	; 0
-    6776:	60 e0       	ldi	r22, 0x00	; 0
-    6778:	70 e0       	ldi	r23, 0x00	; 0
-    677a:	c5 01       	movw	r24, r10
-    677c:	20 e0       	ldi	r18, 0x00	; 0
-    677e:	30 e0       	ldi	r19, 0x00	; 0
-    6780:	0e 94 f3 33 	call	0x67e6	; 0x67e6 <_ZN5Print5printEli>
-    6784:	08 94       	sec
-    6786:	e1 08       	sbc	r14, r1
-    6788:	f1 08       	sbc	r15, r1
-    678a:	01 09       	sbc	r16, r1
-    678c:	11 09       	sbc	r17, r1
-    678e:	08 94       	sec
-    6790:	c1 08       	sbc	r12, r1
-    6792:	d1 08       	sbc	r13, r1
-    6794:	e1 14       	cp	r14, r1
-    6796:	f1 04       	cpc	r15, r1
-    6798:	01 05       	cpc	r16, r1
-    679a:	11 05       	cpc	r17, r1
-    679c:	21 f7       	brne	.-56     	; 0x6766 <_ZN5Print11printNumberEmh+0xa4>
-    679e:	a0 96       	adiw	r28, 0x20	; 32
-    67a0:	0f b6       	in	r0, 0x3f	; 63
-    67a2:	f8 94       	cli
-    67a4:	de bf       	out	0x3e, r29	; 62
-    67a6:	0f be       	out	0x3f, r0	; 63
-    67a8:	cd bf       	out	0x3d, r28	; 61
-    67aa:	cf 91       	pop	r28
-    67ac:	df 91       	pop	r29
-    67ae:	1f 91       	pop	r17
-    67b0:	0f 91       	pop	r16
-    67b2:	ff 90       	pop	r15
-    67b4:	ef 90       	pop	r14
-    67b6:	df 90       	pop	r13
-    67b8:	cf 90       	pop	r12
-    67ba:	bf 90       	pop	r11
-    67bc:	af 90       	pop	r10
-    67be:	9f 90       	pop	r9
-    67c0:	8f 90       	pop	r8
-    67c2:	7f 90       	pop	r7
-    67c4:	6f 90       	pop	r6
-    67c6:	08 95       	ret
-
-000067c8 <_ZN5Print5printEmi>:
-    67c8:	21 15       	cp	r18, r1
-    67ca:	31 05       	cpc	r19, r1
-    67cc:	49 f4       	brne	.+18     	; 0x67e0 <_ZN5Print5printEmi+0x18>
-    67ce:	dc 01       	movw	r26, r24
-    67d0:	ed 91       	ld	r30, X+
-    67d2:	fc 91       	ld	r31, X
-    67d4:	01 90       	ld	r0, Z+
-    67d6:	f0 81       	ld	r31, Z
-    67d8:	e0 2d       	mov	r30, r0
-    67da:	64 2f       	mov	r22, r20
-    67dc:	19 95       	eicall
-    67de:	08 95       	ret
-    67e0:	0e 94 61 33 	call	0x66c2	; 0x66c2 <_ZN5Print11printNumberEmh>
-    67e4:	08 95       	ret
-
-000067e6 <_ZN5Print5printEli>:
-    67e6:	ef 92       	push	r14
-    67e8:	ff 92       	push	r15
-    67ea:	0f 93       	push	r16
-    67ec:	1f 93       	push	r17
-    67ee:	cf 93       	push	r28
-    67f0:	df 93       	push	r29
-    67f2:	ec 01       	movw	r28, r24
-    67f4:	7a 01       	movw	r14, r20
-    67f6:	8b 01       	movw	r16, r22
-    67f8:	21 15       	cp	r18, r1
-    67fa:	31 05       	cpc	r19, r1
-    67fc:	41 f4       	brne	.+16     	; 0x680e <_ZN5Print5printEli+0x28>
-    67fe:	e8 81       	ld	r30, Y
-    6800:	f9 81       	ldd	r31, Y+1	; 0x01
-    6802:	01 90       	ld	r0, Z+
-    6804:	f0 81       	ld	r31, Z
-    6806:	e0 2d       	mov	r30, r0
-    6808:	64 2f       	mov	r22, r20
-    680a:	19 95       	eicall
-    680c:	1b c0       	rjmp	.+54     	; 0x6844 <_ZN5Print5printEli+0x5e>
-    680e:	2a 30       	cpi	r18, 0x0A	; 10
-    6810:	31 05       	cpc	r19, r1
-    6812:	b1 f4       	brne	.+44     	; 0x6840 <_ZN5Print5printEli+0x5a>
-    6814:	77 ff       	sbrs	r23, 7
-    6816:	10 c0       	rjmp	.+32     	; 0x6838 <_ZN5Print5printEli+0x52>
-    6818:	4d e2       	ldi	r20, 0x2D	; 45
-    681a:	50 e0       	ldi	r21, 0x00	; 0
-    681c:	60 e0       	ldi	r22, 0x00	; 0
-    681e:	70 e0       	ldi	r23, 0x00	; 0
-    6820:	20 e0       	ldi	r18, 0x00	; 0
-    6822:	30 e0       	ldi	r19, 0x00	; 0
-    6824:	0e 94 f3 33 	call	0x67e6	; 0x67e6 <_ZN5Print5printEli>
-    6828:	10 95       	com	r17
-    682a:	00 95       	com	r16
-    682c:	f0 94       	com	r15
-    682e:	e0 94       	com	r14
-    6830:	e1 1c       	adc	r14, r1
-    6832:	f1 1c       	adc	r15, r1
-    6834:	01 1d       	adc	r16, r1
-    6836:	11 1d       	adc	r17, r1
-    6838:	ce 01       	movw	r24, r28
-    683a:	b8 01       	movw	r22, r16
-    683c:	a7 01       	movw	r20, r14
-    683e:	2a e0       	ldi	r18, 0x0A	; 10
-    6840:	0e 94 61 33 	call	0x66c2	; 0x66c2 <_ZN5Print11printNumberEmh>
-    6844:	df 91       	pop	r29
-    6846:	cf 91       	pop	r28
-    6848:	1f 91       	pop	r17
-    684a:	0f 91       	pop	r16
-    684c:	ff 90       	pop	r15
-    684e:	ef 90       	pop	r14
-    6850:	08 95       	ret
-
-00006852 <_ZN5Print7printlnEv>:
-    6852:	cf 93       	push	r28
-    6854:	df 93       	push	r29
-    6856:	ec 01       	movw	r28, r24
-    6858:	4d e0       	ldi	r20, 0x0D	; 13
-    685a:	50 e0       	ldi	r21, 0x00	; 0
-    685c:	60 e0       	ldi	r22, 0x00	; 0
-    685e:	70 e0       	ldi	r23, 0x00	; 0
-    6860:	20 e0       	ldi	r18, 0x00	; 0
-    6862:	30 e0       	ldi	r19, 0x00	; 0
-    6864:	0e 94 f3 33 	call	0x67e6	; 0x67e6 <_ZN5Print5printEli>
-    6868:	ce 01       	movw	r24, r28
-    686a:	4a e0       	ldi	r20, 0x0A	; 10
-    686c:	50 e0       	ldi	r21, 0x00	; 0
-    686e:	60 e0       	ldi	r22, 0x00	; 0
-    6870:	70 e0       	ldi	r23, 0x00	; 0
-    6872:	20 e0       	ldi	r18, 0x00	; 0
-    6874:	30 e0       	ldi	r19, 0x00	; 0
-    6876:	0e 94 f3 33 	call	0x67e6	; 0x67e6 <_ZN5Print5printEli>
-    687a:	df 91       	pop	r29
+    636c:	a8 01       	movw	r20, r16
+    636e:	97 01       	movw	r18, r14
+    6370:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
+    6374:	21 50       	subi	r18, 0x01	; 1
+    6376:	30 40       	sbci	r19, 0x00	; 0
+    6378:	40 40       	sbci	r20, 0x00	; 0
+    637a:	50 40       	sbci	r21, 0x00	; 0
+    637c:	56 95       	lsr	r21
+    637e:	47 95       	ror	r20
+    6380:	37 95       	ror	r19
+    6382:	27 95       	ror	r18
+    6384:	c9 01       	movw	r24, r18
+    6386:	04 c0       	rjmp	.+8      	; 0x6390 <_ZN14HardwareSerial5beginEl+0x160>
+    6388:	e8 85       	ldd	r30, Y+8	; 0x08
+    638a:	f9 85       	ldd	r31, Y+9	; 0x09
+    638c:	10 82       	st	Z, r1
+    638e:	c5 01       	movw	r24, r10
+    6390:	ec 81       	ldd	r30, Y+4	; 0x04
+    6392:	fd 81       	ldd	r31, Y+5	; 0x05
+    6394:	90 83       	st	Z, r25
+    6396:	ee 81       	ldd	r30, Y+6	; 0x06
+    6398:	ff 81       	ldd	r31, Y+7	; 0x07
+    639a:	80 83       	st	Z, r24
+    639c:	ea 85       	ldd	r30, Y+10	; 0x0a
+    639e:	fb 85       	ldd	r31, Y+11	; 0x0b
+    63a0:	40 81       	ld	r20, Z
+    63a2:	81 e0       	ldi	r24, 0x01	; 1
+    63a4:	90 e0       	ldi	r25, 0x00	; 0
+    63a6:	9c 01       	movw	r18, r24
+    63a8:	0e 84       	ldd	r0, Y+14	; 0x0e
+    63aa:	02 c0       	rjmp	.+4      	; 0x63b0 <_ZN14HardwareSerial5beginEl+0x180>
+    63ac:	22 0f       	add	r18, r18
+    63ae:	33 1f       	adc	r19, r19
+    63b0:	0a 94       	dec	r0
+    63b2:	e2 f7       	brpl	.-8      	; 0x63ac <_ZN14HardwareSerial5beginEl+0x17c>
+    63b4:	42 2b       	or	r20, r18
+    63b6:	40 83       	st	Z, r20
+    63b8:	ea 85       	ldd	r30, Y+10	; 0x0a
+    63ba:	fb 85       	ldd	r31, Y+11	; 0x0b
+    63bc:	40 81       	ld	r20, Z
+    63be:	9c 01       	movw	r18, r24
+    63c0:	0f 84       	ldd	r0, Y+15	; 0x0f
+    63c2:	02 c0       	rjmp	.+4      	; 0x63c8 <_ZN14HardwareSerial5beginEl+0x198>
+    63c4:	22 0f       	add	r18, r18
+    63c6:	33 1f       	adc	r19, r19
+    63c8:	0a 94       	dec	r0
+    63ca:	e2 f7       	brpl	.-8      	; 0x63c4 <_ZN14HardwareSerial5beginEl+0x194>
+    63cc:	42 2b       	or	r20, r18
+    63ce:	40 83       	st	Z, r20
+    63d0:	ea 85       	ldd	r30, Y+10	; 0x0a
+    63d2:	fb 85       	ldd	r31, Y+11	; 0x0b
+    63d4:	20 81       	ld	r18, Z
+    63d6:	08 88       	ldd	r0, Y+16	; 0x10
+    63d8:	02 c0       	rjmp	.+4      	; 0x63de <_ZN14HardwareSerial5beginEl+0x1ae>
+    63da:	88 0f       	add	r24, r24
+    63dc:	99 1f       	adc	r25, r25
+    63de:	0a 94       	dec	r0
+    63e0:	e2 f7       	brpl	.-8      	; 0x63da <_ZN14HardwareSerial5beginEl+0x1aa>
+    63e2:	28 2b       	or	r18, r24
+    63e4:	20 83       	st	Z, r18
+    63e6:	df 91       	pop	r29
+    63e8:	cf 91       	pop	r28
+    63ea:	1f 91       	pop	r17
+    63ec:	0f 91       	pop	r16
+    63ee:	ff 90       	pop	r15
+    63f0:	ef 90       	pop	r14
+    63f2:	df 90       	pop	r13
+    63f4:	cf 90       	pop	r12
+    63f6:	bf 90       	pop	r11
+    63f8:	af 90       	pop	r10
+    63fa:	9f 90       	pop	r9
+    63fc:	08 95       	ret
+
+000063fe <_GLOBAL__I_rx_buffer>:
+    63fe:	8a e9       	ldi	r24, 0x9A	; 154
+    6400:	96 e0       	ldi	r25, 0x06	; 6
+    6402:	90 93 15 10 	sts	0x1015, r25
+    6406:	80 93 14 10 	sts	0x1014, r24
+    640a:	24 e0       	ldi	r18, 0x04	; 4
+    640c:	3e e0       	ldi	r19, 0x0E	; 14
+    640e:	30 93 17 10 	sts	0x1017, r19
+    6412:	20 93 16 10 	sts	0x1016, r18
+    6416:	25 ec       	ldi	r18, 0xC5	; 197
+    6418:	30 e0       	ldi	r19, 0x00	; 0
+    641a:	30 93 19 10 	sts	0x1019, r19
+    641e:	20 93 18 10 	sts	0x1018, r18
+    6422:	24 ec       	ldi	r18, 0xC4	; 196
+    6424:	30 e0       	ldi	r19, 0x00	; 0
+    6426:	30 93 1b 10 	sts	0x101B, r19
+    642a:	20 93 1a 10 	sts	0x101A, r18
+    642e:	20 ec       	ldi	r18, 0xC0	; 192
+    6430:	30 e0       	ldi	r19, 0x00	; 0
+    6432:	30 93 1d 10 	sts	0x101D, r19
+    6436:	20 93 1c 10 	sts	0x101C, r18
+    643a:	21 ec       	ldi	r18, 0xC1	; 193
+    643c:	30 e0       	ldi	r19, 0x00	; 0
+    643e:	30 93 1f 10 	sts	0x101F, r19
+    6442:	20 93 1e 10 	sts	0x101E, r18
+    6446:	26 ec       	ldi	r18, 0xC6	; 198
+    6448:	30 e0       	ldi	r19, 0x00	; 0
+    644a:	30 93 21 10 	sts	0x1021, r19
+    644e:	20 93 20 10 	sts	0x1020, r18
+    6452:	e4 e0       	ldi	r30, 0x04	; 4
+    6454:	e0 93 22 10 	sts	0x1022, r30
+    6458:	73 e0       	ldi	r23, 0x03	; 3
+    645a:	70 93 23 10 	sts	0x1023, r23
+    645e:	67 e0       	ldi	r22, 0x07	; 7
+    6460:	60 93 24 10 	sts	0x1024, r22
+    6464:	55 e0       	ldi	r21, 0x05	; 5
+    6466:	50 93 25 10 	sts	0x1025, r21
+    646a:	41 e0       	ldi	r20, 0x01	; 1
+    646c:	40 93 26 10 	sts	0x1026, r20
+    6470:	90 93 28 10 	sts	0x1028, r25
+    6474:	80 93 27 10 	sts	0x1027, r24
+    6478:	28 e8       	ldi	r18, 0x88	; 136
+    647a:	3e e0       	ldi	r19, 0x0E	; 14
+    647c:	30 93 2a 10 	sts	0x102A, r19
+    6480:	20 93 29 10 	sts	0x1029, r18
+    6484:	2d ec       	ldi	r18, 0xCD	; 205
+    6486:	30 e0       	ldi	r19, 0x00	; 0
+    6488:	30 93 2c 10 	sts	0x102C, r19
+    648c:	20 93 2b 10 	sts	0x102B, r18
+    6490:	2c ec       	ldi	r18, 0xCC	; 204
+    6492:	30 e0       	ldi	r19, 0x00	; 0
+    6494:	30 93 2e 10 	sts	0x102E, r19
+    6498:	20 93 2d 10 	sts	0x102D, r18
+    649c:	28 ec       	ldi	r18, 0xC8	; 200
+    649e:	30 e0       	ldi	r19, 0x00	; 0
+    64a0:	30 93 30 10 	sts	0x1030, r19
+    64a4:	20 93 2f 10 	sts	0x102F, r18
+    64a8:	29 ec       	ldi	r18, 0xC9	; 201
+    64aa:	30 e0       	ldi	r19, 0x00	; 0
+    64ac:	30 93 32 10 	sts	0x1032, r19
+    64b0:	20 93 31 10 	sts	0x1031, r18
+    64b4:	2e ec       	ldi	r18, 0xCE	; 206
+    64b6:	30 e0       	ldi	r19, 0x00	; 0
+    64b8:	30 93 34 10 	sts	0x1034, r19
+    64bc:	20 93 33 10 	sts	0x1033, r18
+    64c0:	e0 93 35 10 	sts	0x1035, r30
+    64c4:	70 93 36 10 	sts	0x1036, r23
+    64c8:	60 93 37 10 	sts	0x1037, r22
+    64cc:	50 93 38 10 	sts	0x1038, r21
+    64d0:	40 93 39 10 	sts	0x1039, r20
+    64d4:	90 93 3b 10 	sts	0x103B, r25
+    64d8:	80 93 3a 10 	sts	0x103A, r24
+    64dc:	2c e0       	ldi	r18, 0x0C	; 12
+    64de:	3f e0       	ldi	r19, 0x0F	; 15
+    64e0:	30 93 3d 10 	sts	0x103D, r19
+    64e4:	20 93 3c 10 	sts	0x103C, r18
+    64e8:	25 ed       	ldi	r18, 0xD5	; 213
+    64ea:	30 e0       	ldi	r19, 0x00	; 0
+    64ec:	30 93 3f 10 	sts	0x103F, r19
+    64f0:	20 93 3e 10 	sts	0x103E, r18
+    64f4:	24 ed       	ldi	r18, 0xD4	; 212
+    64f6:	30 e0       	ldi	r19, 0x00	; 0
+    64f8:	30 93 41 10 	sts	0x1041, r19
+    64fc:	20 93 40 10 	sts	0x1040, r18
+    6500:	20 ed       	ldi	r18, 0xD0	; 208
+    6502:	30 e0       	ldi	r19, 0x00	; 0
+    6504:	30 93 43 10 	sts	0x1043, r19
+    6508:	20 93 42 10 	sts	0x1042, r18
+    650c:	21 ed       	ldi	r18, 0xD1	; 209
+    650e:	30 e0       	ldi	r19, 0x00	; 0
+    6510:	30 93 45 10 	sts	0x1045, r19
+    6514:	20 93 44 10 	sts	0x1044, r18
+    6518:	26 ed       	ldi	r18, 0xD6	; 214
+    651a:	30 e0       	ldi	r19, 0x00	; 0
+    651c:	30 93 47 10 	sts	0x1047, r19
+    6520:	20 93 46 10 	sts	0x1046, r18
+    6524:	e0 93 48 10 	sts	0x1048, r30
+    6528:	70 93 49 10 	sts	0x1049, r23
+    652c:	60 93 4a 10 	sts	0x104A, r22
+    6530:	50 93 4b 10 	sts	0x104B, r21
+    6534:	40 93 4c 10 	sts	0x104C, r20
+    6538:	90 93 4e 10 	sts	0x104E, r25
+    653c:	80 93 4d 10 	sts	0x104D, r24
+    6540:	80 e9       	ldi	r24, 0x90	; 144
+    6542:	9f e0       	ldi	r25, 0x0F	; 15
+    6544:	90 93 50 10 	sts	0x1050, r25
+    6548:	80 93 4f 10 	sts	0x104F, r24
+    654c:	85 e3       	ldi	r24, 0x35	; 53
+    654e:	91 e0       	ldi	r25, 0x01	; 1
+    6550:	90 93 52 10 	sts	0x1052, r25
+    6554:	80 93 51 10 	sts	0x1051, r24
+    6558:	84 e3       	ldi	r24, 0x34	; 52
+    655a:	91 e0       	ldi	r25, 0x01	; 1
+    655c:	90 93 54 10 	sts	0x1054, r25
+    6560:	80 93 53 10 	sts	0x1053, r24
+    6564:	80 e3       	ldi	r24, 0x30	; 48
+    6566:	91 e0       	ldi	r25, 0x01	; 1
+    6568:	90 93 56 10 	sts	0x1056, r25
+    656c:	80 93 55 10 	sts	0x1055, r24
+    6570:	81 e3       	ldi	r24, 0x31	; 49
+    6572:	91 e0       	ldi	r25, 0x01	; 1
+    6574:	90 93 58 10 	sts	0x1058, r25
+    6578:	80 93 57 10 	sts	0x1057, r24
+    657c:	86 e3       	ldi	r24, 0x36	; 54
+    657e:	91 e0       	ldi	r25, 0x01	; 1
+    6580:	90 93 5a 10 	sts	0x105A, r25
+    6584:	80 93 59 10 	sts	0x1059, r24
+    6588:	e0 93 5b 10 	sts	0x105B, r30
+    658c:	70 93 5c 10 	sts	0x105C, r23
+    6590:	60 93 5d 10 	sts	0x105D, r22
+    6594:	50 93 5e 10 	sts	0x105E, r21
+    6598:	40 93 5f 10 	sts	0x105F, r20
+    659c:	08 95       	ret
+
+0000659e <_ZN5Print5writeEPKc>:
+    659e:	0f 93       	push	r16
+    65a0:	1f 93       	push	r17
+    65a2:	cf 93       	push	r28
+    65a4:	df 93       	push	r29
+    65a6:	ec 01       	movw	r28, r24
+    65a8:	06 2f       	mov	r16, r22
+    65aa:	17 2f       	mov	r17, r23
+    65ac:	07 c0       	rjmp	.+14     	; 0x65bc <_ZN5Print5writeEPKc+0x1e>
+    65ae:	e8 81       	ld	r30, Y
+    65b0:	f9 81       	ldd	r31, Y+1	; 0x01
+    65b2:	01 90       	ld	r0, Z+
+    65b4:	f0 81       	ld	r31, Z
+    65b6:	e0 2d       	mov	r30, r0
+    65b8:	ce 01       	movw	r24, r28
+    65ba:	19 95       	eicall
+    65bc:	f8 01       	movw	r30, r16
+    65be:	61 91       	ld	r22, Z+
+    65c0:	8f 01       	movw	r16, r30
+    65c2:	66 23       	and	r22, r22
+    65c4:	a1 f7       	brne	.-24     	; 0x65ae <_ZN5Print5writeEPKc+0x10>
+    65c6:	df 91       	pop	r29
+    65c8:	cf 91       	pop	r28
+    65ca:	1f 91       	pop	r17
+    65cc:	0f 91       	pop	r16
+    65ce:	08 95       	ret
+
+000065d0 <_ZN5Print5writeEPKhj>:
+    65d0:	ef 92       	push	r14
+    65d2:	ff 92       	push	r15
+    65d4:	0f 93       	push	r16
+    65d6:	1f 93       	push	r17
+    65d8:	cf 93       	push	r28
+    65da:	df 93       	push	r29
+    65dc:	7c 01       	movw	r14, r24
+    65de:	eb 01       	movw	r28, r22
+    65e0:	8a 01       	movw	r16, r20
+    65e2:	0b c0       	rjmp	.+22     	; 0x65fa <_ZN5Print5writeEPKhj+0x2a>
+    65e4:	69 91       	ld	r22, Y+
+    65e6:	d7 01       	movw	r26, r14
+    65e8:	ed 91       	ld	r30, X+
+    65ea:	fc 91       	ld	r31, X
+    65ec:	01 90       	ld	r0, Z+
+    65ee:	f0 81       	ld	r31, Z
+    65f0:	e0 2d       	mov	r30, r0
+    65f2:	c7 01       	movw	r24, r14
+    65f4:	19 95       	eicall
+    65f6:	01 50       	subi	r16, 0x01	; 1
+    65f8:	10 40       	sbci	r17, 0x00	; 0
+    65fa:	01 15       	cp	r16, r1
+    65fc:	11 05       	cpc	r17, r1
+    65fe:	91 f7       	brne	.-28     	; 0x65e4 <_ZN5Print5writeEPKhj+0x14>
+    6600:	df 91       	pop	r29
+    6602:	cf 91       	pop	r28
+    6604:	1f 91       	pop	r17
+    6606:	0f 91       	pop	r16
+    6608:	ff 90       	pop	r15
+    660a:	ef 90       	pop	r14
+    660c:	08 95       	ret
+
+0000660e <_ZN5Print5printEPKc>:
+    660e:	dc 01       	movw	r26, r24
+    6610:	ed 91       	ld	r30, X+
+    6612:	fc 91       	ld	r31, X
+    6614:	02 80       	ldd	r0, Z+2	; 0x02
+    6616:	f3 81       	ldd	r31, Z+3	; 0x03
+    6618:	e0 2d       	mov	r30, r0
+    661a:	19 95       	eicall
+    661c:	08 95       	ret
+
+0000661e <_ZN5Print11printNumberEmh>:
+    661e:	6f 92       	push	r6
+    6620:	7f 92       	push	r7
+    6622:	8f 92       	push	r8
+    6624:	9f 92       	push	r9
+    6626:	af 92       	push	r10
+    6628:	bf 92       	push	r11
+    662a:	cf 92       	push	r12
+    662c:	df 92       	push	r13
+    662e:	ef 92       	push	r14
+    6630:	ff 92       	push	r15
+    6632:	0f 93       	push	r16
+    6634:	1f 93       	push	r17
+    6636:	df 93       	push	r29
+    6638:	cf 93       	push	r28
+    663a:	cd b7       	in	r28, 0x3d	; 61
+    663c:	de b7       	in	r29, 0x3e	; 62
+    663e:	a0 97       	sbiw	r28, 0x20	; 32
+    6640:	0f b6       	in	r0, 0x3f	; 63
+    6642:	f8 94       	cli
+    6644:	de bf       	out	0x3e, r29	; 62
+    6646:	0f be       	out	0x3f, r0	; 63
+    6648:	cd bf       	out	0x3d, r28	; 61
+    664a:	5c 01       	movw	r10, r24
+    664c:	cb 01       	movw	r24, r22
+    664e:	ba 01       	movw	r22, r20
+    6650:	61 15       	cp	r22, r1
+    6652:	71 05       	cpc	r23, r1
+    6654:	81 05       	cpc	r24, r1
+    6656:	91 05       	cpc	r25, r1
+    6658:	51 f4       	brne	.+20     	; 0x666e <_ZN5Print11printNumberEmh+0x50>
+    665a:	c5 01       	movw	r24, r10
+    665c:	40 e3       	ldi	r20, 0x30	; 48
+    665e:	50 e0       	ldi	r21, 0x00	; 0
+    6660:	60 e0       	ldi	r22, 0x00	; 0
+    6662:	70 e0       	ldi	r23, 0x00	; 0
+    6664:	20 e0       	ldi	r18, 0x00	; 0
+    6666:	30 e0       	ldi	r19, 0x00	; 0
+    6668:	0e 94 92 33 	call	0x6724	; 0x6724 <_ZN5Print5printEli>
+    666c:	46 c0       	rjmp	.+140    	; 0x66fa <_ZN5Print11printNumberEmh+0xdc>
+    666e:	6e 01       	movw	r12, r28
+    6670:	08 94       	sec
+    6672:	c1 1c       	adc	r12, r1
+    6674:	d1 1c       	adc	r13, r1
+    6676:	ee 24       	eor	r14, r14
+    6678:	ff 24       	eor	r15, r15
+    667a:	87 01       	movw	r16, r14
+    667c:	62 2e       	mov	r6, r18
+    667e:	77 24       	eor	r7, r7
+    6680:	88 24       	eor	r8, r8
+    6682:	99 24       	eor	r9, r9
+    6684:	a4 01       	movw	r20, r8
+    6686:	93 01       	movw	r18, r6
+    6688:	0e 94 64 41 	call	0x82c8	; 0x82c8 <__udivmodsi4>
+    668c:	f6 01       	movw	r30, r12
+    668e:	61 93       	st	Z+, r22
+    6690:	6f 01       	movw	r12, r30
+    6692:	08 94       	sec
+    6694:	e1 1c       	adc	r14, r1
+    6696:	f1 1c       	adc	r15, r1
+    6698:	01 1d       	adc	r16, r1
+    669a:	11 1d       	adc	r17, r1
+    669c:	b9 01       	movw	r22, r18
+    669e:	ca 01       	movw	r24, r20
+    66a0:	61 15       	cp	r22, r1
+    66a2:	71 05       	cpc	r23, r1
+    66a4:	81 05       	cpc	r24, r1
+    66a6:	91 05       	cpc	r25, r1
+    66a8:	69 f7       	brne	.-38     	; 0x6684 <_ZN5Print11printNumberEmh+0x66>
+    66aa:	d8 01       	movw	r26, r16
+    66ac:	c7 01       	movw	r24, r14
+    66ae:	01 97       	sbiw	r24, 0x01	; 1
+    66b0:	a1 09       	sbc	r26, r1
+    66b2:	b1 09       	sbc	r27, r1
+    66b4:	6e 01       	movw	r12, r28
+    66b6:	08 94       	sec
+    66b8:	c1 1c       	adc	r12, r1
+    66ba:	d1 1c       	adc	r13, r1
+    66bc:	c8 0e       	add	r12, r24
+    66be:	d9 1e       	adc	r13, r25
+    66c0:	17 c0       	rjmp	.+46     	; 0x66f0 <_ZN5Print11printNumberEmh+0xd2>
+    66c2:	f6 01       	movw	r30, r12
+    66c4:	40 81       	ld	r20, Z
+    66c6:	4a 30       	cpi	r20, 0x0A	; 10
+    66c8:	10 f4       	brcc	.+4      	; 0x66ce <_ZN5Print11printNumberEmh+0xb0>
+    66ca:	40 5d       	subi	r20, 0xD0	; 208
+    66cc:	01 c0       	rjmp	.+2      	; 0x66d0 <_ZN5Print11printNumberEmh+0xb2>
+    66ce:	49 5c       	subi	r20, 0xC9	; 201
+    66d0:	50 e0       	ldi	r21, 0x00	; 0
+    66d2:	60 e0       	ldi	r22, 0x00	; 0
+    66d4:	70 e0       	ldi	r23, 0x00	; 0
+    66d6:	c5 01       	movw	r24, r10
+    66d8:	20 e0       	ldi	r18, 0x00	; 0
+    66da:	30 e0       	ldi	r19, 0x00	; 0
+    66dc:	0e 94 92 33 	call	0x6724	; 0x6724 <_ZN5Print5printEli>
+    66e0:	08 94       	sec
+    66e2:	e1 08       	sbc	r14, r1
+    66e4:	f1 08       	sbc	r15, r1
+    66e6:	01 09       	sbc	r16, r1
+    66e8:	11 09       	sbc	r17, r1
+    66ea:	08 94       	sec
+    66ec:	c1 08       	sbc	r12, r1
+    66ee:	d1 08       	sbc	r13, r1
+    66f0:	e1 14       	cp	r14, r1
+    66f2:	f1 04       	cpc	r15, r1
+    66f4:	01 05       	cpc	r16, r1
+    66f6:	11 05       	cpc	r17, r1
+    66f8:	21 f7       	brne	.-56     	; 0x66c2 <_ZN5Print11printNumberEmh+0xa4>
+    66fa:	a0 96       	adiw	r28, 0x20	; 32
+    66fc:	0f b6       	in	r0, 0x3f	; 63
+    66fe:	f8 94       	cli
+    6700:	de bf       	out	0x3e, r29	; 62
+    6702:	0f be       	out	0x3f, r0	; 63
+    6704:	cd bf       	out	0x3d, r28	; 61
+    6706:	cf 91       	pop	r28
+    6708:	df 91       	pop	r29
+    670a:	1f 91       	pop	r17
+    670c:	0f 91       	pop	r16
+    670e:	ff 90       	pop	r15
+    6710:	ef 90       	pop	r14
+    6712:	df 90       	pop	r13
+    6714:	cf 90       	pop	r12
+    6716:	bf 90       	pop	r11
+    6718:	af 90       	pop	r10
+    671a:	9f 90       	pop	r9
+    671c:	8f 90       	pop	r8
+    671e:	7f 90       	pop	r7
+    6720:	6f 90       	pop	r6
+    6722:	08 95       	ret
+
+00006724 <_ZN5Print5printEli>:
+    6724:	ef 92       	push	r14
+    6726:	ff 92       	push	r15
+    6728:	0f 93       	push	r16
+    672a:	1f 93       	push	r17
+    672c:	cf 93       	push	r28
+    672e:	df 93       	push	r29
+    6730:	ec 01       	movw	r28, r24
+    6732:	7a 01       	movw	r14, r20
+    6734:	8b 01       	movw	r16, r22
+    6736:	21 15       	cp	r18, r1
+    6738:	31 05       	cpc	r19, r1
+    673a:	41 f4       	brne	.+16     	; 0x674c <_ZN5Print5printEli+0x28>
+    673c:	e8 81       	ld	r30, Y
+    673e:	f9 81       	ldd	r31, Y+1	; 0x01
+    6740:	01 90       	ld	r0, Z+
+    6742:	f0 81       	ld	r31, Z
+    6744:	e0 2d       	mov	r30, r0
+    6746:	64 2f       	mov	r22, r20
+    6748:	19 95       	eicall
+    674a:	1b c0       	rjmp	.+54     	; 0x6782 <_ZN5Print5printEli+0x5e>
+    674c:	2a 30       	cpi	r18, 0x0A	; 10
+    674e:	31 05       	cpc	r19, r1
+    6750:	b1 f4       	brne	.+44     	; 0x677e <_ZN5Print5printEli+0x5a>
+    6752:	77 ff       	sbrs	r23, 7
+    6754:	10 c0       	rjmp	.+32     	; 0x6776 <_ZN5Print5printEli+0x52>
+    6756:	4d e2       	ldi	r20, 0x2D	; 45
+    6758:	50 e0       	ldi	r21, 0x00	; 0
+    675a:	60 e0       	ldi	r22, 0x00	; 0
+    675c:	70 e0       	ldi	r23, 0x00	; 0
+    675e:	20 e0       	ldi	r18, 0x00	; 0
+    6760:	30 e0       	ldi	r19, 0x00	; 0
+    6762:	0e 94 92 33 	call	0x6724	; 0x6724 <_ZN5Print5printEli>
+    6766:	10 95       	com	r17
+    6768:	00 95       	com	r16
+    676a:	f0 94       	com	r15
+    676c:	e0 94       	com	r14
+    676e:	e1 1c       	adc	r14, r1
+    6770:	f1 1c       	adc	r15, r1
+    6772:	01 1d       	adc	r16, r1
+    6774:	11 1d       	adc	r17, r1
+    6776:	ce 01       	movw	r24, r28
+    6778:	b8 01       	movw	r22, r16
+    677a:	a7 01       	movw	r20, r14
+    677c:	2a e0       	ldi	r18, 0x0A	; 10
+    677e:	0e 94 0f 33 	call	0x661e	; 0x661e <_ZN5Print11printNumberEmh>
+    6782:	df 91       	pop	r29
+    6784:	cf 91       	pop	r28
+    6786:	1f 91       	pop	r17
+    6788:	0f 91       	pop	r16
+    678a:	ff 90       	pop	r15
+    678c:	ef 90       	pop	r14
+    678e:	08 95       	ret
+
+00006790 <_ZN5Print7printlnEv>:
+    6790:	cf 93       	push	r28
+    6792:	df 93       	push	r29
+    6794:	ec 01       	movw	r28, r24
+    6796:	4d e0       	ldi	r20, 0x0D	; 13
+    6798:	50 e0       	ldi	r21, 0x00	; 0
+    679a:	60 e0       	ldi	r22, 0x00	; 0
+    679c:	70 e0       	ldi	r23, 0x00	; 0
+    679e:	20 e0       	ldi	r18, 0x00	; 0
+    67a0:	30 e0       	ldi	r19, 0x00	; 0
+    67a2:	0e 94 92 33 	call	0x6724	; 0x6724 <_ZN5Print5printEli>
+    67a6:	ce 01       	movw	r24, r28
+    67a8:	4a e0       	ldi	r20, 0x0A	; 10
+    67aa:	50 e0       	ldi	r21, 0x00	; 0
+    67ac:	60 e0       	ldi	r22, 0x00	; 0
+    67ae:	70 e0       	ldi	r23, 0x00	; 0
+    67b0:	20 e0       	ldi	r18, 0x00	; 0
+    67b2:	30 e0       	ldi	r19, 0x00	; 0
+    67b4:	0e 94 92 33 	call	0x6724	; 0x6724 <_ZN5Print5printEli>
+    67b8:	df 91       	pop	r29
+    67ba:	cf 91       	pop	r28
+    67bc:	08 95       	ret
+
+000067be <_ZN5Print7printlnEPKc>:
+    67be:	cf 93       	push	r28
+    67c0:	df 93       	push	r29
+    67c2:	ec 01       	movw	r28, r24
+    67c4:	0e 94 07 33 	call	0x660e	; 0x660e <_ZN5Print5printEPKc>
+    67c8:	ce 01       	movw	r24, r28
+    67ca:	0e 94 c8 33 	call	0x6790	; 0x6790 <_ZN5Print7printlnEv>
+    67ce:	df 91       	pop	r29
+    67d0:	cf 91       	pop	r28
+    67d2:	08 95       	ret
+
+000067d4 <_ZN5Print7printlnEli>:
+    67d4:	cf 93       	push	r28
+    67d6:	df 93       	push	r29
+    67d8:	ec 01       	movw	r28, r24
+    67da:	0e 94 92 33 	call	0x6724	; 0x6724 <_ZN5Print5printEli>
+    67de:	ce 01       	movw	r24, r28
+    67e0:	0e 94 c8 33 	call	0x6790	; 0x6790 <_ZN5Print7printlnEv>
+    67e4:	df 91       	pop	r29
+    67e6:	cf 91       	pop	r28
+    67e8:	08 95       	ret
+
+000067ea <_ZN5Print7printlnEii>:
+    67ea:	cf 93       	push	r28
+    67ec:	df 93       	push	r29
+    67ee:	ec 01       	movw	r28, r24
+    67f0:	9a 01       	movw	r18, r20
+    67f2:	cb 01       	movw	r24, r22
+    67f4:	ac 01       	movw	r20, r24
+    67f6:	66 27       	eor	r22, r22
+    67f8:	57 fd       	sbrc	r21, 7
+    67fa:	60 95       	com	r22
+    67fc:	76 2f       	mov	r23, r22
+    67fe:	ce 01       	movw	r24, r28
+    6800:	0e 94 92 33 	call	0x6724	; 0x6724 <_ZN5Print5printEli>
+    6804:	ce 01       	movw	r24, r28
+    6806:	0e 94 c8 33 	call	0x6790	; 0x6790 <_ZN5Print7printlnEv>
+    680a:	df 91       	pop	r29
+    680c:	cf 91       	pop	r28
+    680e:	08 95       	ret
+
+00006810 <_Z3maplllll>:
+    6810:	2f 92       	push	r2
+    6812:	3f 92       	push	r3
+    6814:	4f 92       	push	r4
+    6816:	5f 92       	push	r5
+    6818:	6f 92       	push	r6
+    681a:	7f 92       	push	r7
+    681c:	8f 92       	push	r8
+    681e:	9f 92       	push	r9
+    6820:	af 92       	push	r10
+    6822:	bf 92       	push	r11
+    6824:	cf 92       	push	r12
+    6826:	df 92       	push	r13
+    6828:	ef 92       	push	r14
+    682a:	ff 92       	push	r15
+    682c:	0f 93       	push	r16
+    682e:	1f 93       	push	r17
+    6830:	df 93       	push	r29
+    6832:	cf 93       	push	r28
+    6834:	cd b7       	in	r28, 0x3d	; 61
+    6836:	de b7       	in	r29, 0x3e	; 62
+    6838:	3b 01       	movw	r6, r22
+    683a:	4c 01       	movw	r8, r24
+    683c:	19 01       	movw	r2, r18
+    683e:	2a 01       	movw	r4, r20
+    6840:	6e 89       	ldd	r22, Y+22	; 0x16
+    6842:	7f 89       	ldd	r23, Y+23	; 0x17
+    6844:	88 8d       	ldd	r24, Y+24	; 0x18
+    6846:	99 8d       	ldd	r25, Y+25	; 0x19
+    6848:	6a 19       	sub	r22, r10
+    684a:	7b 09       	sbc	r23, r11
+    684c:	8c 09       	sbc	r24, r12
+    684e:	9d 09       	sbc	r25, r13
+    6850:	62 1a       	sub	r6, r18
+    6852:	73 0a       	sbc	r7, r19
+    6854:	84 0a       	sbc	r8, r20
+    6856:	95 0a       	sbc	r9, r21
+    6858:	a4 01       	movw	r20, r8
+    685a:	93 01       	movw	r18, r6
+    685c:	0e 94 1e 41 	call	0x823c	; 0x823c <__mulsi3>
+    6860:	e2 18       	sub	r14, r2
+    6862:	f3 08       	sbc	r15, r3
+    6864:	04 09       	sbc	r16, r4
+    6866:	15 09       	sbc	r17, r5
+    6868:	a8 01       	movw	r20, r16
+    686a:	97 01       	movw	r18, r14
+    686c:	0e 94 86 41 	call	0x830c	; 0x830c <__divmodsi4>
+    6870:	2a 0d       	add	r18, r10
+    6872:	3b 1d       	adc	r19, r11
+    6874:	4c 1d       	adc	r20, r12
+    6876:	5d 1d       	adc	r21, r13
+    6878:	b9 01       	movw	r22, r18
+    687a:	ca 01       	movw	r24, r20
     687c:	cf 91       	pop	r28
-    687e:	08 95       	ret
-
-00006880 <_ZN5Print7printlnEPKc>:
-    6880:	cf 93       	push	r28
-    6882:	df 93       	push	r29
-    6884:	ec 01       	movw	r28, r24
-    6886:	0e 94 59 33 	call	0x66b2	; 0x66b2 <_ZN5Print5printEPKc>
-    688a:	ce 01       	movw	r24, r28
-    688c:	0e 94 29 34 	call	0x6852	; 0x6852 <_ZN5Print7printlnEv>
-    6890:	df 91       	pop	r29
-    6892:	cf 91       	pop	r28
-    6894:	08 95       	ret
-
-00006896 <_ZN5Print7printlnEii>:
-    6896:	cf 93       	push	r28
-    6898:	df 93       	push	r29
-    689a:	ec 01       	movw	r28, r24
-    689c:	9a 01       	movw	r18, r20
-    689e:	cb 01       	movw	r24, r22
-    68a0:	ac 01       	movw	r20, r24
-    68a2:	66 27       	eor	r22, r22
-    68a4:	57 fd       	sbrc	r21, 7
-    68a6:	60 95       	com	r22
-    68a8:	76 2f       	mov	r23, r22
-    68aa:	ce 01       	movw	r24, r28
-    68ac:	0e 94 f3 33 	call	0x67e6	; 0x67e6 <_ZN5Print5printEli>
-    68b0:	ce 01       	movw	r24, r28
-    68b2:	0e 94 29 34 	call	0x6852	; 0x6852 <_ZN5Print7printlnEv>
-    68b6:	df 91       	pop	r29
-    68b8:	cf 91       	pop	r28
-    68ba:	08 95       	ret
-
-000068bc <_ZN5Print10printFloatEdh>:
-    68bc:	9f 92       	push	r9
-    68be:	af 92       	push	r10
-    68c0:	bf 92       	push	r11
-    68c2:	cf 92       	push	r12
-    68c4:	df 92       	push	r13
-    68c6:	ef 92       	push	r14
-    68c8:	ff 92       	push	r15
-    68ca:	0f 93       	push	r16
-    68cc:	1f 93       	push	r17
-    68ce:	cf 93       	push	r28
-    68d0:	df 93       	push	r29
-    68d2:	ec 01       	movw	r28, r24
-    68d4:	7a 01       	movw	r14, r20
-    68d6:	8b 01       	movw	r16, r22
-    68d8:	d2 2e       	mov	r13, r18
-    68da:	cb 01       	movw	r24, r22
-    68dc:	ba 01       	movw	r22, r20
-    68de:	20 e0       	ldi	r18, 0x00	; 0
-    68e0:	30 e0       	ldi	r19, 0x00	; 0
-    68e2:	a9 01       	movw	r20, r18
-    68e4:	0e 94 77 3f 	call	0x7eee	; 0x7eee <__cmpsf2>
-    68e8:	87 ff       	sbrs	r24, 7
-    68ea:	0d c0       	rjmp	.+26     	; 0x6906 <_ZN5Print10printFloatEdh+0x4a>
-    68ec:	ce 01       	movw	r24, r28
-    68ee:	4d e2       	ldi	r20, 0x2D	; 45
-    68f0:	50 e0       	ldi	r21, 0x00	; 0
-    68f2:	60 e0       	ldi	r22, 0x00	; 0
-    68f4:	70 e0       	ldi	r23, 0x00	; 0
-    68f6:	20 e0       	ldi	r18, 0x00	; 0
-    68f8:	30 e0       	ldi	r19, 0x00	; 0
-    68fa:	0e 94 f3 33 	call	0x67e6	; 0x67e6 <_ZN5Print5printEli>
-    68fe:	17 fb       	bst	r17, 7
-    6900:	10 95       	com	r17
-    6902:	17 f9       	bld	r17, 7
-    6904:	10 95       	com	r17
-    6906:	cc 24       	eor	r12, r12
-    6908:	50 e0       	ldi	r21, 0x00	; 0
-    690a:	40 e0       	ldi	r20, 0x00	; 0
-    690c:	30 e0       	ldi	r19, 0x00	; 0
-    690e:	2f e3       	ldi	r18, 0x3F	; 63
-    6910:	11 c0       	rjmp	.+34     	; 0x6934 <_ZN5Print10printFloatEdh+0x78>
-    6912:	da 01       	movw	r26, r20
-    6914:	f9 01       	movw	r30, r18
-    6916:	6b 2f       	mov	r22, r27
-    6918:	74 2f       	mov	r23, r20
-    691a:	8f 2f       	mov	r24, r31
-    691c:	92 2f       	mov	r25, r18
-    691e:	20 e0       	ldi	r18, 0x00	; 0
-    6920:	30 e0       	ldi	r19, 0x00	; 0
-    6922:	40 e2       	ldi	r20, 0x20	; 32
-    6924:	51 e4       	ldi	r21, 0x41	; 65
-    6926:	0e 94 7e 3f 	call	0x7efc	; 0x7efc <__divsf3>
-    692a:	56 2f       	mov	r21, r22
-    692c:	47 2f       	mov	r20, r23
-    692e:	38 2f       	mov	r19, r24
-    6930:	29 2f       	mov	r18, r25
-    6932:	c3 94       	inc	r12
-    6934:	cd 14       	cp	r12, r13
-    6936:	68 f3       	brcs	.-38     	; 0x6912 <_ZN5Print10printFloatEdh+0x56>
-    6938:	c8 01       	movw	r24, r16
-    693a:	b7 01       	movw	r22, r14
-    693c:	da 01       	movw	r26, r20
-    693e:	f9 01       	movw	r30, r18
-    6940:	2b 2f       	mov	r18, r27
-    6942:	34 2f       	mov	r19, r20
-    6944:	4f 2f       	mov	r20, r31
-    6946:	5e 2f       	mov	r21, r30
-    6948:	0e 94 9a 3e 	call	0x7d34	; 0x7d34 <__addsf3>
-    694c:	5b 01       	movw	r10, r22
-    694e:	f8 2e       	mov	r15, r24
-    6950:	09 2f       	mov	r16, r25
-    6952:	7b 2d       	mov	r23, r11
-    6954:	0e 94 eb 3f 	call	0x7fd6	; 0x7fd6 <__fixunssfsi>
-    6958:	c6 2e       	mov	r12, r22
-    695a:	e7 2e       	mov	r14, r23
-    695c:	18 2f       	mov	r17, r24
-    695e:	99 2e       	mov	r9, r25
-    6960:	0e 94 17 40 	call	0x802e	; 0x802e <__floatunsisf>
-    6964:	9b 01       	movw	r18, r22
-    6966:	ac 01       	movw	r20, r24
-    6968:	6a 2d       	mov	r22, r10
-    696a:	7b 2d       	mov	r23, r11
-    696c:	8f 2d       	mov	r24, r15
-    696e:	90 2f       	mov	r25, r16
-    6970:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    6974:	5b 01       	movw	r10, r22
-    6976:	f8 2e       	mov	r15, r24
-    6978:	09 2f       	mov	r16, r25
-    697a:	ce 01       	movw	r24, r28
-    697c:	4c 2d       	mov	r20, r12
-    697e:	5e 2d       	mov	r21, r14
-    6980:	61 2f       	mov	r22, r17
-    6982:	79 2d       	mov	r23, r9
-    6984:	2a e0       	ldi	r18, 0x0A	; 10
-    6986:	30 e0       	ldi	r19, 0x00	; 0
-    6988:	0e 94 e4 33 	call	0x67c8	; 0x67c8 <_ZN5Print5printEmi>
-    698c:	dd 20       	and	r13, r13
-    698e:	91 f1       	breq	.+100    	; 0x69f4 <_ZN5Print10printFloatEdh+0x138>
-    6990:	ce 01       	movw	r24, r28
-    6992:	69 e3       	ldi	r22, 0x39	; 57
-    6994:	75 e0       	ldi	r23, 0x05	; 5
-    6996:	0e 94 59 33 	call	0x66b2	; 0x66b2 <_ZN5Print5printEPKc>
-    699a:	2c c0       	rjmp	.+88     	; 0x69f4 <_ZN5Print10printFloatEdh+0x138>
-    699c:	6a 2d       	mov	r22, r10
-    699e:	7b 2d       	mov	r23, r11
-    69a0:	8f 2d       	mov	r24, r15
-    69a2:	90 2f       	mov	r25, r16
-    69a4:	20 e0       	ldi	r18, 0x00	; 0
-    69a6:	30 e0       	ldi	r19, 0x00	; 0
-    69a8:	40 e2       	ldi	r20, 0x20	; 32
-    69aa:	51 e4       	ldi	r21, 0x41	; 65
-    69ac:	0e 94 5e 41 	call	0x82bc	; 0x82bc <__mulsf3>
-    69b0:	c6 2e       	mov	r12, r22
-    69b2:	b7 2e       	mov	r11, r23
-    69b4:	a8 2e       	mov	r10, r24
-    69b6:	99 2e       	mov	r9, r25
-    69b8:	0e 94 e6 3f 	call	0x7fcc	; 0x7fcc <__fixsfsi>
-    69bc:	7b 01       	movw	r14, r22
-    69be:	00 27       	eor	r16, r16
-    69c0:	f7 fc       	sbrc	r15, 7
-    69c2:	00 95       	com	r16
-    69c4:	10 2f       	mov	r17, r16
-    69c6:	ce 01       	movw	r24, r28
-    69c8:	b8 01       	movw	r22, r16
-    69ca:	a7 01       	movw	r20, r14
-    69cc:	2a e0       	ldi	r18, 0x0A	; 10
-    69ce:	30 e0       	ldi	r19, 0x00	; 0
-    69d0:	0e 94 f3 33 	call	0x67e6	; 0x67e6 <_ZN5Print5printEli>
-    69d4:	c8 01       	movw	r24, r16
-    69d6:	b7 01       	movw	r22, r14
-    69d8:	0e 94 19 40 	call	0x8032	; 0x8032 <__floatsisf>
-    69dc:	9b 01       	movw	r18, r22
-    69de:	ac 01       	movw	r20, r24
-    69e0:	6c 2d       	mov	r22, r12
-    69e2:	7b 2d       	mov	r23, r11
-    69e4:	8a 2d       	mov	r24, r10
-    69e6:	99 2d       	mov	r25, r9
-    69e8:	0e 94 99 3e 	call	0x7d32	; 0x7d32 <__subsf3>
-    69ec:	5b 01       	movw	r10, r22
-    69ee:	f8 2e       	mov	r15, r24
-    69f0:	09 2f       	mov	r16, r25
-    69f2:	da 94       	dec	r13
-    69f4:	dd 20       	and	r13, r13
-    69f6:	91 f6       	brne	.-92     	; 0x699c <_ZN5Print10printFloatEdh+0xe0>
-    69f8:	df 91       	pop	r29
-    69fa:	cf 91       	pop	r28
-    69fc:	1f 91       	pop	r17
-    69fe:	0f 91       	pop	r16
-    6a00:	ff 90       	pop	r15
-    6a02:	ef 90       	pop	r14
-    6a04:	df 90       	pop	r13
-    6a06:	cf 90       	pop	r12
-    6a08:	bf 90       	pop	r11
-    6a0a:	af 90       	pop	r10
-    6a0c:	9f 90       	pop	r9
-    6a0e:	08 95       	ret
-
-00006a10 <_ZN5Print5printEdi>:
-    6a10:	0e 94 5e 34 	call	0x68bc	; 0x68bc <_ZN5Print10printFloatEdh>
-    6a14:	08 95       	ret
-
-00006a16 <_Z3maplllll>:
-    6a16:	2f 92       	push	r2
-    6a18:	3f 92       	push	r3
-    6a1a:	4f 92       	push	r4
-    6a1c:	5f 92       	push	r5
-    6a1e:	6f 92       	push	r6
-    6a20:	7f 92       	push	r7
-    6a22:	8f 92       	push	r8
-    6a24:	9f 92       	push	r9
-    6a26:	af 92       	push	r10
-    6a28:	bf 92       	push	r11
-    6a2a:	cf 92       	push	r12
-    6a2c:	df 92       	push	r13
-    6a2e:	ef 92       	push	r14
-    6a30:	ff 92       	push	r15
-    6a32:	0f 93       	push	r16
-    6a34:	1f 93       	push	r17
-    6a36:	df 93       	push	r29
-    6a38:	cf 93       	push	r28
-    6a3a:	cd b7       	in	r28, 0x3d	; 61
-    6a3c:	de b7       	in	r29, 0x3e	; 62
-    6a3e:	3b 01       	movw	r6, r22
-    6a40:	4c 01       	movw	r8, r24
-    6a42:	19 01       	movw	r2, r18
-    6a44:	2a 01       	movw	r4, r20
-    6a46:	6e 89       	ldd	r22, Y+22	; 0x16
-    6a48:	7f 89       	ldd	r23, Y+23	; 0x17
-    6a4a:	88 8d       	ldd	r24, Y+24	; 0x18
-    6a4c:	99 8d       	ldd	r25, Y+25	; 0x19
-    6a4e:	6a 19       	sub	r22, r10
-    6a50:	7b 09       	sbc	r23, r11
-    6a52:	8c 09       	sbc	r24, r12
-    6a54:	9d 09       	sbc	r25, r13
-    6a56:	62 1a       	sub	r6, r18
-    6a58:	73 0a       	sbc	r7, r19
-    6a5a:	84 0a       	sbc	r8, r20
-    6a5c:	95 0a       	sbc	r9, r21
-    6a5e:	a4 01       	movw	r20, r8
-    6a60:	93 01       	movw	r18, r6
-    6a62:	0e 94 21 42 	call	0x8442	; 0x8442 <__mulsi3>
-    6a66:	e2 18       	sub	r14, r2
-    6a68:	f3 08       	sbc	r15, r3
-    6a6a:	04 09       	sbc	r16, r4
-    6a6c:	15 09       	sbc	r17, r5
-    6a6e:	a8 01       	movw	r20, r16
-    6a70:	97 01       	movw	r18, r14
-    6a72:	0e 94 89 42 	call	0x8512	; 0x8512 <__divmodsi4>
-    6a76:	2a 0d       	add	r18, r10
-    6a78:	3b 1d       	adc	r19, r11
-    6a7a:	4c 1d       	adc	r20, r12
-    6a7c:	5d 1d       	adc	r21, r13
-    6a7e:	b9 01       	movw	r22, r18
-    6a80:	ca 01       	movw	r24, r20
-    6a82:	cf 91       	pop	r28
-    6a84:	df 91       	pop	r29
-    6a86:	1f 91       	pop	r17
-    6a88:	0f 91       	pop	r16
-    6a8a:	ff 90       	pop	r15
-    6a8c:	ef 90       	pop	r14
-    6a8e:	df 90       	pop	r13
-    6a90:	cf 90       	pop	r12
-    6a92:	bf 90       	pop	r11
-    6a94:	af 90       	pop	r10
-    6a96:	9f 90       	pop	r9
-    6a98:	8f 90       	pop	r8
-    6a9a:	7f 90       	pop	r7
-    6a9c:	6f 90       	pop	r6
-    6a9e:	5f 90       	pop	r5
-    6aa0:	4f 90       	pop	r4
-    6aa2:	3f 90       	pop	r3
-    6aa4:	2f 90       	pop	r2
-    6aa6:	08 95       	ret
-
-00006aa8 <__vector_23>:
-    6aa8:	1f 92       	push	r1
-    6aaa:	0f 92       	push	r0
-    6aac:	0f b6       	in	r0, 0x3f	; 63
-    6aae:	0f 92       	push	r0
-    6ab0:	11 24       	eor	r1, r1
-    6ab2:	2f 93       	push	r18
-    6ab4:	3f 93       	push	r19
-    6ab6:	8f 93       	push	r24
-    6ab8:	9f 93       	push	r25
-    6aba:	af 93       	push	r26
-    6abc:	bf 93       	push	r27
-    6abe:	80 91 64 10 	lds	r24, 0x1064
-    6ac2:	90 91 65 10 	lds	r25, 0x1065
-    6ac6:	a0 91 66 10 	lds	r26, 0x1066
-    6aca:	b0 91 67 10 	lds	r27, 0x1067
-    6ace:	30 91 68 10 	lds	r19, 0x1068
-    6ad2:	01 96       	adiw	r24, 0x01	; 1
-    6ad4:	a1 1d       	adc	r26, r1
-    6ad6:	b1 1d       	adc	r27, r1
-    6ad8:	23 2f       	mov	r18, r19
-    6ada:	2d 5f       	subi	r18, 0xFD	; 253
-    6adc:	2d 37       	cpi	r18, 0x7D	; 125
-    6ade:	20 f0       	brcs	.+8      	; 0x6ae8 <__vector_23+0x40>
-    6ae0:	2d 57       	subi	r18, 0x7D	; 125
-    6ae2:	01 96       	adiw	r24, 0x01	; 1
-    6ae4:	a1 1d       	adc	r26, r1
-    6ae6:	b1 1d       	adc	r27, r1
-    6ae8:	20 93 68 10 	sts	0x1068, r18
-    6aec:	80 93 64 10 	sts	0x1064, r24
-    6af0:	90 93 65 10 	sts	0x1065, r25
-    6af4:	a0 93 66 10 	sts	0x1066, r26
-    6af8:	b0 93 67 10 	sts	0x1067, r27
-    6afc:	80 91 60 10 	lds	r24, 0x1060
-    6b00:	90 91 61 10 	lds	r25, 0x1061
-    6b04:	a0 91 62 10 	lds	r26, 0x1062
-    6b08:	b0 91 63 10 	lds	r27, 0x1063
-    6b0c:	01 96       	adiw	r24, 0x01	; 1
-    6b0e:	a1 1d       	adc	r26, r1
-    6b10:	b1 1d       	adc	r27, r1
-    6b12:	80 93 60 10 	sts	0x1060, r24
-    6b16:	90 93 61 10 	sts	0x1061, r25
-    6b1a:	a0 93 62 10 	sts	0x1062, r26
-    6b1e:	b0 93 63 10 	sts	0x1063, r27
-    6b22:	bf 91       	pop	r27
-    6b24:	af 91       	pop	r26
-    6b26:	9f 91       	pop	r25
-    6b28:	8f 91       	pop	r24
-    6b2a:	3f 91       	pop	r19
-    6b2c:	2f 91       	pop	r18
-    6b2e:	0f 90       	pop	r0
-    6b30:	0f be       	out	0x3f, r0	; 63
-    6b32:	0f 90       	pop	r0
-    6b34:	1f 90       	pop	r1
-    6b36:	18 95       	reti
-
-00006b38 <millis>:
-    6b38:	8f b7       	in	r24, 0x3f	; 63
-    6b3a:	f8 94       	cli
-    6b3c:	20 91 64 10 	lds	r18, 0x1064
-    6b40:	30 91 65 10 	lds	r19, 0x1065
-    6b44:	40 91 66 10 	lds	r20, 0x1066
-    6b48:	50 91 67 10 	lds	r21, 0x1067
-    6b4c:	8f bf       	out	0x3f, r24	; 63
-    6b4e:	b9 01       	movw	r22, r18
-    6b50:	ca 01       	movw	r24, r20
-    6b52:	08 95       	ret
-
-00006b54 <micros>:
-    6b54:	9f b7       	in	r25, 0x3f	; 63
-    6b56:	f8 94       	cli
-    6b58:	20 91 60 10 	lds	r18, 0x1060
-    6b5c:	30 91 61 10 	lds	r19, 0x1061
-    6b60:	40 91 62 10 	lds	r20, 0x1062
-    6b64:	50 91 63 10 	lds	r21, 0x1063
-    6b68:	86 b5       	in	r24, 0x26	; 38
-    6b6a:	a8 9b       	sbis	0x15, 0	; 21
-    6b6c:	06 c0       	rjmp	.+12     	; 0x6b7a <micros+0x26>
-    6b6e:	8f 3f       	cpi	r24, 0xFF	; 255
-    6b70:	21 f0       	breq	.+8      	; 0x6b7a <micros+0x26>
-    6b72:	2f 5f       	subi	r18, 0xFF	; 255
-    6b74:	3f 4f       	sbci	r19, 0xFF	; 255
-    6b76:	4f 4f       	sbci	r20, 0xFF	; 255
-    6b78:	5f 4f       	sbci	r21, 0xFF	; 255
-    6b7a:	9f bf       	out	0x3f, r25	; 63
-    6b7c:	54 2f       	mov	r21, r20
-    6b7e:	43 2f       	mov	r20, r19
-    6b80:	32 2f       	mov	r19, r18
-    6b82:	22 27       	eor	r18, r18
-    6b84:	28 0f       	add	r18, r24
-    6b86:	31 1d       	adc	r19, r1
-    6b88:	41 1d       	adc	r20, r1
-    6b8a:	51 1d       	adc	r21, r1
-    6b8c:	82 e0       	ldi	r24, 0x02	; 2
-    6b8e:	22 0f       	add	r18, r18
-    6b90:	33 1f       	adc	r19, r19
-    6b92:	44 1f       	adc	r20, r20
-    6b94:	55 1f       	adc	r21, r21
-    6b96:	8a 95       	dec	r24
-    6b98:	d1 f7       	brne	.-12     	; 0x6b8e <micros+0x3a>
-    6b9a:	b9 01       	movw	r22, r18
-    6b9c:	ca 01       	movw	r24, r20
-    6b9e:	08 95       	ret
-
-00006ba0 <delay>:
-    6ba0:	ef 92       	push	r14
-    6ba2:	ff 92       	push	r15
-    6ba4:	0f 93       	push	r16
-    6ba6:	1f 93       	push	r17
-    6ba8:	cf 93       	push	r28
-    6baa:	df 93       	push	r29
-    6bac:	7b 01       	movw	r14, r22
-    6bae:	8c 01       	movw	r16, r24
-    6bb0:	0e 94 aa 35 	call	0x6b54	; 0x6b54 <micros>
-    6bb4:	eb 01       	movw	r28, r22
-    6bb6:	0f c0       	rjmp	.+30     	; 0x6bd6 <delay+0x36>
-    6bb8:	0e 94 aa 35 	call	0x6b54	; 0x6b54 <micros>
-    6bbc:	6c 1b       	sub	r22, r28
-    6bbe:	7d 0b       	sbc	r23, r29
-    6bc0:	83 e0       	ldi	r24, 0x03	; 3
-    6bc2:	68 3e       	cpi	r22, 0xE8	; 232
-    6bc4:	78 07       	cpc	r23, r24
-    6bc6:	38 f0       	brcs	.+14     	; 0x6bd6 <delay+0x36>
-    6bc8:	08 94       	sec
-    6bca:	e1 08       	sbc	r14, r1
-    6bcc:	f1 08       	sbc	r15, r1
-    6bce:	01 09       	sbc	r16, r1
-    6bd0:	11 09       	sbc	r17, r1
-    6bd2:	c8 51       	subi	r28, 0x18	; 24
-    6bd4:	dc 4f       	sbci	r29, 0xFC	; 252
-    6bd6:	e1 14       	cp	r14, r1
-    6bd8:	f1 04       	cpc	r15, r1
-    6bda:	01 05       	cpc	r16, r1
-    6bdc:	11 05       	cpc	r17, r1
-    6bde:	61 f7       	brne	.-40     	; 0x6bb8 <delay+0x18>
-    6be0:	df 91       	pop	r29
-    6be2:	cf 91       	pop	r28
-    6be4:	1f 91       	pop	r17
-    6be6:	0f 91       	pop	r16
-    6be8:	ff 90       	pop	r15
-    6bea:	ef 90       	pop	r14
-    6bec:	08 95       	ret
-
-00006bee <init>:
-    6bee:	78 94       	sei
-    6bf0:	84 b5       	in	r24, 0x24	; 36
-    6bf2:	82 60       	ori	r24, 0x02	; 2
-    6bf4:	84 bd       	out	0x24, r24	; 36
-    6bf6:	84 b5       	in	r24, 0x24	; 36
-    6bf8:	81 60       	ori	r24, 0x01	; 1
-    6bfa:	84 bd       	out	0x24, r24	; 36
-    6bfc:	85 b5       	in	r24, 0x25	; 37
-    6bfe:	82 60       	ori	r24, 0x02	; 2
-    6c00:	85 bd       	out	0x25, r24	; 37
-    6c02:	85 b5       	in	r24, 0x25	; 37
-    6c04:	81 60       	ori	r24, 0x01	; 1
-    6c06:	85 bd       	out	0x25, r24	; 37
-    6c08:	ee e6       	ldi	r30, 0x6E	; 110
-    6c0a:	f0 e0       	ldi	r31, 0x00	; 0
-    6c0c:	80 81       	ld	r24, Z
-    6c0e:	81 60       	ori	r24, 0x01	; 1
-    6c10:	80 83       	st	Z, r24
-    6c12:	e1 e8       	ldi	r30, 0x81	; 129
-    6c14:	f0 e0       	ldi	r31, 0x00	; 0
-    6c16:	10 82       	st	Z, r1
-    6c18:	80 81       	ld	r24, Z
-    6c1a:	82 60       	ori	r24, 0x02	; 2
-    6c1c:	80 83       	st	Z, r24
-    6c1e:	80 81       	ld	r24, Z
-    6c20:	81 60       	ori	r24, 0x01	; 1
-    6c22:	80 83       	st	Z, r24
-    6c24:	e0 e8       	ldi	r30, 0x80	; 128
-    6c26:	f0 e0       	ldi	r31, 0x00	; 0
-    6c28:	80 81       	ld	r24, Z
-    6c2a:	81 60       	ori	r24, 0x01	; 1
-    6c2c:	80 83       	st	Z, r24
-    6c2e:	e1 eb       	ldi	r30, 0xB1	; 177
-    6c30:	f0 e0       	ldi	r31, 0x00	; 0
-    6c32:	80 81       	ld	r24, Z
-    6c34:	84 60       	ori	r24, 0x04	; 4
-    6c36:	80 83       	st	Z, r24
-    6c38:	e0 eb       	ldi	r30, 0xB0	; 176
-    6c3a:	f0 e0       	ldi	r31, 0x00	; 0
-    6c3c:	80 81       	ld	r24, Z
-    6c3e:	81 60       	ori	r24, 0x01	; 1
-    6c40:	80 83       	st	Z, r24
-    6c42:	e1 e9       	ldi	r30, 0x91	; 145
-    6c44:	f0 e0       	ldi	r31, 0x00	; 0
-    6c46:	80 81       	ld	r24, Z
-    6c48:	82 60       	ori	r24, 0x02	; 2
-    6c4a:	80 83       	st	Z, r24
-    6c4c:	80 81       	ld	r24, Z
-    6c4e:	81 60       	ori	r24, 0x01	; 1
-    6c50:	80 83       	st	Z, r24
-    6c52:	e1 ea       	ldi	r30, 0xA1	; 161
-    6c54:	f0 e0       	ldi	r31, 0x00	; 0
-    6c56:	80 81       	ld	r24, Z
-    6c58:	82 60       	ori	r24, 0x02	; 2
-    6c5a:	80 83       	st	Z, r24
-    6c5c:	80 81       	ld	r24, Z
-    6c5e:	81 60       	ori	r24, 0x01	; 1
-    6c60:	80 83       	st	Z, r24
-    6c62:	e1 e2       	ldi	r30, 0x21	; 33
-    6c64:	f1 e0       	ldi	r31, 0x01	; 1
-    6c66:	80 81       	ld	r24, Z
-    6c68:	82 60       	ori	r24, 0x02	; 2
-    6c6a:	80 83       	st	Z, r24
-    6c6c:	80 81       	ld	r24, Z
-    6c6e:	81 60       	ori	r24, 0x01	; 1
-    6c70:	80 83       	st	Z, r24
-    6c72:	e0 e9       	ldi	r30, 0x90	; 144
-    6c74:	f0 e0       	ldi	r31, 0x00	; 0
-    6c76:	80 81       	ld	r24, Z
-    6c78:	81 60       	ori	r24, 0x01	; 1
-    6c7a:	80 83       	st	Z, r24
-    6c7c:	e0 ea       	ldi	r30, 0xA0	; 160
-    6c7e:	f0 e0       	ldi	r31, 0x00	; 0
-    6c80:	80 81       	ld	r24, Z
-    6c82:	81 60       	ori	r24, 0x01	; 1
-    6c84:	80 83       	st	Z, r24
-    6c86:	e0 e2       	ldi	r30, 0x20	; 32
-    6c88:	f1 e0       	ldi	r31, 0x01	; 1
-    6c8a:	80 81       	ld	r24, Z
-    6c8c:	81 60       	ori	r24, 0x01	; 1
-    6c8e:	80 83       	st	Z, r24
-    6c90:	ea e7       	ldi	r30, 0x7A	; 122
-    6c92:	f0 e0       	ldi	r31, 0x00	; 0
-    6c94:	80 81       	ld	r24, Z
-    6c96:	84 60       	ori	r24, 0x04	; 4
-    6c98:	80 83       	st	Z, r24
-    6c9a:	80 81       	ld	r24, Z
-    6c9c:	82 60       	ori	r24, 0x02	; 2
-    6c9e:	80 83       	st	Z, r24
-    6ca0:	80 81       	ld	r24, Z
-    6ca2:	81 60       	ori	r24, 0x01	; 1
-    6ca4:	80 83       	st	Z, r24
-    6ca6:	80 81       	ld	r24, Z
-    6ca8:	80 68       	ori	r24, 0x80	; 128
-    6caa:	80 83       	st	Z, r24
-    6cac:	10 92 c1 00 	sts	0x00C1, r1
-    6cb0:	08 95       	ret
-
-00006cb2 <analogRead>:
-    6cb2:	86 33       	cpi	r24, 0x36	; 54
-    6cb4:	08 f0       	brcs	.+2      	; 0x6cb8 <analogRead+0x6>
-    6cb6:	86 53       	subi	r24, 0x36	; 54
-    6cb8:	90 91 7b 00 	lds	r25, 0x007B
-    6cbc:	28 2f       	mov	r18, r24
-    6cbe:	26 95       	lsr	r18
-    6cc0:	26 95       	lsr	r18
-    6cc2:	26 95       	lsr	r18
-    6cc4:	30 e0       	ldi	r19, 0x00	; 0
-    6cc6:	21 70       	andi	r18, 0x01	; 1
-    6cc8:	30 70       	andi	r19, 0x00	; 0
-    6cca:	43 e0       	ldi	r20, 0x03	; 3
-    6ccc:	22 0f       	add	r18, r18
-    6cce:	33 1f       	adc	r19, r19
-    6cd0:	4a 95       	dec	r20
-    6cd2:	e1 f7       	brne	.-8      	; 0x6ccc <analogRead+0x1a>
-    6cd4:	97 7f       	andi	r25, 0xF7	; 247
-    6cd6:	92 2b       	or	r25, r18
-    6cd8:	90 93 7b 00 	sts	0x007B, r25
-    6cdc:	87 70       	andi	r24, 0x07	; 7
-    6cde:	90 91 ae 05 	lds	r25, 0x05AE
-    6ce2:	92 95       	swap	r25
-    6ce4:	99 0f       	add	r25, r25
-    6ce6:	99 0f       	add	r25, r25
-    6ce8:	90 7c       	andi	r25, 0xC0	; 192
-    6cea:	98 2b       	or	r25, r24
-    6cec:	90 93 7c 00 	sts	0x007C, r25
-    6cf0:	80 91 7a 00 	lds	r24, 0x007A
-    6cf4:	80 64       	ori	r24, 0x40	; 64
-    6cf6:	80 93 7a 00 	sts	0x007A, r24
-    6cfa:	80 91 7a 00 	lds	r24, 0x007A
-    6cfe:	86 fd       	sbrc	r24, 6
-    6d00:	fc cf       	rjmp	.-8      	; 0x6cfa <analogRead+0x48>
-    6d02:	20 91 78 00 	lds	r18, 0x0078
-    6d06:	30 91 79 00 	lds	r19, 0x0079
-    6d0a:	93 2f       	mov	r25, r19
-    6d0c:	80 e0       	ldi	r24, 0x00	; 0
-    6d0e:	30 e0       	ldi	r19, 0x00	; 0
-    6d10:	28 2b       	or	r18, r24
-    6d12:	39 2b       	or	r19, r25
-    6d14:	c9 01       	movw	r24, r18
-    6d16:	08 95       	ret
-
-00006d18 <pinMode>:
-    6d18:	90 e0       	ldi	r25, 0x00	; 0
-    6d1a:	fc 01       	movw	r30, r24
-    6d1c:	e1 50       	subi	r30, 0x01	; 1
-    6d1e:	fe 4f       	sbci	r31, 0xFE	; 254
-    6d20:	24 91       	lpm	r18, Z+
-    6d22:	fc 01       	movw	r30, r24
-    6d24:	e7 54       	subi	r30, 0x47	; 71
-    6d26:	fe 4f       	sbci	r31, 0xFE	; 254
-    6d28:	e4 91       	lpm	r30, Z+
-    6d2a:	ee 23       	and	r30, r30
-    6d2c:	c1 f0       	breq	.+48     	; 0x6d5e <pinMode+0x46>
-    6d2e:	f0 e0       	ldi	r31, 0x00	; 0
-    6d30:	ee 0f       	add	r30, r30
-    6d32:	ff 1f       	adc	r31, r31
-    6d34:	e5 59       	subi	r30, 0x95	; 149
-    6d36:	fe 4f       	sbci	r31, 0xFE	; 254
-    6d38:	85 91       	lpm	r24, Z+
-    6d3a:	94 91       	lpm	r25, Z+
-    6d3c:	dc 01       	movw	r26, r24
-    6d3e:	66 23       	and	r22, r22
-    6d40:	41 f4       	brne	.+16     	; 0x6d52 <pinMode+0x3a>
-    6d42:	9f b7       	in	r25, 0x3f	; 63
-    6d44:	f8 94       	cli
-    6d46:	8c 91       	ld	r24, X
-    6d48:	20 95       	com	r18
-    6d4a:	82 23       	and	r24, r18
-    6d4c:	8c 93       	st	X, r24
-    6d4e:	9f bf       	out	0x3f, r25	; 63
-    6d50:	08 95       	ret
-    6d52:	9f b7       	in	r25, 0x3f	; 63
-    6d54:	f8 94       	cli
-    6d56:	8c 91       	ld	r24, X
-    6d58:	82 2b       	or	r24, r18
-    6d5a:	8c 93       	st	X, r24
-    6d5c:	9f bf       	out	0x3f, r25	; 63
+    687e:	df 91       	pop	r29
+    6880:	1f 91       	pop	r17
+    6882:	0f 91       	pop	r16
+    6884:	ff 90       	pop	r15
+    6886:	ef 90       	pop	r14
+    6888:	df 90       	pop	r13
+    688a:	cf 90       	pop	r12
+    688c:	bf 90       	pop	r11
+    688e:	af 90       	pop	r10
+    6890:	9f 90       	pop	r9
+    6892:	8f 90       	pop	r8
+    6894:	7f 90       	pop	r7
+    6896:	6f 90       	pop	r6
+    6898:	5f 90       	pop	r5
+    689a:	4f 90       	pop	r4
+    689c:	3f 90       	pop	r3
+    689e:	2f 90       	pop	r2
+    68a0:	08 95       	ret
+
+000068a2 <__vector_23>:
+    68a2:	1f 92       	push	r1
+    68a4:	0f 92       	push	r0
+    68a6:	0f b6       	in	r0, 0x3f	; 63
+    68a8:	0f 92       	push	r0
+    68aa:	11 24       	eor	r1, r1
+    68ac:	2f 93       	push	r18
+    68ae:	3f 93       	push	r19
+    68b0:	8f 93       	push	r24
+    68b2:	9f 93       	push	r25
+    68b4:	af 93       	push	r26
+    68b6:	bf 93       	push	r27
+    68b8:	80 91 64 10 	lds	r24, 0x1064
+    68bc:	90 91 65 10 	lds	r25, 0x1065
+    68c0:	a0 91 66 10 	lds	r26, 0x1066
+    68c4:	b0 91 67 10 	lds	r27, 0x1067
+    68c8:	30 91 68 10 	lds	r19, 0x1068
+    68cc:	01 96       	adiw	r24, 0x01	; 1
+    68ce:	a1 1d       	adc	r26, r1
+    68d0:	b1 1d       	adc	r27, r1
+    68d2:	23 2f       	mov	r18, r19
+    68d4:	2d 5f       	subi	r18, 0xFD	; 253
+    68d6:	2d 37       	cpi	r18, 0x7D	; 125
+    68d8:	20 f0       	brcs	.+8      	; 0x68e2 <__vector_23+0x40>
+    68da:	2d 57       	subi	r18, 0x7D	; 125
+    68dc:	01 96       	adiw	r24, 0x01	; 1
+    68de:	a1 1d       	adc	r26, r1
+    68e0:	b1 1d       	adc	r27, r1
+    68e2:	20 93 68 10 	sts	0x1068, r18
+    68e6:	80 93 64 10 	sts	0x1064, r24
+    68ea:	90 93 65 10 	sts	0x1065, r25
+    68ee:	a0 93 66 10 	sts	0x1066, r26
+    68f2:	b0 93 67 10 	sts	0x1067, r27
+    68f6:	80 91 60 10 	lds	r24, 0x1060
+    68fa:	90 91 61 10 	lds	r25, 0x1061
+    68fe:	a0 91 62 10 	lds	r26, 0x1062
+    6902:	b0 91 63 10 	lds	r27, 0x1063
+    6906:	01 96       	adiw	r24, 0x01	; 1
+    6908:	a1 1d       	adc	r26, r1
+    690a:	b1 1d       	adc	r27, r1
+    690c:	80 93 60 10 	sts	0x1060, r24
+    6910:	90 93 61 10 	sts	0x1061, r25
+    6914:	a0 93 62 10 	sts	0x1062, r26
+    6918:	b0 93 63 10 	sts	0x1063, r27
+    691c:	bf 91       	pop	r27
+    691e:	af 91       	pop	r26
+    6920:	9f 91       	pop	r25
+    6922:	8f 91       	pop	r24
+    6924:	3f 91       	pop	r19
+    6926:	2f 91       	pop	r18
+    6928:	0f 90       	pop	r0
+    692a:	0f be       	out	0x3f, r0	; 63
+    692c:	0f 90       	pop	r0
+    692e:	1f 90       	pop	r1
+    6930:	18 95       	reti
+
+00006932 <millis>:
+    6932:	8f b7       	in	r24, 0x3f	; 63
+    6934:	f8 94       	cli
+    6936:	20 91 64 10 	lds	r18, 0x1064
+    693a:	30 91 65 10 	lds	r19, 0x1065
+    693e:	40 91 66 10 	lds	r20, 0x1066
+    6942:	50 91 67 10 	lds	r21, 0x1067
+    6946:	8f bf       	out	0x3f, r24	; 63
+    6948:	b9 01       	movw	r22, r18
+    694a:	ca 01       	movw	r24, r20
+    694c:	08 95       	ret
+
+0000694e <micros>:
+    694e:	9f b7       	in	r25, 0x3f	; 63
+    6950:	f8 94       	cli
+    6952:	20 91 60 10 	lds	r18, 0x1060
+    6956:	30 91 61 10 	lds	r19, 0x1061
+    695a:	40 91 62 10 	lds	r20, 0x1062
+    695e:	50 91 63 10 	lds	r21, 0x1063
+    6962:	86 b5       	in	r24, 0x26	; 38
+    6964:	a8 9b       	sbis	0x15, 0	; 21
+    6966:	06 c0       	rjmp	.+12     	; 0x6974 <micros+0x26>
+    6968:	8f 3f       	cpi	r24, 0xFF	; 255
+    696a:	21 f0       	breq	.+8      	; 0x6974 <micros+0x26>
+    696c:	2f 5f       	subi	r18, 0xFF	; 255
+    696e:	3f 4f       	sbci	r19, 0xFF	; 255
+    6970:	4f 4f       	sbci	r20, 0xFF	; 255
+    6972:	5f 4f       	sbci	r21, 0xFF	; 255
+    6974:	9f bf       	out	0x3f, r25	; 63
+    6976:	54 2f       	mov	r21, r20
+    6978:	43 2f       	mov	r20, r19
+    697a:	32 2f       	mov	r19, r18
+    697c:	22 27       	eor	r18, r18
+    697e:	28 0f       	add	r18, r24
+    6980:	31 1d       	adc	r19, r1
+    6982:	41 1d       	adc	r20, r1
+    6984:	51 1d       	adc	r21, r1
+    6986:	82 e0       	ldi	r24, 0x02	; 2
+    6988:	22 0f       	add	r18, r18
+    698a:	33 1f       	adc	r19, r19
+    698c:	44 1f       	adc	r20, r20
+    698e:	55 1f       	adc	r21, r21
+    6990:	8a 95       	dec	r24
+    6992:	d1 f7       	brne	.-12     	; 0x6988 <micros+0x3a>
+    6994:	b9 01       	movw	r22, r18
+    6996:	ca 01       	movw	r24, r20
+    6998:	08 95       	ret
+
+0000699a <delay>:
+    699a:	ef 92       	push	r14
+    699c:	ff 92       	push	r15
+    699e:	0f 93       	push	r16
+    69a0:	1f 93       	push	r17
+    69a2:	cf 93       	push	r28
+    69a4:	df 93       	push	r29
+    69a6:	7b 01       	movw	r14, r22
+    69a8:	8c 01       	movw	r16, r24
+    69aa:	0e 94 a7 34 	call	0x694e	; 0x694e <micros>
+    69ae:	eb 01       	movw	r28, r22
+    69b0:	0f c0       	rjmp	.+30     	; 0x69d0 <delay+0x36>
+    69b2:	0e 94 a7 34 	call	0x694e	; 0x694e <micros>
+    69b6:	6c 1b       	sub	r22, r28
+    69b8:	7d 0b       	sbc	r23, r29
+    69ba:	83 e0       	ldi	r24, 0x03	; 3
+    69bc:	68 3e       	cpi	r22, 0xE8	; 232
+    69be:	78 07       	cpc	r23, r24
+    69c0:	38 f0       	brcs	.+14     	; 0x69d0 <delay+0x36>
+    69c2:	08 94       	sec
+    69c4:	e1 08       	sbc	r14, r1
+    69c6:	f1 08       	sbc	r15, r1
+    69c8:	01 09       	sbc	r16, r1
+    69ca:	11 09       	sbc	r17, r1
+    69cc:	c8 51       	subi	r28, 0x18	; 24
+    69ce:	dc 4f       	sbci	r29, 0xFC	; 252
+    69d0:	e1 14       	cp	r14, r1
+    69d2:	f1 04       	cpc	r15, r1
+    69d4:	01 05       	cpc	r16, r1
+    69d6:	11 05       	cpc	r17, r1
+    69d8:	61 f7       	brne	.-40     	; 0x69b2 <delay+0x18>
+    69da:	df 91       	pop	r29
+    69dc:	cf 91       	pop	r28
+    69de:	1f 91       	pop	r17
+    69e0:	0f 91       	pop	r16
+    69e2:	ff 90       	pop	r15
+    69e4:	ef 90       	pop	r14
+    69e6:	08 95       	ret
+
+000069e8 <init>:
+    69e8:	78 94       	sei
+    69ea:	84 b5       	in	r24, 0x24	; 36
+    69ec:	82 60       	ori	r24, 0x02	; 2
+    69ee:	84 bd       	out	0x24, r24	; 36
+    69f0:	84 b5       	in	r24, 0x24	; 36
+    69f2:	81 60       	ori	r24, 0x01	; 1
+    69f4:	84 bd       	out	0x24, r24	; 36
+    69f6:	85 b5       	in	r24, 0x25	; 37
+    69f8:	82 60       	ori	r24, 0x02	; 2
+    69fa:	85 bd       	out	0x25, r24	; 37
+    69fc:	85 b5       	in	r24, 0x25	; 37
+    69fe:	81 60       	ori	r24, 0x01	; 1
+    6a00:	85 bd       	out	0x25, r24	; 37
+    6a02:	ee e6       	ldi	r30, 0x6E	; 110
+    6a04:	f0 e0       	ldi	r31, 0x00	; 0
+    6a06:	80 81       	ld	r24, Z
+    6a08:	81 60       	ori	r24, 0x01	; 1
+    6a0a:	80 83       	st	Z, r24
+    6a0c:	e1 e8       	ldi	r30, 0x81	; 129
+    6a0e:	f0 e0       	ldi	r31, 0x00	; 0
+    6a10:	10 82       	st	Z, r1
+    6a12:	80 81       	ld	r24, Z
+    6a14:	82 60       	ori	r24, 0x02	; 2
+    6a16:	80 83       	st	Z, r24
+    6a18:	80 81       	ld	r24, Z
+    6a1a:	81 60       	ori	r24, 0x01	; 1
+    6a1c:	80 83       	st	Z, r24
+    6a1e:	e0 e8       	ldi	r30, 0x80	; 128
+    6a20:	f0 e0       	ldi	r31, 0x00	; 0
+    6a22:	80 81       	ld	r24, Z
+    6a24:	81 60       	ori	r24, 0x01	; 1
+    6a26:	80 83       	st	Z, r24
+    6a28:	e1 eb       	ldi	r30, 0xB1	; 177
+    6a2a:	f0 e0       	ldi	r31, 0x00	; 0
+    6a2c:	80 81       	ld	r24, Z
+    6a2e:	84 60       	ori	r24, 0x04	; 4
+    6a30:	80 83       	st	Z, r24
+    6a32:	e0 eb       	ldi	r30, 0xB0	; 176
+    6a34:	f0 e0       	ldi	r31, 0x00	; 0
+    6a36:	80 81       	ld	r24, Z
+    6a38:	81 60       	ori	r24, 0x01	; 1
+    6a3a:	80 83       	st	Z, r24
+    6a3c:	e1 e9       	ldi	r30, 0x91	; 145
+    6a3e:	f0 e0       	ldi	r31, 0x00	; 0
+    6a40:	80 81       	ld	r24, Z
+    6a42:	82 60       	ori	r24, 0x02	; 2
+    6a44:	80 83       	st	Z, r24
+    6a46:	80 81       	ld	r24, Z
+    6a48:	81 60       	ori	r24, 0x01	; 1
+    6a4a:	80 83       	st	Z, r24
+    6a4c:	e1 ea       	ldi	r30, 0xA1	; 161
+    6a4e:	f0 e0       	ldi	r31, 0x00	; 0
+    6a50:	80 81       	ld	r24, Z
+    6a52:	82 60       	ori	r24, 0x02	; 2
+    6a54:	80 83       	st	Z, r24
+    6a56:	80 81       	ld	r24, Z
+    6a58:	81 60       	ori	r24, 0x01	; 1
+    6a5a:	80 83       	st	Z, r24
+    6a5c:	e1 e2       	ldi	r30, 0x21	; 33
+    6a5e:	f1 e0       	ldi	r31, 0x01	; 1
+    6a60:	80 81       	ld	r24, Z
+    6a62:	82 60       	ori	r24, 0x02	; 2
+    6a64:	80 83       	st	Z, r24
+    6a66:	80 81       	ld	r24, Z
+    6a68:	81 60       	ori	r24, 0x01	; 1
+    6a6a:	80 83       	st	Z, r24
+    6a6c:	e0 e9       	ldi	r30, 0x90	; 144
+    6a6e:	f0 e0       	ldi	r31, 0x00	; 0
+    6a70:	80 81       	ld	r24, Z
+    6a72:	81 60       	ori	r24, 0x01	; 1
+    6a74:	80 83       	st	Z, r24
+    6a76:	e0 ea       	ldi	r30, 0xA0	; 160
+    6a78:	f0 e0       	ldi	r31, 0x00	; 0
+    6a7a:	80 81       	ld	r24, Z
+    6a7c:	81 60       	ori	r24, 0x01	; 1
+    6a7e:	80 83       	st	Z, r24
+    6a80:	e0 e2       	ldi	r30, 0x20	; 32
+    6a82:	f1 e0       	ldi	r31, 0x01	; 1
+    6a84:	80 81       	ld	r24, Z
+    6a86:	81 60       	ori	r24, 0x01	; 1
+    6a88:	80 83       	st	Z, r24
+    6a8a:	ea e7       	ldi	r30, 0x7A	; 122
+    6a8c:	f0 e0       	ldi	r31, 0x00	; 0
+    6a8e:	80 81       	ld	r24, Z
+    6a90:	84 60       	ori	r24, 0x04	; 4
+    6a92:	80 83       	st	Z, r24
+    6a94:	80 81       	ld	r24, Z
+    6a96:	82 60       	ori	r24, 0x02	; 2
+    6a98:	80 83       	st	Z, r24
+    6a9a:	80 81       	ld	r24, Z
+    6a9c:	81 60       	ori	r24, 0x01	; 1
+    6a9e:	80 83       	st	Z, r24
+    6aa0:	80 81       	ld	r24, Z
+    6aa2:	80 68       	ori	r24, 0x80	; 128
+    6aa4:	80 83       	st	Z, r24
+    6aa6:	10 92 c1 00 	sts	0x00C1, r1
+    6aaa:	08 95       	ret
+
+00006aac <analogRead>:
+    6aac:	86 33       	cpi	r24, 0x36	; 54
+    6aae:	08 f0       	brcs	.+2      	; 0x6ab2 <analogRead+0x6>
+    6ab0:	86 53       	subi	r24, 0x36	; 54
+    6ab2:	90 91 7b 00 	lds	r25, 0x007B
+    6ab6:	28 2f       	mov	r18, r24
+    6ab8:	26 95       	lsr	r18
+    6aba:	26 95       	lsr	r18
+    6abc:	26 95       	lsr	r18
+    6abe:	30 e0       	ldi	r19, 0x00	; 0
+    6ac0:	21 70       	andi	r18, 0x01	; 1
+    6ac2:	30 70       	andi	r19, 0x00	; 0
+    6ac4:	43 e0       	ldi	r20, 0x03	; 3
+    6ac6:	22 0f       	add	r18, r18
+    6ac8:	33 1f       	adc	r19, r19
+    6aca:	4a 95       	dec	r20
+    6acc:	e1 f7       	brne	.-8      	; 0x6ac6 <analogRead+0x1a>
+    6ace:	97 7f       	andi	r25, 0xF7	; 247
+    6ad0:	92 2b       	or	r25, r18
+    6ad2:	90 93 7b 00 	sts	0x007B, r25
+    6ad6:	87 70       	andi	r24, 0x07	; 7
+    6ad8:	90 91 af 05 	lds	r25, 0x05AF
+    6adc:	92 95       	swap	r25
+    6ade:	99 0f       	add	r25, r25
+    6ae0:	99 0f       	add	r25, r25
+    6ae2:	90 7c       	andi	r25, 0xC0	; 192
+    6ae4:	98 2b       	or	r25, r24
+    6ae6:	90 93 7c 00 	sts	0x007C, r25
+    6aea:	80 91 7a 00 	lds	r24, 0x007A
+    6aee:	80 64       	ori	r24, 0x40	; 64
+    6af0:	80 93 7a 00 	sts	0x007A, r24
+    6af4:	80 91 7a 00 	lds	r24, 0x007A
+    6af8:	86 fd       	sbrc	r24, 6
+    6afa:	fc cf       	rjmp	.-8      	; 0x6af4 <analogRead+0x48>
+    6afc:	20 91 78 00 	lds	r18, 0x0078
+    6b00:	30 91 79 00 	lds	r19, 0x0079
+    6b04:	93 2f       	mov	r25, r19
+    6b06:	80 e0       	ldi	r24, 0x00	; 0
+    6b08:	30 e0       	ldi	r19, 0x00	; 0
+    6b0a:	28 2b       	or	r18, r24
+    6b0c:	39 2b       	or	r19, r25
+    6b0e:	c9 01       	movw	r24, r18
+    6b10:	08 95       	ret
+
+00006b12 <pinMode>:
+    6b12:	90 e0       	ldi	r25, 0x00	; 0
+    6b14:	fc 01       	movw	r30, r24
+    6b16:	e1 50       	subi	r30, 0x01	; 1
+    6b18:	fe 4f       	sbci	r31, 0xFE	; 254
+    6b1a:	24 91       	lpm	r18, Z+
+    6b1c:	fc 01       	movw	r30, r24
+    6b1e:	e7 54       	subi	r30, 0x47	; 71
+    6b20:	fe 4f       	sbci	r31, 0xFE	; 254
+    6b22:	e4 91       	lpm	r30, Z+
+    6b24:	ee 23       	and	r30, r30
+    6b26:	c1 f0       	breq	.+48     	; 0x6b58 <pinMode+0x46>
+    6b28:	f0 e0       	ldi	r31, 0x00	; 0
+    6b2a:	ee 0f       	add	r30, r30
+    6b2c:	ff 1f       	adc	r31, r31
+    6b2e:	e5 59       	subi	r30, 0x95	; 149
+    6b30:	fe 4f       	sbci	r31, 0xFE	; 254
+    6b32:	85 91       	lpm	r24, Z+
+    6b34:	94 91       	lpm	r25, Z+
+    6b36:	dc 01       	movw	r26, r24
+    6b38:	66 23       	and	r22, r22
+    6b3a:	41 f4       	brne	.+16     	; 0x6b4c <pinMode+0x3a>
+    6b3c:	9f b7       	in	r25, 0x3f	; 63
+    6b3e:	f8 94       	cli
+    6b40:	8c 91       	ld	r24, X
+    6b42:	20 95       	com	r18
+    6b44:	82 23       	and	r24, r18
+    6b46:	8c 93       	st	X, r24
+    6b48:	9f bf       	out	0x3f, r25	; 63
+    6b4a:	08 95       	ret
+    6b4c:	9f b7       	in	r25, 0x3f	; 63
+    6b4e:	f8 94       	cli
+    6b50:	8c 91       	ld	r24, X
+    6b52:	82 2b       	or	r24, r18
+    6b54:	8c 93       	st	X, r24
+    6b56:	9f bf       	out	0x3f, r25	; 63
+    6b58:	08 95       	ret
+
+00006b5a <digitalWrite>:
+    6b5a:	90 e0       	ldi	r25, 0x00	; 0
+    6b5c:	fc 01       	movw	r30, r24
+    6b5e:	eb 5b       	subi	r30, 0xBB	; 187
+    6b60:	fd 4f       	sbci	r31, 0xFD	; 253
+    6b62:	24 91       	lpm	r18, Z+
+    6b64:	fc 01       	movw	r30, r24
+    6b66:	e1 50       	subi	r30, 0x01	; 1
+    6b68:	fe 4f       	sbci	r31, 0xFE	; 254
+    6b6a:	44 91       	lpm	r20, Z+
+    6b6c:	87 54       	subi	r24, 0x47	; 71
+    6b6e:	9e 4f       	sbci	r25, 0xFE	; 254
+    6b70:	fc 01       	movw	r30, r24
+    6b72:	84 91       	lpm	r24, Z+
+    6b74:	88 23       	and	r24, r24
+    6b76:	09 f4       	brne	.+2      	; 0x6b7a <digitalWrite+0x20>
+    6b78:	7e c0       	rjmp	.+252    	; 0x6c76 <digitalWrite+0x11c>
+    6b7a:	22 23       	and	r18, r18
+    6b7c:	09 f4       	brne	.+2      	; 0x6b80 <digitalWrite+0x26>
+    6b7e:	62 c0       	rjmp	.+196    	; 0x6c44 <digitalWrite+0xea>
+    6b80:	23 30       	cpi	r18, 0x03	; 3
+    6b82:	21 f4       	brne	.+8      	; 0x6b8c <digitalWrite+0x32>
+    6b84:	90 91 80 00 	lds	r25, 0x0080
+    6b88:	9f 77       	andi	r25, 0x7F	; 127
+    6b8a:	05 c0       	rjmp	.+10     	; 0x6b96 <digitalWrite+0x3c>
+    6b8c:	24 30       	cpi	r18, 0x04	; 4
+    6b8e:	31 f4       	brne	.+12     	; 0x6b9c <digitalWrite+0x42>
+    6b90:	90 91 80 00 	lds	r25, 0x0080
+    6b94:	9f 7d       	andi	r25, 0xDF	; 223
+    6b96:	90 93 80 00 	sts	0x0080, r25
+    6b9a:	54 c0       	rjmp	.+168    	; 0x6c44 <digitalWrite+0xea>
+    6b9c:	21 30       	cpi	r18, 0x01	; 1
+    6b9e:	19 f4       	brne	.+6      	; 0x6ba6 <digitalWrite+0x4c>
+    6ba0:	94 b5       	in	r25, 0x24	; 36
+    6ba2:	9f 77       	andi	r25, 0x7F	; 127
+    6ba4:	04 c0       	rjmp	.+8      	; 0x6bae <digitalWrite+0x54>
+    6ba6:	22 30       	cpi	r18, 0x02	; 2
+    6ba8:	21 f4       	brne	.+8      	; 0x6bb2 <digitalWrite+0x58>
+    6baa:	94 b5       	in	r25, 0x24	; 36
+    6bac:	9f 7d       	andi	r25, 0xDF	; 223
+    6bae:	94 bd       	out	0x24, r25	; 36
+    6bb0:	49 c0       	rjmp	.+146    	; 0x6c44 <digitalWrite+0xea>
+    6bb2:	26 30       	cpi	r18, 0x06	; 6
+    6bb4:	21 f4       	brne	.+8      	; 0x6bbe <digitalWrite+0x64>
+    6bb6:	90 91 b0 00 	lds	r25, 0x00B0
+    6bba:	9f 77       	andi	r25, 0x7F	; 127
+    6bbc:	05 c0       	rjmp	.+10     	; 0x6bc8 <digitalWrite+0x6e>
+    6bbe:	27 30       	cpi	r18, 0x07	; 7
+    6bc0:	31 f4       	brne	.+12     	; 0x6bce <digitalWrite+0x74>
+    6bc2:	90 91 b0 00 	lds	r25, 0x00B0
+    6bc6:	9f 7d       	andi	r25, 0xDF	; 223
+    6bc8:	90 93 b0 00 	sts	0x00B0, r25
+    6bcc:	3b c0       	rjmp	.+118    	; 0x6c44 <digitalWrite+0xea>
+    6bce:	28 30       	cpi	r18, 0x08	; 8
+    6bd0:	21 f4       	brne	.+8      	; 0x6bda <digitalWrite+0x80>
+    6bd2:	90 91 90 00 	lds	r25, 0x0090
+    6bd6:	9f 77       	andi	r25, 0x7F	; 127
+    6bd8:	0b c0       	rjmp	.+22     	; 0x6bf0 <digitalWrite+0x96>
+    6bda:	29 30       	cpi	r18, 0x09	; 9
+    6bdc:	21 f4       	brne	.+8      	; 0x6be6 <digitalWrite+0x8c>
+    6bde:	90 91 90 00 	lds	r25, 0x0090
+    6be2:	9f 7d       	andi	r25, 0xDF	; 223
+    6be4:	05 c0       	rjmp	.+10     	; 0x6bf0 <digitalWrite+0x96>
+    6be6:	2a 30       	cpi	r18, 0x0A	; 10
+    6be8:	31 f4       	brne	.+12     	; 0x6bf6 <digitalWrite+0x9c>
+    6bea:	90 91 90 00 	lds	r25, 0x0090
+    6bee:	97 7f       	andi	r25, 0xF7	; 247
+    6bf0:	90 93 90 00 	sts	0x0090, r25
+    6bf4:	27 c0       	rjmp	.+78     	; 0x6c44 <digitalWrite+0xea>
+    6bf6:	2b 30       	cpi	r18, 0x0B	; 11
+    6bf8:	21 f4       	brne	.+8      	; 0x6c02 <digitalWrite+0xa8>
+    6bfa:	90 91 a0 00 	lds	r25, 0x00A0
+    6bfe:	9f 77       	andi	r25, 0x7F	; 127
+    6c00:	0b c0       	rjmp	.+22     	; 0x6c18 <digitalWrite+0xbe>
+    6c02:	2c 30       	cpi	r18, 0x0C	; 12
+    6c04:	21 f4       	brne	.+8      	; 0x6c0e <digitalWrite+0xb4>
+    6c06:	90 91 a0 00 	lds	r25, 0x00A0
+    6c0a:	9f 7d       	andi	r25, 0xDF	; 223
+    6c0c:	05 c0       	rjmp	.+10     	; 0x6c18 <digitalWrite+0xbe>
+    6c0e:	2d 30       	cpi	r18, 0x0D	; 13
+    6c10:	31 f4       	brne	.+12     	; 0x6c1e <digitalWrite+0xc4>
+    6c12:	90 91 a0 00 	lds	r25, 0x00A0
+    6c16:	97 7f       	andi	r25, 0xF7	; 247
+    6c18:	90 93 a0 00 	sts	0x00A0, r25
+    6c1c:	13 c0       	rjmp	.+38     	; 0x6c44 <digitalWrite+0xea>
+    6c1e:	2e 30       	cpi	r18, 0x0E	; 14
+    6c20:	21 f4       	brne	.+8      	; 0x6c2a <digitalWrite+0xd0>
+    6c22:	90 91 20 01 	lds	r25, 0x0120
+    6c26:	9f 77       	andi	r25, 0x7F	; 127
+    6c28:	0b c0       	rjmp	.+22     	; 0x6c40 <digitalWrite+0xe6>
+    6c2a:	2f 30       	cpi	r18, 0x0F	; 15
+    6c2c:	21 f4       	brne	.+8      	; 0x6c36 <digitalWrite+0xdc>
+    6c2e:	90 91 20 01 	lds	r25, 0x0120
+    6c32:	9f 7d       	andi	r25, 0xDF	; 223
+    6c34:	05 c0       	rjmp	.+10     	; 0x6c40 <digitalWrite+0xe6>
+    6c36:	20 31       	cpi	r18, 0x10	; 16
+    6c38:	29 f4       	brne	.+10     	; 0x6c44 <digitalWrite+0xea>
+    6c3a:	90 91 20 01 	lds	r25, 0x0120
+    6c3e:	97 7f       	andi	r25, 0xF7	; 247
+    6c40:	90 93 20 01 	sts	0x0120, r25
+    6c44:	e8 2f       	mov	r30, r24
+    6c46:	f0 e0       	ldi	r31, 0x00	; 0
+    6c48:	ee 0f       	add	r30, r30
+    6c4a:	ff 1f       	adc	r31, r31
+    6c4c:	eb 57       	subi	r30, 0x7B	; 123
+    6c4e:	fe 4f       	sbci	r31, 0xFE	; 254
+    6c50:	25 91       	lpm	r18, Z+
+    6c52:	34 91       	lpm	r19, Z+
+    6c54:	d9 01       	movw	r26, r18
+    6c56:	66 23       	and	r22, r22
+    6c58:	41 f4       	brne	.+16     	; 0x6c6a <digitalWrite+0x110>
+    6c5a:	9f b7       	in	r25, 0x3f	; 63
+    6c5c:	f8 94       	cli
+    6c5e:	8c 91       	ld	r24, X
+    6c60:	40 95       	com	r20
+    6c62:	84 23       	and	r24, r20
+    6c64:	8c 93       	st	X, r24
+    6c66:	9f bf       	out	0x3f, r25	; 63
+    6c68:	08 95       	ret
+    6c6a:	9f b7       	in	r25, 0x3f	; 63
+    6c6c:	f8 94       	cli
+    6c6e:	8c 91       	ld	r24, X
+    6c70:	84 2b       	or	r24, r20
+    6c72:	8c 93       	st	X, r24
+    6c74:	9f bf       	out	0x3f, r25	; 63
+    6c76:	08 95       	ret
+
+00006c78 <_ZN7TwoWire5beginEv>:
+    6c78:	10 92 89 10 	sts	0x1089, r1
+    6c7c:	10 92 8a 10 	sts	0x108A, r1
+    6c80:	10 92 ac 10 	sts	0x10AC, r1
+    6c84:	10 92 ad 10 	sts	0x10AD, r1
+    6c88:	0e 94 69 39 	call	0x72d2	; 0x72d2 <twi_init>
+    6c8c:	08 95       	ret
+
+00006c8e <_ZN7TwoWire11requestFromEhh>:
+    6c8e:	86 2f       	mov	r24, r22
+    6c90:	41 32       	cpi	r20, 0x21	; 33
+    6c92:	08 f0       	brcs	.+2      	; 0x6c96 <_ZN7TwoWire11requestFromEhh+0x8>
+    6c94:	40 e2       	ldi	r20, 0x20	; 32
+    6c96:	69 e6       	ldi	r22, 0x69	; 105
+    6c98:	70 e1       	ldi	r23, 0x10	; 16
+    6c9a:	0e 94 7c 39 	call	0x72f8	; 0x72f8 <twi_readFrom>
+    6c9e:	10 92 89 10 	sts	0x1089, r1
+    6ca2:	80 93 8a 10 	sts	0x108A, r24
+    6ca6:	08 95       	ret
+
+00006ca8 <_ZN7TwoWire11requestFromEii>:
+    6ca8:	0e 94 47 36 	call	0x6c8e	; 0x6c8e <_ZN7TwoWire11requestFromEhh>
+    6cac:	08 95       	ret
+
+00006cae <_ZN7TwoWire17beginTransmissionEh>:
+    6cae:	81 e0       	ldi	r24, 0x01	; 1
+    6cb0:	80 93 ae 10 	sts	0x10AE, r24
+    6cb4:	60 93 8b 10 	sts	0x108B, r22
+    6cb8:	10 92 ac 10 	sts	0x10AC, r1
+    6cbc:	10 92 ad 10 	sts	0x10AD, r1
+    6cc0:	08 95       	ret
+
+00006cc2 <_ZN7TwoWire17beginTransmissionEi>:
+    6cc2:	0e 94 57 36 	call	0x6cae	; 0x6cae <_ZN7TwoWire17beginTransmissionEh>
+    6cc6:	08 95       	ret
+
+00006cc8 <_ZN7TwoWire15endTransmissionEv>:
+    6cc8:	80 91 8b 10 	lds	r24, 0x108B
+    6ccc:	6c e8       	ldi	r22, 0x8C	; 140
+    6cce:	70 e1       	ldi	r23, 0x10	; 16
+    6cd0:	40 91 ad 10 	lds	r20, 0x10AD
+    6cd4:	21 e0       	ldi	r18, 0x01	; 1
+    6cd6:	0e 94 b2 39 	call	0x7364	; 0x7364 <twi_writeTo>
+    6cda:	10 92 ac 10 	sts	0x10AC, r1
+    6cde:	10 92 ad 10 	sts	0x10AD, r1
+    6ce2:	10 92 ae 10 	sts	0x10AE, r1
+    6ce6:	08 95       	ret
+
+00006ce8 <_ZN7TwoWire4sendEh>:
+    6ce8:	df 93       	push	r29
+    6cea:	cf 93       	push	r28
+    6cec:	0f 92       	push	r0
+    6cee:	cd b7       	in	r28, 0x3d	; 61
+    6cf0:	de b7       	in	r29, 0x3e	; 62
+    6cf2:	69 83       	std	Y+1, r22	; 0x01
+    6cf4:	80 91 ae 10 	lds	r24, 0x10AE
+    6cf8:	88 23       	and	r24, r24
+    6cfa:	89 f0       	breq	.+34     	; 0x6d1e <_ZN7TwoWire4sendEh+0x36>
+    6cfc:	80 91 ad 10 	lds	r24, 0x10AD
+    6d00:	80 32       	cpi	r24, 0x20	; 32
+    6d02:	90 f4       	brcc	.+36     	; 0x6d28 <_ZN7TwoWire4sendEh+0x40>
+    6d04:	80 91 ac 10 	lds	r24, 0x10AC
+    6d08:	e8 2f       	mov	r30, r24
+    6d0a:	f0 e0       	ldi	r31, 0x00	; 0
+    6d0c:	e4 57       	subi	r30, 0x74	; 116
+    6d0e:	ff 4e       	sbci	r31, 0xEF	; 239
+    6d10:	60 83       	st	Z, r22
+    6d12:	8f 5f       	subi	r24, 0xFF	; 255
+    6d14:	80 93 ac 10 	sts	0x10AC, r24
+    6d18:	80 93 ad 10 	sts	0x10AD, r24
+    6d1c:	05 c0       	rjmp	.+10     	; 0x6d28 <_ZN7TwoWire4sendEh+0x40>
+    6d1e:	ce 01       	movw	r24, r28
+    6d20:	01 96       	adiw	r24, 0x01	; 1
+    6d22:	61 e0       	ldi	r22, 0x01	; 1
+    6d24:	0e 94 f2 39 	call	0x73e4	; 0x73e4 <twi_transmit>
+    6d28:	0f 90       	pop	r0
+    6d2a:	cf 91       	pop	r28
+    6d2c:	df 91       	pop	r29
+    6d2e:	08 95       	ret
+
+00006d30 <_ZN7TwoWire4sendEi>:
+    6d30:	0e 94 74 36 	call	0x6ce8	; 0x6ce8 <_ZN7TwoWire4sendEh>
+    6d34:	08 95       	ret
+
+00006d36 <_ZN7TwoWire9availableEv>:
+    6d36:	80 91 8a 10 	lds	r24, 0x108A
+    6d3a:	90 91 89 10 	lds	r25, 0x1089
+    6d3e:	89 1b       	sub	r24, r25
+    6d40:	08 95       	ret
+
+00006d42 <_ZN7TwoWire7receiveEv>:
+    6d42:	90 91 89 10 	lds	r25, 0x1089
+    6d46:	80 91 8a 10 	lds	r24, 0x108A
+    6d4a:	98 17       	cp	r25, r24
+    6d4c:	48 f4       	brcc	.+18     	; 0x6d60 <_ZN7TwoWire7receiveEv+0x1e>
+    6d4e:	e9 2f       	mov	r30, r25
+    6d50:	f0 e0       	ldi	r31, 0x00	; 0
+    6d52:	e7 59       	subi	r30, 0x97	; 151
+    6d54:	ff 4e       	sbci	r31, 0xEF	; 239
+    6d56:	80 81       	ld	r24, Z
+    6d58:	9f 5f       	subi	r25, 0xFF	; 255
+    6d5a:	90 93 89 10 	sts	0x1089, r25
     6d5e:	08 95       	ret
-
-00006d60 <digitalWrite>:
-    6d60:	90 e0       	ldi	r25, 0x00	; 0
-    6d62:	fc 01       	movw	r30, r24
-    6d64:	eb 5b       	subi	r30, 0xBB	; 187
-    6d66:	fd 4f       	sbci	r31, 0xFD	; 253
-    6d68:	24 91       	lpm	r18, Z+
-    6d6a:	fc 01       	movw	r30, r24
-    6d6c:	e1 50       	subi	r30, 0x01	; 1
-    6d6e:	fe 4f       	sbci	r31, 0xFE	; 254
-    6d70:	44 91       	lpm	r20, Z+
-    6d72:	87 54       	subi	r24, 0x47	; 71
-    6d74:	9e 4f       	sbci	r25, 0xFE	; 254
-    6d76:	fc 01       	movw	r30, r24
-    6d78:	84 91       	lpm	r24, Z+
-    6d7a:	88 23       	and	r24, r24
-    6d7c:	09 f4       	brne	.+2      	; 0x6d80 <digitalWrite+0x20>
-    6d7e:	7e c0       	rjmp	.+252    	; 0x6e7c <digitalWrite+0x11c>
-    6d80:	22 23       	and	r18, r18
-    6d82:	09 f4       	brne	.+2      	; 0x6d86 <digitalWrite+0x26>
-    6d84:	62 c0       	rjmp	.+196    	; 0x6e4a <digitalWrite+0xea>
-    6d86:	23 30       	cpi	r18, 0x03	; 3
-    6d88:	21 f4       	brne	.+8      	; 0x6d92 <digitalWrite+0x32>
-    6d8a:	90 91 80 00 	lds	r25, 0x0080
-    6d8e:	9f 77       	andi	r25, 0x7F	; 127
-    6d90:	05 c0       	rjmp	.+10     	; 0x6d9c <digitalWrite+0x3c>
-    6d92:	24 30       	cpi	r18, 0x04	; 4
-    6d94:	31 f4       	brne	.+12     	; 0x6da2 <digitalWrite+0x42>
-    6d96:	90 91 80 00 	lds	r25, 0x0080
-    6d9a:	9f 7d       	andi	r25, 0xDF	; 223
-    6d9c:	90 93 80 00 	sts	0x0080, r25
-    6da0:	54 c0       	rjmp	.+168    	; 0x6e4a <digitalWrite+0xea>
-    6da2:	21 30       	cpi	r18, 0x01	; 1
-    6da4:	19 f4       	brne	.+6      	; 0x6dac <digitalWrite+0x4c>
-    6da6:	94 b5       	in	r25, 0x24	; 36
-    6da8:	9f 77       	andi	r25, 0x7F	; 127
-    6daa:	04 c0       	rjmp	.+8      	; 0x6db4 <digitalWrite+0x54>
-    6dac:	22 30       	cpi	r18, 0x02	; 2
-    6dae:	21 f4       	brne	.+8      	; 0x6db8 <digitalWrite+0x58>
-    6db0:	94 b5       	in	r25, 0x24	; 36
-    6db2:	9f 7d       	andi	r25, 0xDF	; 223
-    6db4:	94 bd       	out	0x24, r25	; 36
-    6db6:	49 c0       	rjmp	.+146    	; 0x6e4a <digitalWrite+0xea>
-    6db8:	26 30       	cpi	r18, 0x06	; 6
-    6dba:	21 f4       	brne	.+8      	; 0x6dc4 <digitalWrite+0x64>
-    6dbc:	90 91 b0 00 	lds	r25, 0x00B0
-    6dc0:	9f 77       	andi	r25, 0x7F	; 127
-    6dc2:	05 c0       	rjmp	.+10     	; 0x6dce <digitalWrite+0x6e>
-    6dc4:	27 30       	cpi	r18, 0x07	; 7
-    6dc6:	31 f4       	brne	.+12     	; 0x6dd4 <digitalWrite+0x74>
-    6dc8:	90 91 b0 00 	lds	r25, 0x00B0
-    6dcc:	9f 7d       	andi	r25, 0xDF	; 223
-    6dce:	90 93 b0 00 	sts	0x00B0, r25
-    6dd2:	3b c0       	rjmp	.+118    	; 0x6e4a <digitalWrite+0xea>
-    6dd4:	28 30       	cpi	r18, 0x08	; 8
-    6dd6:	21 f4       	brne	.+8      	; 0x6de0 <digitalWrite+0x80>
-    6dd8:	90 91 90 00 	lds	r25, 0x0090
-    6ddc:	9f 77       	andi	r25, 0x7F	; 127
-    6dde:	0b c0       	rjmp	.+22     	; 0x6df6 <digitalWrite+0x96>
-    6de0:	29 30       	cpi	r18, 0x09	; 9
-    6de2:	21 f4       	brne	.+8      	; 0x6dec <digitalWrite+0x8c>
-    6de4:	90 91 90 00 	lds	r25, 0x0090
-    6de8:	9f 7d       	andi	r25, 0xDF	; 223
-    6dea:	05 c0       	rjmp	.+10     	; 0x6df6 <digitalWrite+0x96>
-    6dec:	2a 30       	cpi	r18, 0x0A	; 10
-    6dee:	31 f4       	brne	.+12     	; 0x6dfc <digitalWrite+0x9c>
-    6df0:	90 91 90 00 	lds	r25, 0x0090
-    6df4:	97 7f       	andi	r25, 0xF7	; 247
-    6df6:	90 93 90 00 	sts	0x0090, r25
-    6dfa:	27 c0       	rjmp	.+78     	; 0x6e4a <digitalWrite+0xea>
-    6dfc:	2b 30       	cpi	r18, 0x0B	; 11
-    6dfe:	21 f4       	brne	.+8      	; 0x6e08 <digitalWrite+0xa8>
-    6e00:	90 91 a0 00 	lds	r25, 0x00A0
-    6e04:	9f 77       	andi	r25, 0x7F	; 127
-    6e06:	0b c0       	rjmp	.+22     	; 0x6e1e <digitalWrite+0xbe>
-    6e08:	2c 30       	cpi	r18, 0x0C	; 12
-    6e0a:	21 f4       	brne	.+8      	; 0x6e14 <digitalWrite+0xb4>
-    6e0c:	90 91 a0 00 	lds	r25, 0x00A0
-    6e10:	9f 7d       	andi	r25, 0xDF	; 223
-    6e12:	05 c0       	rjmp	.+10     	; 0x6e1e <digitalWrite+0xbe>
-    6e14:	2d 30       	cpi	r18, 0x0D	; 13
-    6e16:	31 f4       	brne	.+12     	; 0x6e24 <digitalWrite+0xc4>
-    6e18:	90 91 a0 00 	lds	r25, 0x00A0
-    6e1c:	97 7f       	andi	r25, 0xF7	; 247
-    6e1e:	90 93 a0 00 	sts	0x00A0, r25
-    6e22:	13 c0       	rjmp	.+38     	; 0x6e4a <digitalWrite+0xea>
-    6e24:	2e 30       	cpi	r18, 0x0E	; 14
-    6e26:	21 f4       	brne	.+8      	; 0x6e30 <digitalWrite+0xd0>
-    6e28:	90 91 20 01 	lds	r25, 0x0120
-    6e2c:	9f 77       	andi	r25, 0x7F	; 127
-    6e2e:	0b c0       	rjmp	.+22     	; 0x6e46 <digitalWrite+0xe6>
-    6e30:	2f 30       	cpi	r18, 0x0F	; 15
-    6e32:	21 f4       	brne	.+8      	; 0x6e3c <digitalWrite+0xdc>
-    6e34:	90 91 20 01 	lds	r25, 0x0120
-    6e38:	9f 7d       	andi	r25, 0xDF	; 223
-    6e3a:	05 c0       	rjmp	.+10     	; 0x6e46 <digitalWrite+0xe6>
-    6e3c:	20 31       	cpi	r18, 0x10	; 16
-    6e3e:	29 f4       	brne	.+10     	; 0x6e4a <digitalWrite+0xea>
-    6e40:	90 91 20 01 	lds	r25, 0x0120
-    6e44:	97 7f       	andi	r25, 0xF7	; 247
-    6e46:	90 93 20 01 	sts	0x0120, r25
-    6e4a:	e8 2f       	mov	r30, r24
-    6e4c:	f0 e0       	ldi	r31, 0x00	; 0
-    6e4e:	ee 0f       	add	r30, r30
-    6e50:	ff 1f       	adc	r31, r31
-    6e52:	eb 57       	subi	r30, 0x7B	; 123
-    6e54:	fe 4f       	sbci	r31, 0xFE	; 254
-    6e56:	25 91       	lpm	r18, Z+
-    6e58:	34 91       	lpm	r19, Z+
-    6e5a:	d9 01       	movw	r26, r18
-    6e5c:	66 23       	and	r22, r22
-    6e5e:	41 f4       	brne	.+16     	; 0x6e70 <digitalWrite+0x110>
-    6e60:	9f b7       	in	r25, 0x3f	; 63
-    6e62:	f8 94       	cli
-    6e64:	8c 91       	ld	r24, X
-    6e66:	40 95       	com	r20
-    6e68:	84 23       	and	r24, r20
-    6e6a:	8c 93       	st	X, r24
-    6e6c:	9f bf       	out	0x3f, r25	; 63
-    6e6e:	08 95       	ret
-    6e70:	9f b7       	in	r25, 0x3f	; 63
-    6e72:	f8 94       	cli
-    6e74:	8c 91       	ld	r24, X
-    6e76:	84 2b       	or	r24, r20
-    6e78:	8c 93       	st	X, r24
-    6e7a:	9f bf       	out	0x3f, r25	; 63
-    6e7c:	08 95       	ret
-
-00006e7e <_ZN7TwoWire5beginEv>:
-    6e7e:	10 92 89 10 	sts	0x1089, r1
-    6e82:	10 92 8a 10 	sts	0x108A, r1
-    6e86:	10 92 ac 10 	sts	0x10AC, r1
-    6e8a:	10 92 ad 10 	sts	0x10AD, r1
-    6e8e:	0e 94 6c 3a 	call	0x74d8	; 0x74d8 <twi_init>
-    6e92:	08 95       	ret
-
-00006e94 <_ZN7TwoWire11requestFromEhh>:
-    6e94:	86 2f       	mov	r24, r22
-    6e96:	41 32       	cpi	r20, 0x21	; 33
-    6e98:	08 f0       	brcs	.+2      	; 0x6e9c <_ZN7TwoWire11requestFromEhh+0x8>
-    6e9a:	40 e2       	ldi	r20, 0x20	; 32
-    6e9c:	69 e6       	ldi	r22, 0x69	; 105
-    6e9e:	70 e1       	ldi	r23, 0x10	; 16
-    6ea0:	0e 94 7f 3a 	call	0x74fe	; 0x74fe <twi_readFrom>
-    6ea4:	10 92 89 10 	sts	0x1089, r1
-    6ea8:	80 93 8a 10 	sts	0x108A, r24
-    6eac:	08 95       	ret
-
-00006eae <_ZN7TwoWire11requestFromEii>:
-    6eae:	0e 94 4a 37 	call	0x6e94	; 0x6e94 <_ZN7TwoWire11requestFromEhh>
-    6eb2:	08 95       	ret
-
-00006eb4 <_ZN7TwoWire17beginTransmissionEh>:
-    6eb4:	81 e0       	ldi	r24, 0x01	; 1
-    6eb6:	80 93 ae 10 	sts	0x10AE, r24
-    6eba:	60 93 8b 10 	sts	0x108B, r22
-    6ebe:	10 92 ac 10 	sts	0x10AC, r1
-    6ec2:	10 92 ad 10 	sts	0x10AD, r1
-    6ec6:	08 95       	ret
-
-00006ec8 <_ZN7TwoWire17beginTransmissionEi>:
-    6ec8:	0e 94 5a 37 	call	0x6eb4	; 0x6eb4 <_ZN7TwoWire17beginTransmissionEh>
-    6ecc:	08 95       	ret
-
-00006ece <_ZN7TwoWire15endTransmissionEv>:
-    6ece:	80 91 8b 10 	lds	r24, 0x108B
-    6ed2:	6c e8       	ldi	r22, 0x8C	; 140
-    6ed4:	70 e1       	ldi	r23, 0x10	; 16
-    6ed6:	40 91 ad 10 	lds	r20, 0x10AD
-    6eda:	21 e0       	ldi	r18, 0x01	; 1
-    6edc:	0e 94 b5 3a 	call	0x756a	; 0x756a <twi_writeTo>
-    6ee0:	10 92 ac 10 	sts	0x10AC, r1
-    6ee4:	10 92 ad 10 	sts	0x10AD, r1
-    6ee8:	10 92 ae 10 	sts	0x10AE, r1
-    6eec:	08 95       	ret
-
-00006eee <_ZN7TwoWire4sendEh>:
-    6eee:	df 93       	push	r29
-    6ef0:	cf 93       	push	r28
-    6ef2:	0f 92       	push	r0
-    6ef4:	cd b7       	in	r28, 0x3d	; 61
-    6ef6:	de b7       	in	r29, 0x3e	; 62
-    6ef8:	69 83       	std	Y+1, r22	; 0x01
-    6efa:	80 91 ae 10 	lds	r24, 0x10AE
-    6efe:	88 23       	and	r24, r24
-    6f00:	89 f0       	breq	.+34     	; 0x6f24 <_ZN7TwoWire4sendEh+0x36>
-    6f02:	80 91 ad 10 	lds	r24, 0x10AD
-    6f06:	80 32       	cpi	r24, 0x20	; 32
-    6f08:	90 f4       	brcc	.+36     	; 0x6f2e <_ZN7TwoWire4sendEh+0x40>
-    6f0a:	80 91 ac 10 	lds	r24, 0x10AC
-    6f0e:	e8 2f       	mov	r30, r24
-    6f10:	f0 e0       	ldi	r31, 0x00	; 0
-    6f12:	e4 57       	subi	r30, 0x74	; 116
-    6f14:	ff 4e       	sbci	r31, 0xEF	; 239
-    6f16:	60 83       	st	Z, r22
-    6f18:	8f 5f       	subi	r24, 0xFF	; 255
-    6f1a:	80 93 ac 10 	sts	0x10AC, r24
-    6f1e:	80 93 ad 10 	sts	0x10AD, r24
-    6f22:	05 c0       	rjmp	.+10     	; 0x6f2e <_ZN7TwoWire4sendEh+0x40>
-    6f24:	ce 01       	movw	r24, r28
-    6f26:	01 96       	adiw	r24, 0x01	; 1
-    6f28:	61 e0       	ldi	r22, 0x01	; 1
-    6f2a:	0e 94 f5 3a 	call	0x75ea	; 0x75ea <twi_transmit>
-    6f2e:	0f 90       	pop	r0
-    6f30:	cf 91       	pop	r28
-    6f32:	df 91       	pop	r29
-    6f34:	08 95       	ret
-
-00006f36 <_ZN7TwoWire4sendEi>:
-    6f36:	0e 94 77 37 	call	0x6eee	; 0x6eee <_ZN7TwoWire4sendEh>
-    6f3a:	08 95       	ret
-
-00006f3c <_ZN7TwoWire9availableEv>:
-    6f3c:	80 91 8a 10 	lds	r24, 0x108A
-    6f40:	90 91 89 10 	lds	r25, 0x1089
-    6f44:	89 1b       	sub	r24, r25
-    6f46:	08 95       	ret
-
-00006f48 <_ZN7TwoWire7receiveEv>:
-    6f48:	90 91 89 10 	lds	r25, 0x1089
-    6f4c:	80 91 8a 10 	lds	r24, 0x108A
-    6f50:	98 17       	cp	r25, r24
-    6f52:	48 f4       	brcc	.+18     	; 0x6f66 <_ZN7TwoWire7receiveEv+0x1e>
-    6f54:	e9 2f       	mov	r30, r25
-    6f56:	f0 e0       	ldi	r31, 0x00	; 0
-    6f58:	e7 59       	subi	r30, 0x97	; 151
-    6f5a:	ff 4e       	sbci	r31, 0xEF	; 239
-    6f5c:	80 81       	ld	r24, Z
-    6f5e:	9f 5f       	subi	r25, 0xFF	; 255
-    6f60:	90 93 89 10 	sts	0x1089, r25
-    6f64:	08 95       	ret
-    6f66:	80 e0       	ldi	r24, 0x00	; 0
-    6f68:	08 95       	ret
-
-00006f6a <_GLOBAL__I__ZN7TwoWire8rxBufferE>:
-    6f6a:	08 95       	ret
-
-00006f6c <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_>:
-    6f6c:	ef 92       	push	r14
-    6f6e:	ff 92       	push	r15
-    6f70:	0f 93       	push	r16
-    6f72:	1f 93       	push	r17
-    6f74:	cf 93       	push	r28
-    6f76:	df 93       	push	r29
-    6f78:	eb 01       	movw	r28, r22
-    6f7a:	7a 01       	movw	r14, r20
-    6f7c:	08 2f       	mov	r16, r24
-    6f7e:	10 e0       	ldi	r17, 0x00	; 0
-    6f80:	d8 01       	movw	r26, r16
-    6f82:	af 5b       	subi	r26, 0xBF	; 191
-    6f84:	be 4e       	sbci	r27, 0xEE	; 238
-    6f86:	8c 91       	ld	r24, X
-    6f88:	87 ff       	sbrs	r24, 7
-    6f8a:	03 c0       	rjmp	.+6      	; 0x6f92 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x26>
-    6f8c:	19 82       	std	Y+1, r1	; 0x01
-    6f8e:	18 82       	st	Y, r1
-    6f90:	37 c0       	rjmp	.+110    	; 0x7000 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x94>
-    6f92:	c8 01       	movw	r24, r16
-    6f94:	88 0f       	add	r24, r24
-    6f96:	99 1f       	adc	r25, r25
-    6f98:	80 0f       	add	r24, r16
-    6f9a:	91 1f       	adc	r25, r17
-    6f9c:	88 0f       	add	r24, r24
-    6f9e:	99 1f       	adc	r25, r25
-    6fa0:	88 0f       	add	r24, r24
-    6fa2:	99 1f       	adc	r25, r25
-    6fa4:	2c 91       	ld	r18, X
-    6fa6:	33 27       	eor	r19, r19
-    6fa8:	27 fd       	sbrc	r18, 7
-    6faa:	30 95       	com	r19
-    6fac:	28 0f       	add	r18, r24
-    6fae:	39 1f       	adc	r19, r25
-    6fb0:	40 91 b0 10 	lds	r20, 0x10B0
-    6fb4:	50 e0       	ldi	r21, 0x00	; 0
-    6fb6:	24 17       	cp	r18, r20
-    6fb8:	35 07       	cpc	r19, r21
-    6fba:	14 f5       	brge	.+68     	; 0x7000 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x94>
-    6fbc:	2c 91       	ld	r18, X
-    6fbe:	33 27       	eor	r19, r19
-    6fc0:	27 fd       	sbrc	r18, 7
-    6fc2:	30 95       	com	r19
-    6fc4:	28 0f       	add	r18, r24
-    6fc6:	39 1f       	adc	r19, r25
-    6fc8:	f9 01       	movw	r30, r18
-    6fca:	ee 0f       	add	r30, r30
-    6fcc:	ff 1f       	adc	r31, r31
-    6fce:	e2 0f       	add	r30, r18
-    6fd0:	f3 1f       	adc	r31, r19
-    6fd2:	ef 54       	subi	r30, 0x4F	; 79
-    6fd4:	ff 4e       	sbci	r31, 0xEF	; 239
-    6fd6:	20 81       	ld	r18, Z
-    6fd8:	26 ff       	sbrs	r18, 6
-    6fda:	12 c0       	rjmp	.+36     	; 0x7000 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x94>
-    6fdc:	2c 91       	ld	r18, X
-    6fde:	33 27       	eor	r19, r19
-    6fe0:	27 fd       	sbrc	r18, 7
-    6fe2:	30 95       	com	r19
-    6fe4:	28 0f       	add	r18, r24
-    6fe6:	39 1f       	adc	r19, r25
-    6fe8:	f9 01       	movw	r30, r18
-    6fea:	ee 0f       	add	r30, r30
-    6fec:	ff 1f       	adc	r31, r31
-    6fee:	e2 0f       	add	r30, r18
-    6ff0:	f3 1f       	adc	r31, r19
-    6ff2:	ef 54       	subi	r30, 0x4F	; 79
-    6ff4:	ff 4e       	sbci	r31, 0xEF	; 239
-    6ff6:	80 81       	ld	r24, Z
-    6ff8:	8f 73       	andi	r24, 0x3F	; 63
-    6ffa:	60 e0       	ldi	r22, 0x00	; 0
-    6ffc:	0e 94 b0 36 	call	0x6d60	; 0x6d60 <digitalWrite>
-    7000:	f8 01       	movw	r30, r16
-    7002:	ef 5b       	subi	r30, 0xBF	; 191
-    7004:	fe 4e       	sbci	r31, 0xEE	; 238
-    7006:	80 81       	ld	r24, Z
-    7008:	8f 5f       	subi	r24, 0xFF	; 255
-    700a:	80 83       	st	Z, r24
-    700c:	c8 01       	movw	r24, r16
-    700e:	88 0f       	add	r24, r24
-    7010:	99 1f       	adc	r25, r25
-    7012:	80 0f       	add	r24, r16
-    7014:	91 1f       	adc	r25, r17
-    7016:	88 0f       	add	r24, r24
-    7018:	99 1f       	adc	r25, r25
-    701a:	88 0f       	add	r24, r24
-    701c:	99 1f       	adc	r25, r25
-    701e:	20 81       	ld	r18, Z
-    7020:	33 27       	eor	r19, r19
-    7022:	27 fd       	sbrc	r18, 7
-    7024:	30 95       	com	r19
-    7026:	28 0f       	add	r18, r24
-    7028:	39 1f       	adc	r19, r25
-    702a:	40 91 b0 10 	lds	r20, 0x10B0
-    702e:	50 e0       	ldi	r21, 0x00	; 0
-    7030:	24 17       	cp	r18, r20
-    7032:	35 07       	cpc	r19, r21
-    7034:	0c f0       	brlt	.+2      	; 0x7038 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0xcc>
-    7036:	53 c0       	rjmp	.+166    	; 0x70de <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x172>
-    7038:	20 81       	ld	r18, Z
-    703a:	2c 30       	cpi	r18, 0x0C	; 12
-    703c:	0c f0       	brlt	.+2      	; 0x7040 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0xd4>
-    703e:	4f c0       	rjmp	.+158    	; 0x70de <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x172>
-    7040:	48 81       	ld	r20, Y
-    7042:	59 81       	ldd	r21, Y+1	; 0x01
-    7044:	20 81       	ld	r18, Z
-    7046:	33 27       	eor	r19, r19
-    7048:	27 fd       	sbrc	r18, 7
-    704a:	30 95       	com	r19
-    704c:	28 0f       	add	r18, r24
-    704e:	39 1f       	adc	r19, r25
-    7050:	d9 01       	movw	r26, r18
-    7052:	aa 0f       	add	r26, r26
-    7054:	bb 1f       	adc	r27, r27
-    7056:	a2 0f       	add	r26, r18
-    7058:	b3 1f       	adc	r27, r19
-    705a:	af 54       	subi	r26, 0x4F	; 79
-    705c:	bf 4e       	sbci	r27, 0xEF	; 239
-    705e:	11 96       	adiw	r26, 0x01	; 1
-    7060:	2d 91       	ld	r18, X+
-    7062:	3c 91       	ld	r19, X
-    7064:	12 97       	sbiw	r26, 0x02	; 2
-    7066:	42 0f       	add	r20, r18
-    7068:	53 1f       	adc	r21, r19
-    706a:	d7 01       	movw	r26, r14
-    706c:	11 96       	adiw	r26, 0x01	; 1
-    706e:	5c 93       	st	X, r21
-    7070:	4e 93       	st	-X, r20
-    7072:	20 81       	ld	r18, Z
-    7074:	33 27       	eor	r19, r19
-    7076:	27 fd       	sbrc	r18, 7
-    7078:	30 95       	com	r19
-    707a:	28 0f       	add	r18, r24
-    707c:	39 1f       	adc	r19, r25
-    707e:	d9 01       	movw	r26, r18
-    7080:	aa 0f       	add	r26, r26
-    7082:	bb 1f       	adc	r27, r27
-    7084:	a2 0f       	add	r26, r18
-    7086:	b3 1f       	adc	r27, r19
-    7088:	af 54       	subi	r26, 0x4F	; 79
-    708a:	bf 4e       	sbci	r27, 0xEF	; 239
-    708c:	2c 91       	ld	r18, X
-    708e:	26 ff       	sbrs	r18, 6
-    7090:	2d c0       	rjmp	.+90     	; 0x70ec <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x180>
+    6d60:	80 e0       	ldi	r24, 0x00	; 0
+    6d62:	08 95       	ret
+
+00006d64 <_GLOBAL__I__ZN7TwoWire8rxBufferE>:
+    6d64:	08 95       	ret
+
+00006d66 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_>:
+    6d66:	ef 92       	push	r14
+    6d68:	ff 92       	push	r15
+    6d6a:	0f 93       	push	r16
+    6d6c:	1f 93       	push	r17
+    6d6e:	cf 93       	push	r28
+    6d70:	df 93       	push	r29
+    6d72:	eb 01       	movw	r28, r22
+    6d74:	7a 01       	movw	r14, r20
+    6d76:	08 2f       	mov	r16, r24
+    6d78:	10 e0       	ldi	r17, 0x00	; 0
+    6d7a:	d8 01       	movw	r26, r16
+    6d7c:	af 5b       	subi	r26, 0xBF	; 191
+    6d7e:	be 4e       	sbci	r27, 0xEE	; 238
+    6d80:	8c 91       	ld	r24, X
+    6d82:	87 ff       	sbrs	r24, 7
+    6d84:	03 c0       	rjmp	.+6      	; 0x6d8c <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x26>
+    6d86:	19 82       	std	Y+1, r1	; 0x01
+    6d88:	18 82       	st	Y, r1
+    6d8a:	37 c0       	rjmp	.+110    	; 0x6dfa <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x94>
+    6d8c:	c8 01       	movw	r24, r16
+    6d8e:	88 0f       	add	r24, r24
+    6d90:	99 1f       	adc	r25, r25
+    6d92:	80 0f       	add	r24, r16
+    6d94:	91 1f       	adc	r25, r17
+    6d96:	88 0f       	add	r24, r24
+    6d98:	99 1f       	adc	r25, r25
+    6d9a:	88 0f       	add	r24, r24
+    6d9c:	99 1f       	adc	r25, r25
+    6d9e:	2c 91       	ld	r18, X
+    6da0:	33 27       	eor	r19, r19
+    6da2:	27 fd       	sbrc	r18, 7
+    6da4:	30 95       	com	r19
+    6da6:	28 0f       	add	r18, r24
+    6da8:	39 1f       	adc	r19, r25
+    6daa:	40 91 b0 10 	lds	r20, 0x10B0
+    6dae:	50 e0       	ldi	r21, 0x00	; 0
+    6db0:	24 17       	cp	r18, r20
+    6db2:	35 07       	cpc	r19, r21
+    6db4:	14 f5       	brge	.+68     	; 0x6dfa <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x94>
+    6db6:	2c 91       	ld	r18, X
+    6db8:	33 27       	eor	r19, r19
+    6dba:	27 fd       	sbrc	r18, 7
+    6dbc:	30 95       	com	r19
+    6dbe:	28 0f       	add	r18, r24
+    6dc0:	39 1f       	adc	r19, r25
+    6dc2:	f9 01       	movw	r30, r18
+    6dc4:	ee 0f       	add	r30, r30
+    6dc6:	ff 1f       	adc	r31, r31
+    6dc8:	e2 0f       	add	r30, r18
+    6dca:	f3 1f       	adc	r31, r19
+    6dcc:	ef 54       	subi	r30, 0x4F	; 79
+    6dce:	ff 4e       	sbci	r31, 0xEF	; 239
+    6dd0:	20 81       	ld	r18, Z
+    6dd2:	26 ff       	sbrs	r18, 6
+    6dd4:	12 c0       	rjmp	.+36     	; 0x6dfa <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x94>
+    6dd6:	2c 91       	ld	r18, X
+    6dd8:	33 27       	eor	r19, r19
+    6dda:	27 fd       	sbrc	r18, 7
+    6ddc:	30 95       	com	r19
+    6dde:	28 0f       	add	r18, r24
+    6de0:	39 1f       	adc	r19, r25
+    6de2:	f9 01       	movw	r30, r18
+    6de4:	ee 0f       	add	r30, r30
+    6de6:	ff 1f       	adc	r31, r31
+    6de8:	e2 0f       	add	r30, r18
+    6dea:	f3 1f       	adc	r31, r19
+    6dec:	ef 54       	subi	r30, 0x4F	; 79
+    6dee:	ff 4e       	sbci	r31, 0xEF	; 239
+    6df0:	80 81       	ld	r24, Z
+    6df2:	8f 73       	andi	r24, 0x3F	; 63
+    6df4:	60 e0       	ldi	r22, 0x00	; 0
+    6df6:	0e 94 ad 35 	call	0x6b5a	; 0x6b5a <digitalWrite>
+    6dfa:	f8 01       	movw	r30, r16
+    6dfc:	ef 5b       	subi	r30, 0xBF	; 191
+    6dfe:	fe 4e       	sbci	r31, 0xEE	; 238
+    6e00:	80 81       	ld	r24, Z
+    6e02:	8f 5f       	subi	r24, 0xFF	; 255
+    6e04:	80 83       	st	Z, r24
+    6e06:	c8 01       	movw	r24, r16
+    6e08:	88 0f       	add	r24, r24
+    6e0a:	99 1f       	adc	r25, r25
+    6e0c:	80 0f       	add	r24, r16
+    6e0e:	91 1f       	adc	r25, r17
+    6e10:	88 0f       	add	r24, r24
+    6e12:	99 1f       	adc	r25, r25
+    6e14:	88 0f       	add	r24, r24
+    6e16:	99 1f       	adc	r25, r25
+    6e18:	20 81       	ld	r18, Z
+    6e1a:	33 27       	eor	r19, r19
+    6e1c:	27 fd       	sbrc	r18, 7
+    6e1e:	30 95       	com	r19
+    6e20:	28 0f       	add	r18, r24
+    6e22:	39 1f       	adc	r19, r25
+    6e24:	40 91 b0 10 	lds	r20, 0x10B0
+    6e28:	50 e0       	ldi	r21, 0x00	; 0
+    6e2a:	24 17       	cp	r18, r20
+    6e2c:	35 07       	cpc	r19, r21
+    6e2e:	0c f0       	brlt	.+2      	; 0x6e32 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0xcc>
+    6e30:	53 c0       	rjmp	.+166    	; 0x6ed8 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x172>
+    6e32:	20 81       	ld	r18, Z
+    6e34:	2c 30       	cpi	r18, 0x0C	; 12
+    6e36:	0c f0       	brlt	.+2      	; 0x6e3a <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0xd4>
+    6e38:	4f c0       	rjmp	.+158    	; 0x6ed8 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x172>
+    6e3a:	48 81       	ld	r20, Y
+    6e3c:	59 81       	ldd	r21, Y+1	; 0x01
+    6e3e:	20 81       	ld	r18, Z
+    6e40:	33 27       	eor	r19, r19
+    6e42:	27 fd       	sbrc	r18, 7
+    6e44:	30 95       	com	r19
+    6e46:	28 0f       	add	r18, r24
+    6e48:	39 1f       	adc	r19, r25
+    6e4a:	d9 01       	movw	r26, r18
+    6e4c:	aa 0f       	add	r26, r26
+    6e4e:	bb 1f       	adc	r27, r27
+    6e50:	a2 0f       	add	r26, r18
+    6e52:	b3 1f       	adc	r27, r19
+    6e54:	af 54       	subi	r26, 0x4F	; 79
+    6e56:	bf 4e       	sbci	r27, 0xEF	; 239
+    6e58:	11 96       	adiw	r26, 0x01	; 1
+    6e5a:	2d 91       	ld	r18, X+
+    6e5c:	3c 91       	ld	r19, X
+    6e5e:	12 97       	sbiw	r26, 0x02	; 2
+    6e60:	42 0f       	add	r20, r18
+    6e62:	53 1f       	adc	r21, r19
+    6e64:	d7 01       	movw	r26, r14
+    6e66:	11 96       	adiw	r26, 0x01	; 1
+    6e68:	5c 93       	st	X, r21
+    6e6a:	4e 93       	st	-X, r20
+    6e6c:	20 81       	ld	r18, Z
+    6e6e:	33 27       	eor	r19, r19
+    6e70:	27 fd       	sbrc	r18, 7
+    6e72:	30 95       	com	r19
+    6e74:	28 0f       	add	r18, r24
+    6e76:	39 1f       	adc	r19, r25
+    6e78:	d9 01       	movw	r26, r18
+    6e7a:	aa 0f       	add	r26, r26
+    6e7c:	bb 1f       	adc	r27, r27
+    6e7e:	a2 0f       	add	r26, r18
+    6e80:	b3 1f       	adc	r27, r19
+    6e82:	af 54       	subi	r26, 0x4F	; 79
+    6e84:	bf 4e       	sbci	r27, 0xEF	; 239
+    6e86:	2c 91       	ld	r18, X
+    6e88:	26 ff       	sbrs	r18, 6
+    6e8a:	2d c0       	rjmp	.+90     	; 0x6ee6 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x180>
+    6e8c:	20 81       	ld	r18, Z
+    6e8e:	33 27       	eor	r19, r19
+    6e90:	27 fd       	sbrc	r18, 7
+    6e92:	30 95       	com	r19
+    6e94:	28 0f       	add	r18, r24
+    6e96:	39 1f       	adc	r19, r25
+    6e98:	f9 01       	movw	r30, r18
+    6e9a:	ee 0f       	add	r30, r30
+    6e9c:	ff 1f       	adc	r31, r31
+    6e9e:	e2 0f       	add	r30, r18
+    6ea0:	f3 1f       	adc	r31, r19
+    6ea2:	ef 54       	subi	r30, 0x4F	; 79
+    6ea4:	ff 4e       	sbci	r31, 0xEF	; 239
+    6ea6:	80 81       	ld	r24, Z
+    6ea8:	8f 73       	andi	r24, 0x3F	; 63
+    6eaa:	61 e0       	ldi	r22, 0x01	; 1
+    6eac:	0e 94 ad 35 	call	0x6b5a	; 0x6b5a <digitalWrite>
+    6eb0:	1a c0       	rjmp	.+52     	; 0x6ee6 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x180>
+    6eb2:	80 e4       	ldi	r24, 0x40	; 64
+    6eb4:	9c e9       	ldi	r25, 0x9C	; 156
+    6eb6:	f7 01       	movw	r30, r14
+    6eb8:	91 83       	std	Z+1, r25	; 0x01
+    6eba:	80 83       	st	Z, r24
+    6ebc:	07 c0       	rjmp	.+14     	; 0x6ecc <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x166>
+    6ebe:	88 81       	ld	r24, Y
+    6ec0:	99 81       	ldd	r25, Y+1	; 0x01
+    6ec2:	04 96       	adiw	r24, 0x04	; 4
+    6ec4:	d7 01       	movw	r26, r14
+    6ec6:	11 96       	adiw	r26, 0x01	; 1
+    6ec8:	9c 93       	st	X, r25
+    6eca:	8e 93       	st	-X, r24
+    6ecc:	f8 01       	movw	r30, r16
+    6ece:	ef 5b       	subi	r30, 0xBF	; 191
+    6ed0:	fe 4e       	sbci	r31, 0xEE	; 238
+    6ed2:	8f ef       	ldi	r24, 0xFF	; 255
+    6ed4:	80 83       	st	Z, r24
+    6ed6:	07 c0       	rjmp	.+14     	; 0x6ee6 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x180>
+    6ed8:	88 81       	ld	r24, Y
+    6eda:	99 81       	ldd	r25, Y+1	; 0x01
+    6edc:	bc e9       	ldi	r27, 0x9C	; 156
+    6ede:	84 34       	cpi	r24, 0x44	; 68
+    6ee0:	9b 07       	cpc	r25, r27
+    6ee2:	38 f3       	brcs	.-50     	; 0x6eb2 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x14c>
+    6ee4:	ec cf       	rjmp	.-40     	; 0x6ebe <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x158>
+    6ee6:	df 91       	pop	r29
+    6ee8:	cf 91       	pop	r28
+    6eea:	1f 91       	pop	r17
+    6eec:	0f 91       	pop	r16
+    6eee:	ff 90       	pop	r15
+    6ef0:	ef 90       	pop	r14
+    6ef2:	08 95       	ret
+
+00006ef4 <__vector_17>:
+    6ef4:	1f 92       	push	r1
+    6ef6:	0f 92       	push	r0
+    6ef8:	0f b6       	in	r0, 0x3f	; 63
+    6efa:	0f 92       	push	r0
+    6efc:	0b b6       	in	r0, 0x3b	; 59
+    6efe:	0f 92       	push	r0
+    6f00:	11 24       	eor	r1, r1
+    6f02:	2f 93       	push	r18
+    6f04:	3f 93       	push	r19
+    6f06:	4f 93       	push	r20
+    6f08:	5f 93       	push	r21
+    6f0a:	6f 93       	push	r22
+    6f0c:	7f 93       	push	r23
+    6f0e:	8f 93       	push	r24
+    6f10:	9f 93       	push	r25
+    6f12:	af 93       	push	r26
+    6f14:	bf 93       	push	r27
+    6f16:	ef 93       	push	r30
+    6f18:	ff 93       	push	r31
+    6f1a:	81 e0       	ldi	r24, 0x01	; 1
+    6f1c:	64 e8       	ldi	r22, 0x84	; 132
+    6f1e:	70 e0       	ldi	r23, 0x00	; 0
+    6f20:	48 e8       	ldi	r20, 0x88	; 136
+    6f22:	50 e0       	ldi	r21, 0x00	; 0
+    6f24:	0e 94 b3 36 	call	0x6d66	; 0x6d66 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_>
+    6f28:	ff 91       	pop	r31
+    6f2a:	ef 91       	pop	r30
+    6f2c:	bf 91       	pop	r27
+    6f2e:	af 91       	pop	r26
+    6f30:	9f 91       	pop	r25
+    6f32:	8f 91       	pop	r24
+    6f34:	7f 91       	pop	r23
+    6f36:	6f 91       	pop	r22
+    6f38:	5f 91       	pop	r21
+    6f3a:	4f 91       	pop	r20
+    6f3c:	3f 91       	pop	r19
+    6f3e:	2f 91       	pop	r18
+    6f40:	0f 90       	pop	r0
+    6f42:	0b be       	out	0x3b, r0	; 59
+    6f44:	0f 90       	pop	r0
+    6f46:	0f be       	out	0x3f, r0	; 63
+    6f48:	0f 90       	pop	r0
+    6f4a:	1f 90       	pop	r1
+    6f4c:	18 95       	reti
+
+00006f4e <__vector_32>:
+    6f4e:	1f 92       	push	r1
+    6f50:	0f 92       	push	r0
+    6f52:	0f b6       	in	r0, 0x3f	; 63
+    6f54:	0f 92       	push	r0
+    6f56:	0b b6       	in	r0, 0x3b	; 59
+    6f58:	0f 92       	push	r0
+    6f5a:	11 24       	eor	r1, r1
+    6f5c:	2f 93       	push	r18
+    6f5e:	3f 93       	push	r19
+    6f60:	4f 93       	push	r20
+    6f62:	5f 93       	push	r21
+    6f64:	6f 93       	push	r22
+    6f66:	7f 93       	push	r23
+    6f68:	8f 93       	push	r24
+    6f6a:	9f 93       	push	r25
+    6f6c:	af 93       	push	r26
+    6f6e:	bf 93       	push	r27
+    6f70:	ef 93       	push	r30
+    6f72:	ff 93       	push	r31
+    6f74:	82 e0       	ldi	r24, 0x02	; 2
+    6f76:	64 e9       	ldi	r22, 0x94	; 148
+    6f78:	70 e0       	ldi	r23, 0x00	; 0
+    6f7a:	48 e9       	ldi	r20, 0x98	; 152
+    6f7c:	50 e0       	ldi	r21, 0x00	; 0
+    6f7e:	0e 94 b3 36 	call	0x6d66	; 0x6d66 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_>
+    6f82:	ff 91       	pop	r31
+    6f84:	ef 91       	pop	r30
+    6f86:	bf 91       	pop	r27
+    6f88:	af 91       	pop	r26
+    6f8a:	9f 91       	pop	r25
+    6f8c:	8f 91       	pop	r24
+    6f8e:	7f 91       	pop	r23
+    6f90:	6f 91       	pop	r22
+    6f92:	5f 91       	pop	r21
+    6f94:	4f 91       	pop	r20
+    6f96:	3f 91       	pop	r19
+    6f98:	2f 91       	pop	r18
+    6f9a:	0f 90       	pop	r0
+    6f9c:	0b be       	out	0x3b, r0	; 59
+    6f9e:	0f 90       	pop	r0
+    6fa0:	0f be       	out	0x3f, r0	; 63
+    6fa2:	0f 90       	pop	r0
+    6fa4:	1f 90       	pop	r1
+    6fa6:	18 95       	reti
+
+00006fa8 <__vector_42>:
+    6fa8:	1f 92       	push	r1
+    6faa:	0f 92       	push	r0
+    6fac:	0f b6       	in	r0, 0x3f	; 63
+    6fae:	0f 92       	push	r0
+    6fb0:	0b b6       	in	r0, 0x3b	; 59
+    6fb2:	0f 92       	push	r0
+    6fb4:	11 24       	eor	r1, r1
+    6fb6:	2f 93       	push	r18
+    6fb8:	3f 93       	push	r19
+    6fba:	4f 93       	push	r20
+    6fbc:	5f 93       	push	r21
+    6fbe:	6f 93       	push	r22
+    6fc0:	7f 93       	push	r23
+    6fc2:	8f 93       	push	r24
+    6fc4:	9f 93       	push	r25
+    6fc6:	af 93       	push	r26
+    6fc8:	bf 93       	push	r27
+    6fca:	ef 93       	push	r30
+    6fcc:	ff 93       	push	r31
+    6fce:	83 e0       	ldi	r24, 0x03	; 3
+    6fd0:	64 ea       	ldi	r22, 0xA4	; 164
+    6fd2:	70 e0       	ldi	r23, 0x00	; 0
+    6fd4:	48 ea       	ldi	r20, 0xA8	; 168
+    6fd6:	50 e0       	ldi	r21, 0x00	; 0
+    6fd8:	0e 94 b3 36 	call	0x6d66	; 0x6d66 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_>
+    6fdc:	ff 91       	pop	r31
+    6fde:	ef 91       	pop	r30
+    6fe0:	bf 91       	pop	r27
+    6fe2:	af 91       	pop	r26
+    6fe4:	9f 91       	pop	r25
+    6fe6:	8f 91       	pop	r24
+    6fe8:	7f 91       	pop	r23
+    6fea:	6f 91       	pop	r22
+    6fec:	5f 91       	pop	r21
+    6fee:	4f 91       	pop	r20
+    6ff0:	3f 91       	pop	r19
+    6ff2:	2f 91       	pop	r18
+    6ff4:	0f 90       	pop	r0
+    6ff6:	0b be       	out	0x3b, r0	; 59
+    6ff8:	0f 90       	pop	r0
+    6ffa:	0f be       	out	0x3f, r0	; 63
+    6ffc:	0f 90       	pop	r0
+    6ffe:	1f 90       	pop	r1
+    7000:	18 95       	reti
+
+00007002 <__vector_47>:
+    7002:	1f 92       	push	r1
+    7004:	0f 92       	push	r0
+    7006:	0f b6       	in	r0, 0x3f	; 63
+    7008:	0f 92       	push	r0
+    700a:	0b b6       	in	r0, 0x3b	; 59
+    700c:	0f 92       	push	r0
+    700e:	11 24       	eor	r1, r1
+    7010:	2f 93       	push	r18
+    7012:	3f 93       	push	r19
+    7014:	4f 93       	push	r20
+    7016:	5f 93       	push	r21
+    7018:	6f 93       	push	r22
+    701a:	7f 93       	push	r23
+    701c:	8f 93       	push	r24
+    701e:	9f 93       	push	r25
+    7020:	af 93       	push	r26
+    7022:	bf 93       	push	r27
+    7024:	ef 93       	push	r30
+    7026:	ff 93       	push	r31
+    7028:	80 e0       	ldi	r24, 0x00	; 0
+    702a:	64 e2       	ldi	r22, 0x24	; 36
+    702c:	71 e0       	ldi	r23, 0x01	; 1
+    702e:	48 e2       	ldi	r20, 0x28	; 40
+    7030:	51 e0       	ldi	r21, 0x01	; 1
+    7032:	0e 94 b3 36 	call	0x6d66	; 0x6d66 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_>
+    7036:	ff 91       	pop	r31
+    7038:	ef 91       	pop	r30
+    703a:	bf 91       	pop	r27
+    703c:	af 91       	pop	r26
+    703e:	9f 91       	pop	r25
+    7040:	8f 91       	pop	r24
+    7042:	7f 91       	pop	r23
+    7044:	6f 91       	pop	r22
+    7046:	5f 91       	pop	r21
+    7048:	4f 91       	pop	r20
+    704a:	3f 91       	pop	r19
+    704c:	2f 91       	pop	r18
+    704e:	0f 90       	pop	r0
+    7050:	0b be       	out	0x3b, r0	; 59
+    7052:	0f 90       	pop	r0
+    7054:	0f be       	out	0x3f, r0	; 63
+    7056:	0f 90       	pop	r0
+    7058:	1f 90       	pop	r1
+    705a:	18 95       	reti
+
+0000705c <_ZN5ServoC1Ev>:
+    705c:	fc 01       	movw	r30, r24
+    705e:	80 91 b0 10 	lds	r24, 0x10B0
+    7062:	80 33       	cpi	r24, 0x30	; 48
+    7064:	90 f4       	brcc	.+36     	; 0x708a <_ZN5ServoC1Ev+0x2e>
+    7066:	80 83       	st	Z, r24
+    7068:	8f 5f       	subi	r24, 0xFF	; 255
+    706a:	80 93 b0 10 	sts	0x10B0, r24
+    706e:	80 81       	ld	r24, Z
+    7070:	90 e0       	ldi	r25, 0x00	; 0
+    7072:	fc 01       	movw	r30, r24
+    7074:	ee 0f       	add	r30, r30
+    7076:	ff 1f       	adc	r31, r31
+    7078:	e8 0f       	add	r30, r24
+    707a:	f9 1f       	adc	r31, r25
+    707c:	ef 54       	subi	r30, 0x4F	; 79
+    707e:	ff 4e       	sbci	r31, 0xEF	; 239
+    7080:	88 eb       	ldi	r24, 0xB8	; 184
+    7082:	9b e0       	ldi	r25, 0x0B	; 11
+    7084:	92 83       	std	Z+2, r25	; 0x02
+    7086:	81 83       	std	Z+1, r24	; 0x01
+    7088:	08 95       	ret
+    708a:	8f ef       	ldi	r24, 0xFF	; 255
+    708c:	80 83       	st	Z, r24
+    708e:	08 95       	ret
+
+00007090 <_ZN5Servo17writeMicrosecondsEi>:
+    7090:	fc 01       	movw	r30, r24
     7092:	20 81       	ld	r18, Z
-    7094:	33 27       	eor	r19, r19
-    7096:	27 fd       	sbrc	r18, 7
-    7098:	30 95       	com	r19
-    709a:	28 0f       	add	r18, r24
-    709c:	39 1f       	adc	r19, r25
-    709e:	f9 01       	movw	r30, r18
-    70a0:	ee 0f       	add	r30, r30
-    70a2:	ff 1f       	adc	r31, r31
-    70a4:	e2 0f       	add	r30, r18
-    70a6:	f3 1f       	adc	r31, r19
-    70a8:	ef 54       	subi	r30, 0x4F	; 79
-    70aa:	ff 4e       	sbci	r31, 0xEF	; 239
-    70ac:	80 81       	ld	r24, Z
-    70ae:	8f 73       	andi	r24, 0x3F	; 63
-    70b0:	61 e0       	ldi	r22, 0x01	; 1
-    70b2:	0e 94 b0 36 	call	0x6d60	; 0x6d60 <digitalWrite>
-    70b6:	1a c0       	rjmp	.+52     	; 0x70ec <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x180>
-    70b8:	80 e4       	ldi	r24, 0x40	; 64
-    70ba:	9c e9       	ldi	r25, 0x9C	; 156
-    70bc:	f7 01       	movw	r30, r14
-    70be:	91 83       	std	Z+1, r25	; 0x01
-    70c0:	80 83       	st	Z, r24
-    70c2:	07 c0       	rjmp	.+14     	; 0x70d2 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x166>
-    70c4:	88 81       	ld	r24, Y
-    70c6:	99 81       	ldd	r25, Y+1	; 0x01
-    70c8:	04 96       	adiw	r24, 0x04	; 4
-    70ca:	d7 01       	movw	r26, r14
-    70cc:	11 96       	adiw	r26, 0x01	; 1
-    70ce:	9c 93       	st	X, r25
-    70d0:	8e 93       	st	-X, r24
-    70d2:	f8 01       	movw	r30, r16
-    70d4:	ef 5b       	subi	r30, 0xBF	; 191
-    70d6:	fe 4e       	sbci	r31, 0xEE	; 238
-    70d8:	8f ef       	ldi	r24, 0xFF	; 255
-    70da:	80 83       	st	Z, r24
-    70dc:	07 c0       	rjmp	.+14     	; 0x70ec <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x180>
-    70de:	88 81       	ld	r24, Y
-    70e0:	99 81       	ldd	r25, Y+1	; 0x01
-    70e2:	bc e9       	ldi	r27, 0x9C	; 156
-    70e4:	84 34       	cpi	r24, 0x44	; 68
-    70e6:	9b 07       	cpc	r25, r27
-    70e8:	38 f3       	brcs	.-50     	; 0x70b8 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x14c>
-    70ea:	ec cf       	rjmp	.-40     	; 0x70c4 <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_+0x158>
-    70ec:	df 91       	pop	r29
-    70ee:	cf 91       	pop	r28
-    70f0:	1f 91       	pop	r17
-    70f2:	0f 91       	pop	r16
-    70f4:	ff 90       	pop	r15
-    70f6:	ef 90       	pop	r14
-    70f8:	08 95       	ret
-
-000070fa <__vector_17>:
-    70fa:	1f 92       	push	r1
-    70fc:	0f 92       	push	r0
-    70fe:	0f b6       	in	r0, 0x3f	; 63
-    7100:	0f 92       	push	r0
-    7102:	0b b6       	in	r0, 0x3b	; 59
-    7104:	0f 92       	push	r0
-    7106:	11 24       	eor	r1, r1
-    7108:	2f 93       	push	r18
-    710a:	3f 93       	push	r19
-    710c:	4f 93       	push	r20
-    710e:	5f 93       	push	r21
-    7110:	6f 93       	push	r22
-    7112:	7f 93       	push	r23
-    7114:	8f 93       	push	r24
-    7116:	9f 93       	push	r25
-    7118:	af 93       	push	r26
-    711a:	bf 93       	push	r27
-    711c:	ef 93       	push	r30
-    711e:	ff 93       	push	r31
-    7120:	81 e0       	ldi	r24, 0x01	; 1
-    7122:	64 e8       	ldi	r22, 0x84	; 132
-    7124:	70 e0       	ldi	r23, 0x00	; 0
-    7126:	48 e8       	ldi	r20, 0x88	; 136
-    7128:	50 e0       	ldi	r21, 0x00	; 0
-    712a:	0e 94 b6 37 	call	0x6f6c	; 0x6f6c <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_>
-    712e:	ff 91       	pop	r31
-    7130:	ef 91       	pop	r30
-    7132:	bf 91       	pop	r27
-    7134:	af 91       	pop	r26
-    7136:	9f 91       	pop	r25
-    7138:	8f 91       	pop	r24
-    713a:	7f 91       	pop	r23
-    713c:	6f 91       	pop	r22
-    713e:	5f 91       	pop	r21
-    7140:	4f 91       	pop	r20
-    7142:	3f 91       	pop	r19
-    7144:	2f 91       	pop	r18
-    7146:	0f 90       	pop	r0
-    7148:	0b be       	out	0x3b, r0	; 59
-    714a:	0f 90       	pop	r0
-    714c:	0f be       	out	0x3f, r0	; 63
-    714e:	0f 90       	pop	r0
-    7150:	1f 90       	pop	r1
-    7152:	18 95       	reti
-
-00007154 <__vector_32>:
-    7154:	1f 92       	push	r1
-    7156:	0f 92       	push	r0
-    7158:	0f b6       	in	r0, 0x3f	; 63
-    715a:	0f 92       	push	r0
-    715c:	0b b6       	in	r0, 0x3b	; 59
-    715e:	0f 92       	push	r0
-    7160:	11 24       	eor	r1, r1
-    7162:	2f 93       	push	r18
-    7164:	3f 93       	push	r19
-    7166:	4f 93       	push	r20
-    7168:	5f 93       	push	r21
-    716a:	6f 93       	push	r22
-    716c:	7f 93       	push	r23
-    716e:	8f 93       	push	r24
-    7170:	9f 93       	push	r25
-    7172:	af 93       	push	r26
-    7174:	bf 93       	push	r27
-    7176:	ef 93       	push	r30
-    7178:	ff 93       	push	r31
-    717a:	82 e0       	ldi	r24, 0x02	; 2
-    717c:	64 e9       	ldi	r22, 0x94	; 148
-    717e:	70 e0       	ldi	r23, 0x00	; 0
-    7180:	48 e9       	ldi	r20, 0x98	; 152
-    7182:	50 e0       	ldi	r21, 0x00	; 0
-    7184:	0e 94 b6 37 	call	0x6f6c	; 0x6f6c <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_>
-    7188:	ff 91       	pop	r31
-    718a:	ef 91       	pop	r30
-    718c:	bf 91       	pop	r27
-    718e:	af 91       	pop	r26
-    7190:	9f 91       	pop	r25
-    7192:	8f 91       	pop	r24
-    7194:	7f 91       	pop	r23
-    7196:	6f 91       	pop	r22
-    7198:	5f 91       	pop	r21
-    719a:	4f 91       	pop	r20
-    719c:	3f 91       	pop	r19
-    719e:	2f 91       	pop	r18
-    71a0:	0f 90       	pop	r0
-    71a2:	0b be       	out	0x3b, r0	; 59
-    71a4:	0f 90       	pop	r0
-    71a6:	0f be       	out	0x3f, r0	; 63
-    71a8:	0f 90       	pop	r0
-    71aa:	1f 90       	pop	r1
-    71ac:	18 95       	reti
-
-000071ae <__vector_42>:
-    71ae:	1f 92       	push	r1
-    71b0:	0f 92       	push	r0
-    71b2:	0f b6       	in	r0, 0x3f	; 63
-    71b4:	0f 92       	push	r0
-    71b6:	0b b6       	in	r0, 0x3b	; 59
-    71b8:	0f 92       	push	r0
-    71ba:	11 24       	eor	r1, r1
-    71bc:	2f 93       	push	r18
-    71be:	3f 93       	push	r19
-    71c0:	4f 93       	push	r20
-    71c2:	5f 93       	push	r21
-    71c4:	6f 93       	push	r22
-    71c6:	7f 93       	push	r23
-    71c8:	8f 93       	push	r24
-    71ca:	9f 93       	push	r25
-    71cc:	af 93       	push	r26
-    71ce:	bf 93       	push	r27
-    71d0:	ef 93       	push	r30
-    71d2:	ff 93       	push	r31
-    71d4:	83 e0       	ldi	r24, 0x03	; 3
-    71d6:	64 ea       	ldi	r22, 0xA4	; 164
-    71d8:	70 e0       	ldi	r23, 0x00	; 0
-    71da:	48 ea       	ldi	r20, 0xA8	; 168
-    71dc:	50 e0       	ldi	r21, 0x00	; 0
-    71de:	0e 94 b6 37 	call	0x6f6c	; 0x6f6c <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_>
-    71e2:	ff 91       	pop	r31
-    71e4:	ef 91       	pop	r30
-    71e6:	bf 91       	pop	r27
-    71e8:	af 91       	pop	r26
-    71ea:	9f 91       	pop	r25
-    71ec:	8f 91       	pop	r24
-    71ee:	7f 91       	pop	r23
-    71f0:	6f 91       	pop	r22
-    71f2:	5f 91       	pop	r21
-    71f4:	4f 91       	pop	r20
-    71f6:	3f 91       	pop	r19
-    71f8:	2f 91       	pop	r18
-    71fa:	0f 90       	pop	r0
-    71fc:	0b be       	out	0x3b, r0	; 59
-    71fe:	0f 90       	pop	r0
-    7200:	0f be       	out	0x3f, r0	; 63
-    7202:	0f 90       	pop	r0
-    7204:	1f 90       	pop	r1
-    7206:	18 95       	reti
-
-00007208 <__vector_47>:
-    7208:	1f 92       	push	r1
-    720a:	0f 92       	push	r0
-    720c:	0f b6       	in	r0, 0x3f	; 63
-    720e:	0f 92       	push	r0
-    7210:	0b b6       	in	r0, 0x3b	; 59
-    7212:	0f 92       	push	r0
-    7214:	11 24       	eor	r1, r1
-    7216:	2f 93       	push	r18
-    7218:	3f 93       	push	r19
-    721a:	4f 93       	push	r20
-    721c:	5f 93       	push	r21
-    721e:	6f 93       	push	r22
-    7220:	7f 93       	push	r23
-    7222:	8f 93       	push	r24
-    7224:	9f 93       	push	r25
-    7226:	af 93       	push	r26
-    7228:	bf 93       	push	r27
-    722a:	ef 93       	push	r30
-    722c:	ff 93       	push	r31
-    722e:	80 e0       	ldi	r24, 0x00	; 0
-    7230:	64 e2       	ldi	r22, 0x24	; 36
-    7232:	71 e0       	ldi	r23, 0x01	; 1
-    7234:	48 e2       	ldi	r20, 0x28	; 40
-    7236:	51 e0       	ldi	r21, 0x01	; 1
-    7238:	0e 94 b6 37 	call	0x6f6c	; 0x6f6c <_ZL17handle_interrupts18timer16_Sequence_tPVjS1_>
-    723c:	ff 91       	pop	r31
-    723e:	ef 91       	pop	r30
-    7240:	bf 91       	pop	r27
-    7242:	af 91       	pop	r26
-    7244:	9f 91       	pop	r25
-    7246:	8f 91       	pop	r24
-    7248:	7f 91       	pop	r23
-    724a:	6f 91       	pop	r22
-    724c:	5f 91       	pop	r21
-    724e:	4f 91       	pop	r20
-    7250:	3f 91       	pop	r19
-    7252:	2f 91       	pop	r18
-    7254:	0f 90       	pop	r0
-    7256:	0b be       	out	0x3b, r0	; 59
-    7258:	0f 90       	pop	r0
-    725a:	0f be       	out	0x3f, r0	; 63
-    725c:	0f 90       	pop	r0
-    725e:	1f 90       	pop	r1
-    7260:	18 95       	reti
-
-00007262 <_ZN5ServoC1Ev>:
-    7262:	fc 01       	movw	r30, r24
-    7264:	80 91 b0 10 	lds	r24, 0x10B0
-    7268:	80 33       	cpi	r24, 0x30	; 48
-    726a:	90 f4       	brcc	.+36     	; 0x7290 <_ZN5ServoC1Ev+0x2e>
-    726c:	80 83       	st	Z, r24
-    726e:	8f 5f       	subi	r24, 0xFF	; 255
-    7270:	80 93 b0 10 	sts	0x10B0, r24
-    7274:	80 81       	ld	r24, Z
-    7276:	90 e0       	ldi	r25, 0x00	; 0
-    7278:	fc 01       	movw	r30, r24
-    727a:	ee 0f       	add	r30, r30
-    727c:	ff 1f       	adc	r31, r31
-    727e:	e8 0f       	add	r30, r24
-    7280:	f9 1f       	adc	r31, r25
-    7282:	ef 54       	subi	r30, 0x4F	; 79
-    7284:	ff 4e       	sbci	r31, 0xEF	; 239
-    7286:	88 eb       	ldi	r24, 0xB8	; 184
-    7288:	9b e0       	ldi	r25, 0x0B	; 11
-    728a:	92 83       	std	Z+2, r25	; 0x02
-    728c:	81 83       	std	Z+1, r24	; 0x01
-    728e:	08 95       	ret
-    7290:	8f ef       	ldi	r24, 0xFF	; 255
-    7292:	80 83       	st	Z, r24
-    7294:	08 95       	ret
-
-00007296 <_ZN5Servo17writeMicrosecondsEi>:
-    7296:	fc 01       	movw	r30, r24
-    7298:	20 81       	ld	r18, Z
-    729a:	20 33       	cpi	r18, 0x30	; 48
-    729c:	08 f0       	brcs	.+2      	; 0x72a0 <_ZN5Servo17writeMicrosecondsEi+0xa>
-    729e:	3f c0       	rjmp	.+126    	; 0x731e <_ZN5Servo17writeMicrosecondsEi+0x88>
-    72a0:	41 81       	ldd	r20, Z+1	; 0x01
-    72a2:	55 27       	eor	r21, r21
-    72a4:	47 fd       	sbrc	r20, 7
-    72a6:	50 95       	com	r21
-    72a8:	88 e8       	ldi	r24, 0x88	; 136
-    72aa:	90 e0       	ldi	r25, 0x00	; 0
-    72ac:	84 1b       	sub	r24, r20
-    72ae:	95 0b       	sbc	r25, r21
-    72b0:	88 0f       	add	r24, r24
-    72b2:	99 1f       	adc	r25, r25
-    72b4:	88 0f       	add	r24, r24
-    72b6:	99 1f       	adc	r25, r25
-    72b8:	68 17       	cp	r22, r24
-    72ba:	79 07       	cpc	r23, r25
-    72bc:	84 f0       	brlt	.+32     	; 0x72de <_ZN5Servo17writeMicrosecondsEi+0x48>
-    72be:	42 81       	ldd	r20, Z+2	; 0x02
-    72c0:	55 27       	eor	r21, r21
-    72c2:	47 fd       	sbrc	r20, 7
-    72c4:	50 95       	com	r21
-    72c6:	88 e5       	ldi	r24, 0x58	; 88
-    72c8:	92 e0       	ldi	r25, 0x02	; 2
-    72ca:	84 1b       	sub	r24, r20
-    72cc:	95 0b       	sbc	r25, r21
-    72ce:	88 0f       	add	r24, r24
-    72d0:	99 1f       	adc	r25, r25
-    72d2:	88 0f       	add	r24, r24
-    72d4:	99 1f       	adc	r25, r25
-    72d6:	68 17       	cp	r22, r24
-    72d8:	79 07       	cpc	r23, r25
-    72da:	0c f4       	brge	.+2      	; 0x72de <_ZN5Servo17writeMicrosecondsEi+0x48>
-    72dc:	cb 01       	movw	r24, r22
-    72de:	02 97       	sbiw	r24, 0x02	; 2
-    72e0:	aa 27       	eor	r26, r26
-    72e2:	97 fd       	sbrc	r25, 7
-    72e4:	a0 95       	com	r26
-    72e6:	ba 2f       	mov	r27, r26
-    72e8:	74 e0       	ldi	r23, 0x04	; 4
-    72ea:	88 0f       	add	r24, r24
-    72ec:	99 1f       	adc	r25, r25
-    72ee:	aa 1f       	adc	r26, r26
-    72f0:	bb 1f       	adc	r27, r27
-    72f2:	7a 95       	dec	r23
-    72f4:	d1 f7       	brne	.-12     	; 0x72ea <_ZN5Servo17writeMicrosecondsEi+0x54>
-    72f6:	63 e0       	ldi	r22, 0x03	; 3
-    72f8:	b6 95       	lsr	r27
-    72fa:	a7 95       	ror	r26
-    72fc:	97 95       	ror	r25
-    72fe:	87 95       	ror	r24
-    7300:	6a 95       	dec	r22
-    7302:	d1 f7       	brne	.-12     	; 0x72f8 <_ZN5Servo17writeMicrosecondsEi+0x62>
-    7304:	4f b7       	in	r20, 0x3f	; 63
-    7306:	f8 94       	cli
-    7308:	30 e0       	ldi	r19, 0x00	; 0
-    730a:	f9 01       	movw	r30, r18
-    730c:	ee 0f       	add	r30, r30
-    730e:	ff 1f       	adc	r31, r31
-    7310:	e2 0f       	add	r30, r18
-    7312:	f3 1f       	adc	r31, r19
-    7314:	ef 54       	subi	r30, 0x4F	; 79
-    7316:	ff 4e       	sbci	r31, 0xEF	; 239
-    7318:	92 83       	std	Z+2, r25	; 0x02
-    731a:	81 83       	std	Z+1, r24	; 0x01
-    731c:	4f bf       	out	0x3f, r20	; 63
-    731e:	08 95       	ret
-
-00007320 <_ZN5Servo5writeEi>:
-    7320:	af 92       	push	r10
-    7322:	bf 92       	push	r11
-    7324:	cf 92       	push	r12
-    7326:	df 92       	push	r13
-    7328:	ef 92       	push	r14
-    732a:	ff 92       	push	r15
-    732c:	0f 93       	push	r16
-    732e:	1f 93       	push	r17
-    7330:	cf 93       	push	r28
-    7332:	df 93       	push	r29
-    7334:	ec 01       	movw	r28, r24
-    7336:	82 e0       	ldi	r24, 0x02	; 2
-    7338:	60 32       	cpi	r22, 0x20	; 32
-    733a:	78 07       	cpc	r23, r24
-    733c:	0c f0       	brlt	.+2      	; 0x7340 <_ZN5Servo5writeEi+0x20>
-    733e:	46 c0       	rjmp	.+140    	; 0x73cc <_ZN5Servo5writeEi+0xac>
-    7340:	77 fd       	sbrc	r23, 7
-    7342:	04 c0       	rjmp	.+8      	; 0x734c <_ZN5Servo5writeEi+0x2c>
-    7344:	65 3b       	cpi	r22, 0xB5	; 181
-    7346:	71 05       	cpc	r23, r1
-    7348:	24 f4       	brge	.+8      	; 0x7352 <_ZN5Servo5writeEi+0x32>
-    734a:	05 c0       	rjmp	.+10     	; 0x7356 <_ZN5Servo5writeEi+0x36>
-    734c:	60 e0       	ldi	r22, 0x00	; 0
-    734e:	70 e0       	ldi	r23, 0x00	; 0
-    7350:	02 c0       	rjmp	.+4      	; 0x7356 <_ZN5Servo5writeEi+0x36>
-    7352:	64 eb       	ldi	r22, 0xB4	; 180
-    7354:	70 e0       	ldi	r23, 0x00	; 0
-    7356:	00 d0       	rcall	.+0      	; 0x7358 <_ZN5Servo5writeEi+0x38>
-    7358:	0f 92       	push	r0
-    735a:	88 27       	eor	r24, r24
-    735c:	77 fd       	sbrc	r23, 7
-    735e:	80 95       	com	r24
-    7360:	98 2f       	mov	r25, r24
-    7362:	49 81       	ldd	r20, Y+1	; 0x01
-    7364:	55 27       	eor	r21, r21
-    7366:	47 fd       	sbrc	r20, 7
-    7368:	50 95       	com	r21
-    736a:	28 e8       	ldi	r18, 0x88	; 136
-    736c:	30 e0       	ldi	r19, 0x00	; 0
-    736e:	24 1b       	sub	r18, r20
-    7370:	35 0b       	sbc	r19, r21
-    7372:	22 0f       	add	r18, r18
-    7374:	33 1f       	adc	r19, r19
-    7376:	22 0f       	add	r18, r18
-    7378:	33 1f       	adc	r19, r19
-    737a:	59 01       	movw	r10, r18
-    737c:	cc 24       	eor	r12, r12
-    737e:	b7 fc       	sbrc	r11, 7
-    7380:	c0 94       	com	r12
-    7382:	dc 2c       	mov	r13, r12
-    7384:	4a 81       	ldd	r20, Y+2	; 0x02
-    7386:	55 27       	eor	r21, r21
-    7388:	47 fd       	sbrc	r20, 7
-    738a:	50 95       	com	r21
-    738c:	28 e5       	ldi	r18, 0x58	; 88
-    738e:	32 e0       	ldi	r19, 0x02	; 2
-    7390:	24 1b       	sub	r18, r20
-    7392:	35 0b       	sbc	r19, r21
-    7394:	22 0f       	add	r18, r18
-    7396:	33 1f       	adc	r19, r19
-    7398:	22 0f       	add	r18, r18
-    739a:	33 1f       	adc	r19, r19
-    739c:	44 27       	eor	r20, r20
-    739e:	37 fd       	sbrc	r19, 7
-    73a0:	40 95       	com	r20
-    73a2:	54 2f       	mov	r21, r20
-    73a4:	ed b7       	in	r30, 0x3d	; 61
-    73a6:	fe b7       	in	r31, 0x3e	; 62
-    73a8:	21 83       	std	Z+1, r18	; 0x01
-    73aa:	32 83       	std	Z+2, r19	; 0x02
-    73ac:	43 83       	std	Z+3, r20	; 0x03
-    73ae:	54 83       	std	Z+4, r21	; 0x04
-    73b0:	20 e0       	ldi	r18, 0x00	; 0
-    73b2:	30 e0       	ldi	r19, 0x00	; 0
-    73b4:	a9 01       	movw	r20, r18
-    73b6:	b4 eb       	ldi	r27, 0xB4	; 180
-    73b8:	eb 2e       	mov	r14, r27
-    73ba:	f1 2c       	mov	r15, r1
-    73bc:	01 2d       	mov	r16, r1
-    73be:	11 2d       	mov	r17, r1
-    73c0:	0e 94 0b 35 	call	0x6a16	; 0x6a16 <_Z3maplllll>
-    73c4:	0f 90       	pop	r0
-    73c6:	0f 90       	pop	r0
-    73c8:	0f 90       	pop	r0
-    73ca:	0f 90       	pop	r0
-    73cc:	ce 01       	movw	r24, r28
-    73ce:	0e 94 4b 39 	call	0x7296	; 0x7296 <_ZN5Servo17writeMicrosecondsEi>
-    73d2:	df 91       	pop	r29
-    73d4:	cf 91       	pop	r28
-    73d6:	1f 91       	pop	r17
-    73d8:	0f 91       	pop	r16
-    73da:	ff 90       	pop	r15
-    73dc:	ef 90       	pop	r14
-    73de:	df 90       	pop	r13
-    73e0:	cf 90       	pop	r12
-    73e2:	bf 90       	pop	r11
-    73e4:	af 90       	pop	r10
-    73e6:	08 95       	ret
-
-000073e8 <_ZN5Servo16readMicrosecondsEv>:
-    73e8:	fc 01       	movw	r30, r24
-    73ea:	80 81       	ld	r24, Z
-    73ec:	8f 3f       	cpi	r24, 0xFF	; 255
-    73ee:	b9 f0       	breq	.+46     	; 0x741e <_ZN5Servo16readMicrosecondsEv+0x36>
-    73f0:	90 e0       	ldi	r25, 0x00	; 0
-    73f2:	fc 01       	movw	r30, r24
-    73f4:	ee 0f       	add	r30, r30
-    73f6:	ff 1f       	adc	r31, r31
-    73f8:	e8 0f       	add	r30, r24
-    73fa:	f9 1f       	adc	r31, r25
-    73fc:	ef 54       	subi	r30, 0x4F	; 79
-    73fe:	ff 4e       	sbci	r31, 0xEF	; 239
-    7400:	21 81       	ldd	r18, Z+1	; 0x01
-    7402:	32 81       	ldd	r19, Z+2	; 0x02
-    7404:	93 e0       	ldi	r25, 0x03	; 3
-    7406:	22 0f       	add	r18, r18
-    7408:	33 1f       	adc	r19, r19
-    740a:	9a 95       	dec	r25
-    740c:	e1 f7       	brne	.-8      	; 0x7406 <_ZN5Servo16readMicrosecondsEv+0x1e>
-    740e:	84 e0       	ldi	r24, 0x04	; 4
-    7410:	36 95       	lsr	r19
-    7412:	27 95       	ror	r18
-    7414:	8a 95       	dec	r24
-    7416:	e1 f7       	brne	.-8      	; 0x7410 <_ZN5Servo16readMicrosecondsEv+0x28>
-    7418:	2e 5f       	subi	r18, 0xFE	; 254
-    741a:	3f 4f       	sbci	r19, 0xFF	; 255
-    741c:	02 c0       	rjmp	.+4      	; 0x7422 <_ZN5Servo16readMicrosecondsEv+0x3a>
-    741e:	20 e0       	ldi	r18, 0x00	; 0
-    7420:	30 e0       	ldi	r19, 0x00	; 0
-    7422:	c9 01       	movw	r24, r18
-    7424:	08 95       	ret
-
-00007426 <_ZN5Servo4readEv>:
-    7426:	af 92       	push	r10
-    7428:	bf 92       	push	r11
-    742a:	cf 92       	push	r12
-    742c:	df 92       	push	r13
-    742e:	ef 92       	push	r14
-    7430:	ff 92       	push	r15
-    7432:	0f 93       	push	r16
-    7434:	1f 93       	push	r17
-    7436:	cf 93       	push	r28
-    7438:	df 93       	push	r29
-    743a:	ec 01       	movw	r28, r24
-    743c:	0e 94 f4 39 	call	0x73e8	; 0x73e8 <_ZN5Servo16readMicrosecondsEv>
-    7440:	00 d0       	rcall	.+0      	; 0x7442 <_ZN5Servo4readEv+0x1c>
-    7442:	0f 92       	push	r0
-    7444:	bc 01       	movw	r22, r24
-    7446:	6f 5f       	subi	r22, 0xFF	; 255
-    7448:	7f 4f       	sbci	r23, 0xFF	; 255
-    744a:	88 27       	eor	r24, r24
-    744c:	77 fd       	sbrc	r23, 7
-    744e:	80 95       	com	r24
-    7450:	98 2f       	mov	r25, r24
-    7452:	49 81       	ldd	r20, Y+1	; 0x01
-    7454:	55 27       	eor	r21, r21
-    7456:	47 fd       	sbrc	r20, 7
-    7458:	50 95       	com	r21
-    745a:	28 e8       	ldi	r18, 0x88	; 136
-    745c:	30 e0       	ldi	r19, 0x00	; 0
-    745e:	24 1b       	sub	r18, r20
-    7460:	35 0b       	sbc	r19, r21
-    7462:	22 0f       	add	r18, r18
-    7464:	33 1f       	adc	r19, r19
-    7466:	22 0f       	add	r18, r18
-    7468:	33 1f       	adc	r19, r19
-    746a:	44 27       	eor	r20, r20
-    746c:	37 fd       	sbrc	r19, 7
-    746e:	40 95       	com	r20
-    7470:	54 2f       	mov	r21, r20
-    7472:	aa 81       	ldd	r26, Y+2	; 0x02
-    7474:	bb 27       	eor	r27, r27
-    7476:	a7 fd       	sbrc	r26, 7
-    7478:	b0 95       	com	r27
-    747a:	e8 e5       	ldi	r30, 0x58	; 88
-    747c:	f2 e0       	ldi	r31, 0x02	; 2
-    747e:	ea 1b       	sub	r30, r26
-    7480:	fb 0b       	sbc	r31, r27
-    7482:	ee 0f       	add	r30, r30
-    7484:	ff 1f       	adc	r31, r31
-    7486:	ee 0f       	add	r30, r30
-    7488:	ff 1f       	adc	r31, r31
-    748a:	5f 01       	movw	r10, r30
-    748c:	cc 24       	eor	r12, r12
-    748e:	b7 fc       	sbrc	r11, 7
-    7490:	c0 94       	com	r12
-    7492:	dc 2c       	mov	r13, r12
-    7494:	e4 eb       	ldi	r30, 0xB4	; 180
-    7496:	ee 2e       	mov	r14, r30
-    7498:	f1 2c       	mov	r15, r1
-    749a:	01 2d       	mov	r16, r1
-    749c:	11 2d       	mov	r17, r1
-    749e:	ed b7       	in	r30, 0x3d	; 61
-    74a0:	fe b7       	in	r31, 0x3e	; 62
-    74a2:	e1 82       	std	Z+1, r14	; 0x01
-    74a4:	f2 82       	std	Z+2, r15	; 0x02
-    74a6:	03 83       	std	Z+3, r16	; 0x03
-    74a8:	14 83       	std	Z+4, r17	; 0x04
-    74aa:	86 01       	movw	r16, r12
-    74ac:	75 01       	movw	r14, r10
-    74ae:	aa 24       	eor	r10, r10
-    74b0:	bb 24       	eor	r11, r11
-    74b2:	65 01       	movw	r12, r10
-    74b4:	0e 94 0b 35 	call	0x6a16	; 0x6a16 <_Z3maplllll>
-    74b8:	0f 90       	pop	r0
-    74ba:	0f 90       	pop	r0
-    74bc:	0f 90       	pop	r0
-    74be:	0f 90       	pop	r0
-    74c0:	cb 01       	movw	r24, r22
-    74c2:	df 91       	pop	r29
-    74c4:	cf 91       	pop	r28
-    74c6:	1f 91       	pop	r17
-    74c8:	0f 91       	pop	r16
-    74ca:	ff 90       	pop	r15
-    74cc:	ef 90       	pop	r14
-    74ce:	df 90       	pop	r13
-    74d0:	cf 90       	pop	r12
-    74d2:	bf 90       	pop	r11
-    74d4:	af 90       	pop	r10
-    74d6:	08 95       	ret
-
-000074d8 <twi_init>:
-    74d8:	10 92 69 11 	sts	0x1169, r1
-    74dc:	58 9a       	sbi	0x0b, 0	; 11
-    74de:	59 9a       	sbi	0x0b, 1	; 11
-    74e0:	e9 eb       	ldi	r30, 0xB9	; 185
-    74e2:	f0 e0       	ldi	r31, 0x00	; 0
-    74e4:	80 81       	ld	r24, Z
-    74e6:	8e 7f       	andi	r24, 0xFE	; 254
-    74e8:	80 83       	st	Z, r24
-    74ea:	80 81       	ld	r24, Z
-    74ec:	8d 7f       	andi	r24, 0xFD	; 253
-    74ee:	80 83       	st	Z, r24
-    74f0:	88 e4       	ldi	r24, 0x48	; 72
-    74f2:	80 93 b8 00 	sts	0x00B8, r24
-    74f6:	85 e4       	ldi	r24, 0x45	; 69
-    74f8:	80 93 bc 00 	sts	0x00BC, r24
-    74fc:	08 95       	ret
-
-000074fe <twi_readFrom>:
-    74fe:	41 32       	cpi	r20, 0x21	; 33
-    7500:	88 f5       	brcc	.+98     	; 0x7564 <twi_readFrom+0x66>
-    7502:	90 91 69 11 	lds	r25, 0x1169
-    7506:	99 23       	and	r25, r25
-    7508:	e1 f7       	brne	.-8      	; 0x7502 <twi_readFrom+0x4>
-    750a:	91 e0       	ldi	r25, 0x01	; 1
-    750c:	90 93 69 11 	sts	0x1169, r25
-    7510:	9f ef       	ldi	r25, 0xFF	; 255
-    7512:	90 93 68 11 	sts	0x1168, r25
-    7516:	10 92 46 11 	sts	0x1146, r1
-    751a:	94 2f       	mov	r25, r20
-    751c:	91 50       	subi	r25, 0x01	; 1
-    751e:	90 93 47 11 	sts	0x1147, r25
-    7522:	88 0f       	add	r24, r24
-    7524:	81 60       	ori	r24, 0x01	; 1
-    7526:	80 93 45 11 	sts	0x1145, r24
-    752a:	85 ee       	ldi	r24, 0xE5	; 229
-    752c:	80 93 bc 00 	sts	0x00BC, r24
-    7530:	80 91 69 11 	lds	r24, 0x1169
-    7534:	81 30       	cpi	r24, 0x01	; 1
-    7536:	e1 f3       	breq	.-8      	; 0x7530 <twi_readFrom+0x32>
-    7538:	80 91 46 11 	lds	r24, 0x1146
-    753c:	84 17       	cp	r24, r20
-    753e:	10 f4       	brcc	.+4      	; 0x7544 <twi_readFrom+0x46>
-    7540:	40 91 46 11 	lds	r20, 0x1146
-    7544:	e8 e4       	ldi	r30, 0x48	; 72
-    7546:	f1 e1       	ldi	r31, 0x11	; 17
-    7548:	26 2f       	mov	r18, r22
-    754a:	37 2f       	mov	r19, r23
-    754c:	d9 01       	movw	r26, r18
-    754e:	24 2f       	mov	r18, r20
-    7550:	30 e0       	ldi	r19, 0x00	; 0
-    7552:	2e 0f       	add	r18, r30
-    7554:	3f 1f       	adc	r19, r31
-    7556:	02 c0       	rjmp	.+4      	; 0x755c <twi_readFrom+0x5e>
-    7558:	81 91       	ld	r24, Z+
-    755a:	8d 93       	st	X+, r24
-    755c:	e2 17       	cp	r30, r18
-    755e:	f3 07       	cpc	r31, r19
-    7560:	d9 f7       	brne	.-10     	; 0x7558 <twi_readFrom+0x5a>
-    7562:	01 c0       	rjmp	.+2      	; 0x7566 <twi_readFrom+0x68>
-    7564:	40 e0       	ldi	r20, 0x00	; 0
-    7566:	84 2f       	mov	r24, r20
-    7568:	08 95       	ret
-
-0000756a <twi_writeTo>:
-    756a:	41 32       	cpi	r20, 0x21	; 33
-    756c:	b0 f5       	brcc	.+108    	; 0x75da <twi_writeTo+0x70>
-    756e:	90 91 69 11 	lds	r25, 0x1169
-    7572:	99 23       	and	r25, r25
-    7574:	e1 f7       	brne	.-8      	; 0x756e <twi_writeTo+0x4>
-    7576:	92 e0       	ldi	r25, 0x02	; 2
-    7578:	90 93 69 11 	sts	0x1169, r25
-    757c:	9f ef       	ldi	r25, 0xFF	; 255
-    757e:	90 93 68 11 	sts	0x1168, r25
-    7582:	10 92 46 11 	sts	0x1146, r1
-    7586:	40 93 47 11 	sts	0x1147, r20
-    758a:	db 01       	movw	r26, r22
-    758c:	e8 e4       	ldi	r30, 0x48	; 72
-    758e:	f1 e1       	ldi	r31, 0x11	; 17
-    7590:	50 e0       	ldi	r21, 0x00	; 0
-    7592:	4e 0f       	add	r20, r30
-    7594:	5f 1f       	adc	r21, r31
-    7596:	02 c0       	rjmp	.+4      	; 0x759c <twi_writeTo+0x32>
-    7598:	9d 91       	ld	r25, X+
-    759a:	91 93       	st	Z+, r25
-    759c:	e4 17       	cp	r30, r20
-    759e:	f5 07       	cpc	r31, r21
-    75a0:	d9 f7       	brne	.-10     	; 0x7598 <twi_writeTo+0x2e>
-    75a2:	90 e0       	ldi	r25, 0x00	; 0
-    75a4:	88 0f       	add	r24, r24
-    75a6:	99 1f       	adc	r25, r25
-    75a8:	80 93 45 11 	sts	0x1145, r24
-    75ac:	85 ee       	ldi	r24, 0xE5	; 229
-    75ae:	80 93 bc 00 	sts	0x00BC, r24
-    75b2:	22 23       	and	r18, r18
-    75b4:	21 f0       	breq	.+8      	; 0x75be <twi_writeTo+0x54>
-    75b6:	80 91 69 11 	lds	r24, 0x1169
-    75ba:	82 30       	cpi	r24, 0x02	; 2
-    75bc:	e1 f3       	breq	.-8      	; 0x75b6 <twi_writeTo+0x4c>
-    75be:	80 91 68 11 	lds	r24, 0x1168
-    75c2:	8f 3f       	cpi	r24, 0xFF	; 255
-    75c4:	61 f0       	breq	.+24     	; 0x75de <twi_writeTo+0x74>
-    75c6:	80 91 68 11 	lds	r24, 0x1168
-    75ca:	80 32       	cpi	r24, 0x20	; 32
-    75cc:	51 f0       	breq	.+20     	; 0x75e2 <twi_writeTo+0x78>
-    75ce:	80 91 68 11 	lds	r24, 0x1168
-    75d2:	80 33       	cpi	r24, 0x30	; 48
-    75d4:	41 f4       	brne	.+16     	; 0x75e6 <twi_writeTo+0x7c>
-    75d6:	83 e0       	ldi	r24, 0x03	; 3
-    75d8:	08 95       	ret
-    75da:	81 e0       	ldi	r24, 0x01	; 1
-    75dc:	08 95       	ret
-    75de:	80 e0       	ldi	r24, 0x00	; 0
-    75e0:	08 95       	ret
-    75e2:	82 e0       	ldi	r24, 0x02	; 2
-    75e4:	08 95       	ret
-    75e6:	84 e0       	ldi	r24, 0x04	; 4
-    75e8:	08 95       	ret
-
-000075ea <twi_transmit>:
-    75ea:	61 32       	cpi	r22, 0x21	; 33
-    75ec:	a0 f4       	brcc	.+40     	; 0x7616 <twi_transmit+0x2c>
-    75ee:	20 91 69 11 	lds	r18, 0x1169
-    75f2:	24 30       	cpi	r18, 0x04	; 4
-    75f4:	91 f4       	brne	.+36     	; 0x761a <twi_transmit+0x30>
-    75f6:	60 93 8e 11 	sts	0x118E, r22
-    75fa:	dc 01       	movw	r26, r24
-    75fc:	e1 e9       	ldi	r30, 0x91	; 145
-    75fe:	f1 e1       	ldi	r31, 0x11	; 17
-    7600:	70 e0       	ldi	r23, 0x00	; 0
-    7602:	6e 0f       	add	r22, r30
-    7604:	7f 1f       	adc	r23, r31
-    7606:	02 c0       	rjmp	.+4      	; 0x760c <twi_transmit+0x22>
-    7608:	8d 91       	ld	r24, X+
-    760a:	81 93       	st	Z+, r24
-    760c:	e6 17       	cp	r30, r22
-    760e:	f7 07       	cpc	r31, r23
-    7610:	d9 f7       	brne	.-10     	; 0x7608 <twi_transmit+0x1e>
-    7612:	80 e0       	ldi	r24, 0x00	; 0
-    7614:	08 95       	ret
-    7616:	81 e0       	ldi	r24, 0x01	; 1
-    7618:	08 95       	ret
-    761a:	82 e0       	ldi	r24, 0x02	; 2
-    761c:	08 95       	ret
-
-0000761e <twi_reply>:
-    761e:	88 23       	and	r24, r24
-    7620:	11 f0       	breq	.+4      	; 0x7626 <twi_reply+0x8>
-    7622:	85 ec       	ldi	r24, 0xC5	; 197
-    7624:	01 c0       	rjmp	.+2      	; 0x7628 <twi_reply+0xa>
-    7626:	85 e8       	ldi	r24, 0x85	; 133
-    7628:	80 93 bc 00 	sts	0x00BC, r24
-    762c:	08 95       	ret
-
-0000762e <twi_stop>:
-    762e:	85 ed       	ldi	r24, 0xD5	; 213
-    7630:	80 93 bc 00 	sts	0x00BC, r24
-    7634:	80 91 bc 00 	lds	r24, 0x00BC
-    7638:	84 fd       	sbrc	r24, 4
-    763a:	fc cf       	rjmp	.-8      	; 0x7634 <twi_stop+0x6>
-    763c:	10 92 69 11 	sts	0x1169, r1
-    7640:	08 95       	ret
-
-00007642 <twi_releaseBus>:
-    7642:	85 ec       	ldi	r24, 0xC5	; 197
-    7644:	80 93 bc 00 	sts	0x00BC, r24
-    7648:	10 92 69 11 	sts	0x1169, r1
-    764c:	08 95       	ret
-
-0000764e <__vector_39>:
-    764e:	1f 92       	push	r1
-    7650:	0f 92       	push	r0
-    7652:	0f b6       	in	r0, 0x3f	; 63
-    7654:	0f 92       	push	r0
-    7656:	0b b6       	in	r0, 0x3b	; 59
-    7658:	0f 92       	push	r0
-    765a:	11 24       	eor	r1, r1
-    765c:	2f 93       	push	r18
-    765e:	3f 93       	push	r19
-    7660:	4f 93       	push	r20
-    7662:	5f 93       	push	r21
-    7664:	6f 93       	push	r22
-    7666:	7f 93       	push	r23
-    7668:	8f 93       	push	r24
-    766a:	9f 93       	push	r25
-    766c:	af 93       	push	r26
-    766e:	bf 93       	push	r27
-    7670:	ef 93       	push	r30
-    7672:	ff 93       	push	r31
-    7674:	80 91 b9 00 	lds	r24, 0x00B9
-    7678:	90 e0       	ldi	r25, 0x00	; 0
-    767a:	88 7f       	andi	r24, 0xF8	; 248
-    767c:	90 70       	andi	r25, 0x00	; 0
-    767e:	80 36       	cpi	r24, 0x60	; 96
-    7680:	91 05       	cpc	r25, r1
-    7682:	09 f4       	brne	.+2      	; 0x7686 <__vector_39+0x38>
-    7684:	c2 c0       	rjmp	.+388    	; 0x780a <__vector_39+0x1bc>
-    7686:	81 36       	cpi	r24, 0x61	; 97
-    7688:	91 05       	cpc	r25, r1
-    768a:	e4 f5       	brge	.+120    	; 0x7704 <__vector_39+0xb6>
-    768c:	88 32       	cpi	r24, 0x28	; 40
-    768e:	91 05       	cpc	r25, r1
-    7690:	09 f4       	brne	.+2      	; 0x7694 <__vector_39+0x46>
-    7692:	7e c0       	rjmp	.+252    	; 0x7790 <__vector_39+0x142>
-    7694:	89 32       	cpi	r24, 0x29	; 41
-    7696:	91 05       	cpc	r25, r1
-    7698:	c4 f4       	brge	.+48     	; 0x76ca <__vector_39+0x7c>
-    769a:	80 31       	cpi	r24, 0x10	; 16
-    769c:	91 05       	cpc	r25, r1
-    769e:	09 f4       	brne	.+2      	; 0x76a2 <__vector_39+0x54>
-    76a0:	72 c0       	rjmp	.+228    	; 0x7786 <__vector_39+0x138>
-    76a2:	81 31       	cpi	r24, 0x11	; 17
-    76a4:	91 05       	cpc	r25, r1
-    76a6:	44 f4       	brge	.+16     	; 0x76b8 <__vector_39+0x6a>
-    76a8:	00 97       	sbiw	r24, 0x00	; 0
-    76aa:	09 f4       	brne	.+2      	; 0x76ae <__vector_39+0x60>
-    76ac:	13 c1       	rjmp	.+550    	; 0x78d4 <__vector_39+0x286>
-    76ae:	88 30       	cpi	r24, 0x08	; 8
-    76b0:	91 05       	cpc	r25, r1
-    76b2:	09 f0       	breq	.+2      	; 0x76b6 <__vector_39+0x68>
-    76b4:	13 c1       	rjmp	.+550    	; 0x78dc <__vector_39+0x28e>
-    76b6:	67 c0       	rjmp	.+206    	; 0x7786 <__vector_39+0x138>
-    76b8:	88 31       	cpi	r24, 0x18	; 24
-    76ba:	91 05       	cpc	r25, r1
-    76bc:	09 f4       	brne	.+2      	; 0x76c0 <__vector_39+0x72>
-    76be:	68 c0       	rjmp	.+208    	; 0x7790 <__vector_39+0x142>
-    76c0:	80 32       	cpi	r24, 0x20	; 32
-    76c2:	91 05       	cpc	r25, r1
-    76c4:	09 f0       	breq	.+2      	; 0x76c8 <__vector_39+0x7a>
-    76c6:	0a c1       	rjmp	.+532    	; 0x78dc <__vector_39+0x28e>
-    76c8:	78 c0       	rjmp	.+240    	; 0x77ba <__vector_39+0x16c>
-    76ca:	80 34       	cpi	r24, 0x40	; 64
-    76cc:	91 05       	cpc	r25, r1
-    76ce:	09 f4       	brne	.+2      	; 0x76d2 <__vector_39+0x84>
-    76d0:	8a c0       	rjmp	.+276    	; 0x77e6 <__vector_39+0x198>
-    76d2:	81 34       	cpi	r24, 0x41	; 65
-    76d4:	91 05       	cpc	r25, r1
-    76d6:	4c f4       	brge	.+18     	; 0x76ea <__vector_39+0x9c>
-    76d8:	80 33       	cpi	r24, 0x30	; 48
-    76da:	91 05       	cpc	r25, r1
-    76dc:	09 f4       	brne	.+2      	; 0x76e0 <__vector_39+0x92>
-    76de:	6f c0       	rjmp	.+222    	; 0x77be <__vector_39+0x170>
-    76e0:	88 33       	cpi	r24, 0x38	; 56
-    76e2:	91 05       	cpc	r25, r1
-    76e4:	09 f0       	breq	.+2      	; 0x76e8 <__vector_39+0x9a>
-    76e6:	fa c0       	rjmp	.+500    	; 0x78dc <__vector_39+0x28e>
-    76e8:	6e c0       	rjmp	.+220    	; 0x77c6 <__vector_39+0x178>
-    76ea:	80 35       	cpi	r24, 0x50	; 80
-    76ec:	91 05       	cpc	r25, r1
-    76ee:	09 f4       	brne	.+2      	; 0x76f2 <__vector_39+0xa4>
-    76f0:	6e c0       	rjmp	.+220    	; 0x77ce <__vector_39+0x180>
-    76f2:	88 35       	cpi	r24, 0x58	; 88
-    76f4:	91 05       	cpc	r25, r1
-    76f6:	09 f4       	brne	.+2      	; 0x76fa <__vector_39+0xac>
-    76f8:	7b c0       	rjmp	.+246    	; 0x77f0 <__vector_39+0x1a2>
-    76fa:	88 34       	cpi	r24, 0x48	; 72
-    76fc:	91 05       	cpc	r25, r1
-    76fe:	09 f0       	breq	.+2      	; 0x7702 <__vector_39+0xb4>
-    7700:	ed c0       	rjmp	.+474    	; 0x78dc <__vector_39+0x28e>
-    7702:	ea c0       	rjmp	.+468    	; 0x78d8 <__vector_39+0x28a>
-    7704:	88 39       	cpi	r24, 0x98	; 152
-    7706:	91 05       	cpc	r25, r1
-    7708:	09 f4       	brne	.+2      	; 0x770c <__vector_39+0xbe>
-    770a:	da c0       	rjmp	.+436    	; 0x78c0 <__vector_39+0x272>
-    770c:	89 39       	cpi	r24, 0x99	; 153
-    770e:	91 05       	cpc	r25, r1
-    7710:	ec f4       	brge	.+58     	; 0x774c <__vector_39+0xfe>
-    7712:	88 37       	cpi	r24, 0x78	; 120
-    7714:	91 05       	cpc	r25, r1
-    7716:	09 f4       	brne	.+2      	; 0x771a <__vector_39+0xcc>
-    7718:	78 c0       	rjmp	.+240    	; 0x780a <__vector_39+0x1bc>
-    771a:	89 37       	cpi	r24, 0x79	; 121
-    771c:	91 05       	cpc	r25, r1
-    771e:	4c f4       	brge	.+18     	; 0x7732 <__vector_39+0xe4>
-    7720:	88 36       	cpi	r24, 0x68	; 104
-    7722:	91 05       	cpc	r25, r1
-    7724:	09 f4       	brne	.+2      	; 0x7728 <__vector_39+0xda>
-    7726:	71 c0       	rjmp	.+226    	; 0x780a <__vector_39+0x1bc>
-    7728:	80 37       	cpi	r24, 0x70	; 112
-    772a:	91 05       	cpc	r25, r1
-    772c:	09 f0       	breq	.+2      	; 0x7730 <__vector_39+0xe2>
-    772e:	d6 c0       	rjmp	.+428    	; 0x78dc <__vector_39+0x28e>
-    7730:	6c c0       	rjmp	.+216    	; 0x780a <__vector_39+0x1bc>
-    7732:	88 38       	cpi	r24, 0x88	; 136
-    7734:	91 05       	cpc	r25, r1
-    7736:	09 f4       	brne	.+2      	; 0x773a <__vector_39+0xec>
-    7738:	c3 c0       	rjmp	.+390    	; 0x78c0 <__vector_39+0x272>
-    773a:	80 39       	cpi	r24, 0x90	; 144
-    773c:	91 05       	cpc	r25, r1
-    773e:	09 f4       	brne	.+2      	; 0x7742 <__vector_39+0xf4>
-    7740:	6a c0       	rjmp	.+212    	; 0x7816 <__vector_39+0x1c8>
-    7742:	80 38       	cpi	r24, 0x80	; 128
-    7744:	91 05       	cpc	r25, r1
-    7746:	09 f0       	breq	.+2      	; 0x774a <__vector_39+0xfc>
-    7748:	c9 c0       	rjmp	.+402    	; 0x78dc <__vector_39+0x28e>
-    774a:	65 c0       	rjmp	.+202    	; 0x7816 <__vector_39+0x1c8>
-    774c:	80 3b       	cpi	r24, 0xB0	; 176
-    774e:	91 05       	cpc	r25, r1
-    7750:	09 f4       	brne	.+2      	; 0x7754 <__vector_39+0x106>
-    7752:	8e c0       	rjmp	.+284    	; 0x7870 <__vector_39+0x222>
-    7754:	81 3b       	cpi	r24, 0xB1	; 177
-    7756:	91 05       	cpc	r25, r1
-    7758:	4c f4       	brge	.+18     	; 0x776c <__vector_39+0x11e>
-    775a:	80 3a       	cpi	r24, 0xA0	; 160
-    775c:	91 05       	cpc	r25, r1
-    775e:	09 f4       	brne	.+2      	; 0x7762 <__vector_39+0x114>
-    7760:	6c c0       	rjmp	.+216    	; 0x783a <__vector_39+0x1ec>
-    7762:	88 3a       	cpi	r24, 0xA8	; 168
-    7764:	91 05       	cpc	r25, r1
-    7766:	09 f0       	breq	.+2      	; 0x776a <__vector_39+0x11c>
-    7768:	b9 c0       	rjmp	.+370    	; 0x78dc <__vector_39+0x28e>
-    776a:	82 c0       	rjmp	.+260    	; 0x7870 <__vector_39+0x222>
-    776c:	80 3c       	cpi	r24, 0xC0	; 192
-    776e:	91 05       	cpc	r25, r1
-    7770:	09 f4       	brne	.+2      	; 0x7774 <__vector_39+0x126>
-    7772:	aa c0       	rjmp	.+340    	; 0x78c8 <__vector_39+0x27a>
-    7774:	88 3c       	cpi	r24, 0xC8	; 200
-    7776:	91 05       	cpc	r25, r1
-    7778:	09 f4       	brne	.+2      	; 0x777c <__vector_39+0x12e>
-    777a:	a6 c0       	rjmp	.+332    	; 0x78c8 <__vector_39+0x27a>
-    777c:	88 3b       	cpi	r24, 0xB8	; 184
-    777e:	91 05       	cpc	r25, r1
-    7780:	09 f0       	breq	.+2      	; 0x7784 <__vector_39+0x136>
-    7782:	ac c0       	rjmp	.+344    	; 0x78dc <__vector_39+0x28e>
-    7784:	8a c0       	rjmp	.+276    	; 0x789a <__vector_39+0x24c>
-    7786:	80 91 45 11 	lds	r24, 0x1145
-    778a:	80 93 bb 00 	sts	0x00BB, r24
-    778e:	13 c0       	rjmp	.+38     	; 0x77b6 <__vector_39+0x168>
-    7790:	90 91 46 11 	lds	r25, 0x1146
-    7794:	80 91 47 11 	lds	r24, 0x1147
-    7798:	98 17       	cp	r25, r24
-    779a:	08 f0       	brcs	.+2      	; 0x779e <__vector_39+0x150>
-    779c:	9d c0       	rjmp	.+314    	; 0x78d8 <__vector_39+0x28a>
-    779e:	80 91 46 11 	lds	r24, 0x1146
-    77a2:	e8 2f       	mov	r30, r24
-    77a4:	f0 e0       	ldi	r31, 0x00	; 0
-    77a6:	e8 5b       	subi	r30, 0xB8	; 184
-    77a8:	fe 4e       	sbci	r31, 0xEE	; 238
-    77aa:	90 81       	ld	r25, Z
-    77ac:	90 93 bb 00 	sts	0x00BB, r25
-    77b0:	8f 5f       	subi	r24, 0xFF	; 255
-    77b2:	80 93 46 11 	sts	0x1146, r24
-    77b6:	81 e0       	ldi	r24, 0x01	; 1
-    77b8:	84 c0       	rjmp	.+264    	; 0x78c2 <__vector_39+0x274>
-    77ba:	80 e2       	ldi	r24, 0x20	; 32
-    77bc:	01 c0       	rjmp	.+2      	; 0x77c0 <__vector_39+0x172>
-    77be:	80 e3       	ldi	r24, 0x30	; 48
-    77c0:	80 93 68 11 	sts	0x1168, r24
-    77c4:	89 c0       	rjmp	.+274    	; 0x78d8 <__vector_39+0x28a>
-    77c6:	88 e3       	ldi	r24, 0x38	; 56
-    77c8:	80 93 68 11 	sts	0x1168, r24
-    77cc:	4e c0       	rjmp	.+156    	; 0x786a <__vector_39+0x21c>
-    77ce:	80 91 46 11 	lds	r24, 0x1146
-    77d2:	90 91 bb 00 	lds	r25, 0x00BB
-    77d6:	e8 2f       	mov	r30, r24
-    77d8:	f0 e0       	ldi	r31, 0x00	; 0
-    77da:	e8 5b       	subi	r30, 0xB8	; 184
-    77dc:	fe 4e       	sbci	r31, 0xEE	; 238
-    77de:	90 83       	st	Z, r25
-    77e0:	8f 5f       	subi	r24, 0xFF	; 255
-    77e2:	80 93 46 11 	sts	0x1146, r24
-    77e6:	90 91 46 11 	lds	r25, 0x1146
-    77ea:	80 91 47 11 	lds	r24, 0x1147
-    77ee:	65 c0       	rjmp	.+202    	; 0x78ba <__vector_39+0x26c>
-    77f0:	80 91 46 11 	lds	r24, 0x1146
-    77f4:	90 91 bb 00 	lds	r25, 0x00BB
-    77f8:	e8 2f       	mov	r30, r24
-    77fa:	f0 e0       	ldi	r31, 0x00	; 0
-    77fc:	e8 5b       	subi	r30, 0xB8	; 184
-    77fe:	fe 4e       	sbci	r31, 0xEE	; 238
-    7800:	90 83       	st	Z, r25
-    7802:	8f 5f       	subi	r24, 0xFF	; 255
-    7804:	80 93 46 11 	sts	0x1146, r24
-    7808:	67 c0       	rjmp	.+206    	; 0x78d8 <__vector_39+0x28a>
-    780a:	83 e0       	ldi	r24, 0x03	; 3
-    780c:	80 93 69 11 	sts	0x1169, r24
-    7810:	10 92 6a 11 	sts	0x116A, r1
-    7814:	d0 cf       	rjmp	.-96     	; 0x77b6 <__vector_39+0x168>
-    7816:	80 91 6a 11 	lds	r24, 0x116A
-    781a:	80 32       	cpi	r24, 0x20	; 32
-    781c:	08 f0       	brcs	.+2      	; 0x7820 <__vector_39+0x1d2>
-    781e:	50 c0       	rjmp	.+160    	; 0x78c0 <__vector_39+0x272>
-    7820:	80 91 6a 11 	lds	r24, 0x116A
-    7824:	90 91 bb 00 	lds	r25, 0x00BB
-    7828:	e8 2f       	mov	r30, r24
-    782a:	f0 e0       	ldi	r31, 0x00	; 0
-    782c:	e5 59       	subi	r30, 0x95	; 149
-    782e:	fe 4e       	sbci	r31, 0xEE	; 238
-    7830:	90 83       	st	Z, r25
-    7832:	8f 5f       	subi	r24, 0xFF	; 255
-    7834:	80 93 6a 11 	sts	0x116A, r24
-    7838:	be cf       	rjmp	.-132    	; 0x77b6 <__vector_39+0x168>
-    783a:	80 91 6a 11 	lds	r24, 0x116A
-    783e:	80 32       	cpi	r24, 0x20	; 32
-    7840:	30 f4       	brcc	.+12     	; 0x784e <__vector_39+0x200>
-    7842:	e0 91 6a 11 	lds	r30, 0x116A
-    7846:	f0 e0       	ldi	r31, 0x00	; 0
-    7848:	e5 59       	subi	r30, 0x95	; 149
-    784a:	fe 4e       	sbci	r31, 0xEE	; 238
-    784c:	10 82       	st	Z, r1
-    784e:	0e 94 17 3b 	call	0x762e	; 0x762e <twi_stop>
-    7852:	60 91 6a 11 	lds	r22, 0x116A
-    7856:	e0 91 8b 11 	lds	r30, 0x118B
-    785a:	f0 91 8c 11 	lds	r31, 0x118C
-    785e:	8b e6       	ldi	r24, 0x6B	; 107
-    7860:	91 e1       	ldi	r25, 0x11	; 17
-    7862:	70 e0       	ldi	r23, 0x00	; 0
-    7864:	19 95       	eicall
-    7866:	10 92 6a 11 	sts	0x116A, r1
-    786a:	0e 94 21 3b 	call	0x7642	; 0x7642 <twi_releaseBus>
-    786e:	36 c0       	rjmp	.+108    	; 0x78dc <__vector_39+0x28e>
-    7870:	84 e0       	ldi	r24, 0x04	; 4
-    7872:	80 93 69 11 	sts	0x1169, r24
-    7876:	10 92 8d 11 	sts	0x118D, r1
-    787a:	10 92 8e 11 	sts	0x118E, r1
-    787e:	e0 91 8f 11 	lds	r30, 0x118F
-    7882:	f0 91 90 11 	lds	r31, 0x1190
-    7886:	19 95       	eicall
-    7888:	80 91 8e 11 	lds	r24, 0x118E
-    788c:	88 23       	and	r24, r24
-    788e:	29 f4       	brne	.+10     	; 0x789a <__vector_39+0x24c>
-    7890:	81 e0       	ldi	r24, 0x01	; 1
-    7892:	80 93 8e 11 	sts	0x118E, r24
-    7896:	10 92 91 11 	sts	0x1191, r1
-    789a:	80 91 8d 11 	lds	r24, 0x118D
-    789e:	e8 2f       	mov	r30, r24
-    78a0:	f0 e0       	ldi	r31, 0x00	; 0
-    78a2:	ef 56       	subi	r30, 0x6F	; 111
-    78a4:	fe 4e       	sbci	r31, 0xEE	; 238
-    78a6:	90 81       	ld	r25, Z
-    78a8:	90 93 bb 00 	sts	0x00BB, r25
-    78ac:	8f 5f       	subi	r24, 0xFF	; 255
-    78ae:	80 93 8d 11 	sts	0x118D, r24
-    78b2:	90 91 8d 11 	lds	r25, 0x118D
-    78b6:	80 91 8e 11 	lds	r24, 0x118E
-    78ba:	98 17       	cp	r25, r24
-    78bc:	08 f4       	brcc	.+2      	; 0x78c0 <__vector_39+0x272>
-    78be:	7b cf       	rjmp	.-266    	; 0x77b6 <__vector_39+0x168>
-    78c0:	80 e0       	ldi	r24, 0x00	; 0
-    78c2:	0e 94 0f 3b 	call	0x761e	; 0x761e <twi_reply>
-    78c6:	0a c0       	rjmp	.+20     	; 0x78dc <__vector_39+0x28e>
-    78c8:	81 e0       	ldi	r24, 0x01	; 1
-    78ca:	0e 94 0f 3b 	call	0x761e	; 0x761e <twi_reply>
-    78ce:	10 92 69 11 	sts	0x1169, r1
-    78d2:	04 c0       	rjmp	.+8      	; 0x78dc <__vector_39+0x28e>
-    78d4:	10 92 68 11 	sts	0x1168, r1
-    78d8:	0e 94 17 3b 	call	0x762e	; 0x762e <twi_stop>
-    78dc:	ff 91       	pop	r31
-    78de:	ef 91       	pop	r30
-    78e0:	bf 91       	pop	r27
-    78e2:	af 91       	pop	r26
-    78e4:	9f 91       	pop	r25
-    78e6:	8f 91       	pop	r24
-    78e8:	7f 91       	pop	r23
-    78ea:	6f 91       	pop	r22
-    78ec:	5f 91       	pop	r21
-    78ee:	4f 91       	pop	r20
-    78f0:	3f 91       	pop	r19
-    78f2:	2f 91       	pop	r18
-    78f4:	0f 90       	pop	r0
-    78f6:	0b be       	out	0x3b, r0	; 59
-    78f8:	0f 90       	pop	r0
-    78fa:	0f be       	out	0x3f, r0	; 63
-    78fc:	0f 90       	pop	r0
-    78fe:	1f 90       	pop	r1
-    7900:	18 95       	reti
-
-00007902 <malloc>:
-    7902:	cf 93       	push	r28
-    7904:	df 93       	push	r29
-    7906:	82 30       	cpi	r24, 0x02	; 2
-    7908:	91 05       	cpc	r25, r1
-    790a:	10 f4       	brcc	.+4      	; 0x7910 <malloc+0xe>
-    790c:	82 e0       	ldi	r24, 0x02	; 2
-    790e:	90 e0       	ldi	r25, 0x00	; 0
-    7910:	e0 91 b3 11 	lds	r30, 0x11B3
-    7914:	f0 91 b4 11 	lds	r31, 0x11B4
-    7918:	40 e0       	ldi	r20, 0x00	; 0
-    791a:	50 e0       	ldi	r21, 0x00	; 0
-    791c:	20 e0       	ldi	r18, 0x00	; 0
-    791e:	30 e0       	ldi	r19, 0x00	; 0
-    7920:	26 c0       	rjmp	.+76     	; 0x796e <malloc+0x6c>
-    7922:	60 81       	ld	r22, Z
-    7924:	71 81       	ldd	r23, Z+1	; 0x01
-    7926:	68 17       	cp	r22, r24
-    7928:	79 07       	cpc	r23, r25
-    792a:	e0 f0       	brcs	.+56     	; 0x7964 <malloc+0x62>
-    792c:	68 17       	cp	r22, r24
-    792e:	79 07       	cpc	r23, r25
-    7930:	81 f4       	brne	.+32     	; 0x7952 <malloc+0x50>
-    7932:	82 81       	ldd	r24, Z+2	; 0x02
-    7934:	93 81       	ldd	r25, Z+3	; 0x03
-    7936:	21 15       	cp	r18, r1
-    7938:	31 05       	cpc	r19, r1
-    793a:	31 f0       	breq	.+12     	; 0x7948 <malloc+0x46>
-    793c:	d9 01       	movw	r26, r18
-    793e:	13 96       	adiw	r26, 0x03	; 3
-    7940:	9c 93       	st	X, r25
-    7942:	8e 93       	st	-X, r24
-    7944:	12 97       	sbiw	r26, 0x02	; 2
-    7946:	2b c0       	rjmp	.+86     	; 0x799e <malloc+0x9c>
-    7948:	90 93 b4 11 	sts	0x11B4, r25
-    794c:	80 93 b3 11 	sts	0x11B3, r24
-    7950:	26 c0       	rjmp	.+76     	; 0x799e <malloc+0x9c>
-    7952:	41 15       	cp	r20, r1
-    7954:	51 05       	cpc	r21, r1
-    7956:	19 f0       	breq	.+6      	; 0x795e <malloc+0x5c>
-    7958:	64 17       	cp	r22, r20
-    795a:	75 07       	cpc	r23, r21
-    795c:	18 f4       	brcc	.+6      	; 0x7964 <malloc+0x62>
-    795e:	ab 01       	movw	r20, r22
-    7960:	e9 01       	movw	r28, r18
-    7962:	df 01       	movw	r26, r30
-    7964:	9f 01       	movw	r18, r30
-    7966:	72 81       	ldd	r23, Z+2	; 0x02
-    7968:	63 81       	ldd	r22, Z+3	; 0x03
-    796a:	e7 2f       	mov	r30, r23
-    796c:	f6 2f       	mov	r31, r22
-    796e:	30 97       	sbiw	r30, 0x00	; 0
-    7970:	c1 f6       	brne	.-80     	; 0x7922 <malloc+0x20>
-    7972:	41 15       	cp	r20, r1
-    7974:	51 05       	cpc	r21, r1
-    7976:	01 f1       	breq	.+64     	; 0x79b8 <malloc+0xb6>
-    7978:	48 1b       	sub	r20, r24
-    797a:	59 0b       	sbc	r21, r25
-    797c:	44 30       	cpi	r20, 0x04	; 4
-    797e:	51 05       	cpc	r21, r1
-    7980:	80 f4       	brcc	.+32     	; 0x79a2 <malloc+0xa0>
-    7982:	12 96       	adiw	r26, 0x02	; 2
-    7984:	8d 91       	ld	r24, X+
-    7986:	9c 91       	ld	r25, X
-    7988:	13 97       	sbiw	r26, 0x03	; 3
-    798a:	20 97       	sbiw	r28, 0x00	; 0
-    798c:	19 f0       	breq	.+6      	; 0x7994 <malloc+0x92>
-    798e:	9b 83       	std	Y+3, r25	; 0x03
-    7990:	8a 83       	std	Y+2, r24	; 0x02
-    7992:	04 c0       	rjmp	.+8      	; 0x799c <malloc+0x9a>
-    7994:	90 93 b4 11 	sts	0x11B4, r25
-    7998:	80 93 b3 11 	sts	0x11B3, r24
-    799c:	fd 01       	movw	r30, r26
-    799e:	32 96       	adiw	r30, 0x02	; 2
-    79a0:	46 c0       	rjmp	.+140    	; 0x7a2e <malloc+0x12c>
-    79a2:	fd 01       	movw	r30, r26
-    79a4:	e4 0f       	add	r30, r20
-    79a6:	f5 1f       	adc	r31, r21
-    79a8:	81 93       	st	Z+, r24
-    79aa:	91 93       	st	Z+, r25
-    79ac:	42 50       	subi	r20, 0x02	; 2
-    79ae:	50 40       	sbci	r21, 0x00	; 0
-    79b0:	11 96       	adiw	r26, 0x01	; 1
-    79b2:	5c 93       	st	X, r21
-    79b4:	4e 93       	st	-X, r20
-    79b6:	3b c0       	rjmp	.+118    	; 0x7a2e <malloc+0x12c>
-    79b8:	20 91 b1 11 	lds	r18, 0x11B1
-    79bc:	30 91 b2 11 	lds	r19, 0x11B2
-    79c0:	21 15       	cp	r18, r1
-    79c2:	31 05       	cpc	r19, r1
-    79c4:	41 f4       	brne	.+16     	; 0x79d6 <malloc+0xd4>
-    79c6:	20 91 3d 05 	lds	r18, 0x053D
-    79ca:	30 91 3e 05 	lds	r19, 0x053E
-    79ce:	30 93 b2 11 	sts	0x11B2, r19
-    79d2:	20 93 b1 11 	sts	0x11B1, r18
-    79d6:	20 91 3f 05 	lds	r18, 0x053F
-    79da:	30 91 40 05 	lds	r19, 0x0540
-    79de:	21 15       	cp	r18, r1
-    79e0:	31 05       	cpc	r19, r1
-    79e2:	41 f4       	brne	.+16     	; 0x79f4 <malloc+0xf2>
-    79e4:	2d b7       	in	r18, 0x3d	; 61
-    79e6:	3e b7       	in	r19, 0x3e	; 62
-    79e8:	40 91 3b 05 	lds	r20, 0x053B
-    79ec:	50 91 3c 05 	lds	r21, 0x053C
-    79f0:	24 1b       	sub	r18, r20
-    79f2:	35 0b       	sbc	r19, r21
-    79f4:	e0 91 b1 11 	lds	r30, 0x11B1
-    79f8:	f0 91 b2 11 	lds	r31, 0x11B2
-    79fc:	e2 17       	cp	r30, r18
-    79fe:	f3 07       	cpc	r31, r19
-    7a00:	a0 f4       	brcc	.+40     	; 0x7a2a <malloc+0x128>
-    7a02:	2e 1b       	sub	r18, r30
-    7a04:	3f 0b       	sbc	r19, r31
-    7a06:	28 17       	cp	r18, r24
-    7a08:	39 07       	cpc	r19, r25
-    7a0a:	78 f0       	brcs	.+30     	; 0x7a2a <malloc+0x128>
-    7a0c:	ac 01       	movw	r20, r24
-    7a0e:	4e 5f       	subi	r20, 0xFE	; 254
-    7a10:	5f 4f       	sbci	r21, 0xFF	; 255
-    7a12:	24 17       	cp	r18, r20
-    7a14:	35 07       	cpc	r19, r21
-    7a16:	48 f0       	brcs	.+18     	; 0x7a2a <malloc+0x128>
-    7a18:	4e 0f       	add	r20, r30
-    7a1a:	5f 1f       	adc	r21, r31
-    7a1c:	50 93 b2 11 	sts	0x11B2, r21
-    7a20:	40 93 b1 11 	sts	0x11B1, r20
-    7a24:	81 93       	st	Z+, r24
-    7a26:	91 93       	st	Z+, r25
-    7a28:	02 c0       	rjmp	.+4      	; 0x7a2e <malloc+0x12c>
-    7a2a:	e0 e0       	ldi	r30, 0x00	; 0
-    7a2c:	f0 e0       	ldi	r31, 0x00	; 0
-    7a2e:	cf 01       	movw	r24, r30
-    7a30:	df 91       	pop	r29
-    7a32:	cf 91       	pop	r28
-    7a34:	08 95       	ret
-
-00007a36 <free>:
-    7a36:	cf 93       	push	r28
-    7a38:	df 93       	push	r29
-    7a3a:	00 97       	sbiw	r24, 0x00	; 0
-    7a3c:	09 f4       	brne	.+2      	; 0x7a40 <free+0xa>
-    7a3e:	91 c0       	rjmp	.+290    	; 0x7b62 <free+0x12c>
-    7a40:	fc 01       	movw	r30, r24
-    7a42:	32 97       	sbiw	r30, 0x02	; 2
-    7a44:	13 82       	std	Z+3, r1	; 0x03
-    7a46:	12 82       	std	Z+2, r1	; 0x02
-    7a48:	60 91 b3 11 	lds	r22, 0x11B3
-    7a4c:	70 91 b4 11 	lds	r23, 0x11B4
-    7a50:	61 15       	cp	r22, r1
-    7a52:	71 05       	cpc	r23, r1
-    7a54:	81 f4       	brne	.+32     	; 0x7a76 <free+0x40>
-    7a56:	20 81       	ld	r18, Z
-    7a58:	31 81       	ldd	r19, Z+1	; 0x01
-    7a5a:	28 0f       	add	r18, r24
-    7a5c:	39 1f       	adc	r19, r25
-    7a5e:	80 91 b1 11 	lds	r24, 0x11B1
-    7a62:	90 91 b2 11 	lds	r25, 0x11B2
-    7a66:	82 17       	cp	r24, r18
-    7a68:	93 07       	cpc	r25, r19
-    7a6a:	99 f5       	brne	.+102    	; 0x7ad2 <free+0x9c>
-    7a6c:	f0 93 b2 11 	sts	0x11B2, r31
-    7a70:	e0 93 b1 11 	sts	0x11B1, r30
-    7a74:	76 c0       	rjmp	.+236    	; 0x7b62 <free+0x12c>
-    7a76:	db 01       	movw	r26, r22
-    7a78:	80 e0       	ldi	r24, 0x00	; 0
-    7a7a:	90 e0       	ldi	r25, 0x00	; 0
-    7a7c:	02 c0       	rjmp	.+4      	; 0x7a82 <free+0x4c>
-    7a7e:	cd 01       	movw	r24, r26
-    7a80:	d9 01       	movw	r26, r18
-    7a82:	ae 17       	cp	r26, r30
-    7a84:	bf 07       	cpc	r27, r31
-    7a86:	48 f4       	brcc	.+18     	; 0x7a9a <free+0x64>
-    7a88:	12 96       	adiw	r26, 0x02	; 2
-    7a8a:	2d 91       	ld	r18, X+
-    7a8c:	3c 91       	ld	r19, X
-    7a8e:	13 97       	sbiw	r26, 0x03	; 3
-    7a90:	21 15       	cp	r18, r1
-    7a92:	31 05       	cpc	r19, r1
-    7a94:	a1 f7       	brne	.-24     	; 0x7a7e <free+0x48>
-    7a96:	cd 01       	movw	r24, r26
-    7a98:	21 c0       	rjmp	.+66     	; 0x7adc <free+0xa6>
-    7a9a:	b3 83       	std	Z+3, r27	; 0x03
-    7a9c:	a2 83       	std	Z+2, r26	; 0x02
-    7a9e:	ef 01       	movw	r28, r30
-    7aa0:	49 91       	ld	r20, Y+
-    7aa2:	59 91       	ld	r21, Y+
-    7aa4:	9e 01       	movw	r18, r28
-    7aa6:	24 0f       	add	r18, r20
-    7aa8:	35 1f       	adc	r19, r21
-    7aaa:	a2 17       	cp	r26, r18
-    7aac:	b3 07       	cpc	r27, r19
-    7aae:	79 f4       	brne	.+30     	; 0x7ace <free+0x98>
-    7ab0:	2d 91       	ld	r18, X+
-    7ab2:	3c 91       	ld	r19, X
-    7ab4:	11 97       	sbiw	r26, 0x01	; 1
-    7ab6:	24 0f       	add	r18, r20
-    7ab8:	35 1f       	adc	r19, r21
-    7aba:	2e 5f       	subi	r18, 0xFE	; 254
-    7abc:	3f 4f       	sbci	r19, 0xFF	; 255
-    7abe:	31 83       	std	Z+1, r19	; 0x01
-    7ac0:	20 83       	st	Z, r18
-    7ac2:	12 96       	adiw	r26, 0x02	; 2
-    7ac4:	2d 91       	ld	r18, X+
-    7ac6:	3c 91       	ld	r19, X
-    7ac8:	13 97       	sbiw	r26, 0x03	; 3
-    7aca:	33 83       	std	Z+3, r19	; 0x03
-    7acc:	22 83       	std	Z+2, r18	; 0x02
-    7ace:	00 97       	sbiw	r24, 0x00	; 0
-    7ad0:	29 f4       	brne	.+10     	; 0x7adc <free+0xa6>
-    7ad2:	f0 93 b4 11 	sts	0x11B4, r31
-    7ad6:	e0 93 b3 11 	sts	0x11B3, r30
-    7ada:	43 c0       	rjmp	.+134    	; 0x7b62 <free+0x12c>
-    7adc:	dc 01       	movw	r26, r24
-    7ade:	13 96       	adiw	r26, 0x03	; 3
-    7ae0:	fc 93       	st	X, r31
-    7ae2:	ee 93       	st	-X, r30
-    7ae4:	12 97       	sbiw	r26, 0x02	; 2
-    7ae6:	4d 91       	ld	r20, X+
-    7ae8:	5d 91       	ld	r21, X+
-    7aea:	a4 0f       	add	r26, r20
-    7aec:	b5 1f       	adc	r27, r21
-    7aee:	ea 17       	cp	r30, r26
-    7af0:	fb 07       	cpc	r31, r27
-    7af2:	69 f4       	brne	.+26     	; 0x7b0e <free+0xd8>
-    7af4:	20 81       	ld	r18, Z
-    7af6:	31 81       	ldd	r19, Z+1	; 0x01
-    7af8:	24 0f       	add	r18, r20
-    7afa:	35 1f       	adc	r19, r21
-    7afc:	2e 5f       	subi	r18, 0xFE	; 254
-    7afe:	3f 4f       	sbci	r19, 0xFF	; 255
-    7b00:	ec 01       	movw	r28, r24
-    7b02:	39 83       	std	Y+1, r19	; 0x01
-    7b04:	28 83       	st	Y, r18
-    7b06:	22 81       	ldd	r18, Z+2	; 0x02
-    7b08:	33 81       	ldd	r19, Z+3	; 0x03
-    7b0a:	3b 83       	std	Y+3, r19	; 0x03
-    7b0c:	2a 83       	std	Y+2, r18	; 0x02
-    7b0e:	e0 e0       	ldi	r30, 0x00	; 0
-    7b10:	f0 e0       	ldi	r31, 0x00	; 0
-    7b12:	02 c0       	rjmp	.+4      	; 0x7b18 <free+0xe2>
-    7b14:	fb 01       	movw	r30, r22
-    7b16:	bc 01       	movw	r22, r24
-    7b18:	db 01       	movw	r26, r22
-    7b1a:	12 96       	adiw	r26, 0x02	; 2
-    7b1c:	8d 91       	ld	r24, X+
-    7b1e:	9c 91       	ld	r25, X
-    7b20:	13 97       	sbiw	r26, 0x03	; 3
-    7b22:	00 97       	sbiw	r24, 0x00	; 0
-    7b24:	b9 f7       	brne	.-18     	; 0x7b14 <free+0xde>
-    7b26:	9b 01       	movw	r18, r22
-    7b28:	2e 5f       	subi	r18, 0xFE	; 254
-    7b2a:	3f 4f       	sbci	r19, 0xFF	; 255
-    7b2c:	8d 91       	ld	r24, X+
-    7b2e:	9c 91       	ld	r25, X
-    7b30:	11 97       	sbiw	r26, 0x01	; 1
-    7b32:	82 0f       	add	r24, r18
-    7b34:	93 1f       	adc	r25, r19
-    7b36:	40 91 b1 11 	lds	r20, 0x11B1
-    7b3a:	50 91 b2 11 	lds	r21, 0x11B2
-    7b3e:	48 17       	cp	r20, r24
-    7b40:	59 07       	cpc	r21, r25
-    7b42:	79 f4       	brne	.+30     	; 0x7b62 <free+0x12c>
-    7b44:	30 97       	sbiw	r30, 0x00	; 0
-    7b46:	29 f4       	brne	.+10     	; 0x7b52 <free+0x11c>
-    7b48:	10 92 b4 11 	sts	0x11B4, r1
-    7b4c:	10 92 b3 11 	sts	0x11B3, r1
-    7b50:	02 c0       	rjmp	.+4      	; 0x7b56 <free+0x120>
-    7b52:	13 82       	std	Z+3, r1	; 0x03
-    7b54:	12 82       	std	Z+2, r1	; 0x02
-    7b56:	22 50       	subi	r18, 0x02	; 2
-    7b58:	30 40       	sbci	r19, 0x00	; 0
-    7b5a:	30 93 b2 11 	sts	0x11B2, r19
-    7b5e:	20 93 b1 11 	sts	0x11B1, r18
-    7b62:	df 91       	pop	r29
-    7b64:	cf 91       	pop	r28
-    7b66:	08 95       	ret
-
-00007b68 <realloc>:
-    7b68:	8f 92       	push	r8
-    7b6a:	9f 92       	push	r9
-    7b6c:	af 92       	push	r10
-    7b6e:	bf 92       	push	r11
-    7b70:	cf 92       	push	r12
-    7b72:	df 92       	push	r13
-    7b74:	ef 92       	push	r14
-    7b76:	ff 92       	push	r15
-    7b78:	0f 93       	push	r16
-    7b7a:	1f 93       	push	r17
-    7b7c:	cf 93       	push	r28
-    7b7e:	df 93       	push	r29
-    7b80:	8c 01       	movw	r16, r24
-    7b82:	cb 01       	movw	r24, r22
-    7b84:	01 15       	cp	r16, r1
-    7b86:	11 05       	cpc	r17, r1
-    7b88:	29 f4       	brne	.+10     	; 0x7b94 <realloc+0x2c>
-    7b8a:	0e 94 81 3c 	call	0x7902	; 0x7902 <malloc>
-    7b8e:	08 2f       	mov	r16, r24
-    7b90:	19 2f       	mov	r17, r25
-    7b92:	b5 c0       	rjmp	.+362    	; 0x7cfe <realloc+0x196>
-    7b94:	d8 01       	movw	r26, r16
-    7b96:	12 97       	sbiw	r26, 0x02	; 2
-    7b98:	98 01       	movw	r18, r16
-    7b9a:	26 0f       	add	r18, r22
-    7b9c:	37 1f       	adc	r19, r23
-    7b9e:	2a 17       	cp	r18, r26
-    7ba0:	3b 07       	cpc	r19, r27
-    7ba2:	08 f4       	brcc	.+2      	; 0x7ba6 <realloc+0x3e>
-    7ba4:	aa c0       	rjmp	.+340    	; 0x7cfa <realloc+0x192>
-    7ba6:	ed 90       	ld	r14, X+
-    7ba8:	fc 90       	ld	r15, X
-    7baa:	11 97       	sbiw	r26, 0x01	; 1
-    7bac:	e6 16       	cp	r14, r22
-    7bae:	f7 06       	cpc	r15, r23
-    7bb0:	d0 f0       	brcs	.+52     	; 0x7be6 <realloc+0x7e>
-    7bb2:	45 e0       	ldi	r20, 0x05	; 5
-    7bb4:	e4 16       	cp	r14, r20
-    7bb6:	f1 04       	cpc	r15, r1
-    7bb8:	08 f4       	brcc	.+2      	; 0x7bbc <realloc+0x54>
-    7bba:	a1 c0       	rjmp	.+322    	; 0x7cfe <realloc+0x196>
-    7bbc:	a7 01       	movw	r20, r14
-    7bbe:	44 50       	subi	r20, 0x04	; 4
-    7bc0:	50 40       	sbci	r21, 0x00	; 0
-    7bc2:	46 17       	cp	r20, r22
-    7bc4:	57 07       	cpc	r21, r23
-    7bc6:	08 f4       	brcc	.+2      	; 0x7bca <realloc+0x62>
-    7bc8:	9a c0       	rjmp	.+308    	; 0x7cfe <realloc+0x196>
-    7bca:	a7 01       	movw	r20, r14
-    7bcc:	42 50       	subi	r20, 0x02	; 2
-    7bce:	50 40       	sbci	r21, 0x00	; 0
-    7bd0:	46 1b       	sub	r20, r22
-    7bd2:	57 0b       	sbc	r21, r23
-    7bd4:	f9 01       	movw	r30, r18
-    7bd6:	41 93       	st	Z+, r20
-    7bd8:	51 93       	st	Z+, r21
-    7bda:	6d 93       	st	X+, r22
-    7bdc:	7c 93       	st	X, r23
-    7bde:	cf 01       	movw	r24, r30
-    7be0:	0e 94 1b 3d 	call	0x7a36	; 0x7a36 <free>
-    7be4:	8c c0       	rjmp	.+280    	; 0x7cfe <realloc+0x196>
-    7be6:	5b 01       	movw	r10, r22
-    7be8:	ae 18       	sub	r10, r14
-    7bea:	bf 08       	sbc	r11, r15
-    7bec:	48 01       	movw	r8, r16
-    7bee:	8e 0c       	add	r8, r14
-    7bf0:	9f 1c       	adc	r9, r15
-    7bf2:	e0 91 b3 11 	lds	r30, 0x11B3
-    7bf6:	f0 91 b4 11 	lds	r31, 0x11B4
-    7bfa:	cc 24       	eor	r12, r12
-    7bfc:	dd 24       	eor	r13, r13
-    7bfe:	c0 e0       	ldi	r28, 0x00	; 0
-    7c00:	d0 e0       	ldi	r29, 0x00	; 0
-    7c02:	41 c0       	rjmp	.+130    	; 0x7c86 <realloc+0x11e>
-    7c04:	e8 15       	cp	r30, r8
-    7c06:	f9 05       	cpc	r31, r9
-    7c08:	99 f5       	brne	.+102    	; 0x7c70 <realloc+0x108>
-    7c0a:	60 81       	ld	r22, Z
-    7c0c:	71 81       	ldd	r23, Z+1	; 0x01
-    7c0e:	ab 01       	movw	r20, r22
-    7c10:	4e 5f       	subi	r20, 0xFE	; 254
-    7c12:	5f 4f       	sbci	r21, 0xFF	; 255
-    7c14:	4a 15       	cp	r20, r10
-    7c16:	5b 05       	cpc	r21, r11
-    7c18:	58 f1       	brcs	.+86     	; 0x7c70 <realloc+0x108>
-    7c1a:	ab 01       	movw	r20, r22
-    7c1c:	4a 19       	sub	r20, r10
-    7c1e:	5b 09       	sbc	r21, r11
-    7c20:	cc 24       	eor	r12, r12
-    7c22:	dd 24       	eor	r13, r13
-    7c24:	68 94       	set
-    7c26:	c1 f8       	bld	r12, 1
-    7c28:	c4 0e       	add	r12, r20
-    7c2a:	d5 1e       	adc	r13, r21
-    7c2c:	82 80       	ldd	r8, Z+2	; 0x02
-    7c2e:	a3 80       	ldd	r10, Z+3	; 0x03
-    7c30:	e5 e0       	ldi	r30, 0x05	; 5
-    7c32:	ce 16       	cp	r12, r30
-    7c34:	d1 04       	cpc	r13, r1
-    7c36:	48 f0       	brcs	.+18     	; 0x7c4a <realloc+0xe2>
-    7c38:	f9 01       	movw	r30, r18
-    7c3a:	82 82       	std	Z+2, r8	; 0x02
-    7c3c:	a3 82       	std	Z+3, r10	; 0x03
-    7c3e:	51 83       	std	Z+1, r21	; 0x01
-    7c40:	40 83       	st	Z, r20
-    7c42:	11 96       	adiw	r26, 0x01	; 1
-    7c44:	9c 93       	st	X, r25
-    7c46:	8e 93       	st	-X, r24
-    7c48:	09 c0       	rjmp	.+18     	; 0x7c5c <realloc+0xf4>
-    7c4a:	c7 01       	movw	r24, r14
-    7c4c:	02 96       	adiw	r24, 0x02	; 2
-    7c4e:	86 0f       	add	r24, r22
-    7c50:	97 1f       	adc	r25, r23
-    7c52:	11 96       	adiw	r26, 0x01	; 1
-    7c54:	9c 93       	st	X, r25
-    7c56:	8e 93       	st	-X, r24
-    7c58:	e8 2d       	mov	r30, r8
-    7c5a:	fa 2d       	mov	r31, r10
-    7c5c:	20 97       	sbiw	r28, 0x00	; 0
-    7c5e:	19 f0       	breq	.+6      	; 0x7c66 <realloc+0xfe>
-    7c60:	fb 83       	std	Y+3, r31	; 0x03
-    7c62:	ea 83       	std	Y+2, r30	; 0x02
-    7c64:	4c c0       	rjmp	.+152    	; 0x7cfe <realloc+0x196>
-    7c66:	f0 93 b4 11 	sts	0x11B4, r31
-    7c6a:	e0 93 b3 11 	sts	0x11B3, r30
-    7c6e:	47 c0       	rjmp	.+142    	; 0x7cfe <realloc+0x196>
-    7c70:	40 81       	ld	r20, Z
-    7c72:	51 81       	ldd	r21, Z+1	; 0x01
-    7c74:	c4 16       	cp	r12, r20
-    7c76:	d5 06       	cpc	r13, r21
-    7c78:	08 f4       	brcc	.+2      	; 0x7c7c <realloc+0x114>
-    7c7a:	6a 01       	movw	r12, r20
-    7c7c:	ef 01       	movw	r28, r30
-    7c7e:	52 81       	ldd	r21, Z+2	; 0x02
-    7c80:	43 81       	ldd	r20, Z+3	; 0x03
-    7c82:	e5 2f       	mov	r30, r21
-    7c84:	f4 2f       	mov	r31, r20
-    7c86:	30 97       	sbiw	r30, 0x00	; 0
-    7c88:	09 f0       	breq	.+2      	; 0x7c8c <realloc+0x124>
-    7c8a:	bc cf       	rjmp	.-136    	; 0x7c04 <realloc+0x9c>
-    7c8c:	40 91 b1 11 	lds	r20, 0x11B1
-    7c90:	50 91 b2 11 	lds	r21, 0x11B2
-    7c94:	48 15       	cp	r20, r8
-    7c96:	59 05       	cpc	r21, r9
-    7c98:	e9 f4       	brne	.+58     	; 0x7cd4 <realloc+0x16c>
-    7c9a:	c8 16       	cp	r12, r24
-    7c9c:	d9 06       	cpc	r13, r25
-    7c9e:	d0 f4       	brcc	.+52     	; 0x7cd4 <realloc+0x16c>
-    7ca0:	40 91 3f 05 	lds	r20, 0x053F
-    7ca4:	50 91 40 05 	lds	r21, 0x0540
-    7ca8:	41 15       	cp	r20, r1
-    7caa:	51 05       	cpc	r21, r1
-    7cac:	41 f4       	brne	.+16     	; 0x7cbe <realloc+0x156>
-    7cae:	4d b7       	in	r20, 0x3d	; 61
-    7cb0:	5e b7       	in	r21, 0x3e	; 62
-    7cb2:	60 91 3b 05 	lds	r22, 0x053B
-    7cb6:	70 91 3c 05 	lds	r23, 0x053C
-    7cba:	46 1b       	sub	r20, r22
-    7cbc:	57 0b       	sbc	r21, r23
-    7cbe:	24 17       	cp	r18, r20
-    7cc0:	35 07       	cpc	r19, r21
-    7cc2:	d8 f4       	brcc	.+54     	; 0x7cfa <realloc+0x192>
-    7cc4:	30 93 b2 11 	sts	0x11B2, r19
-    7cc8:	20 93 b1 11 	sts	0x11B1, r18
-    7ccc:	11 96       	adiw	r26, 0x01	; 1
-    7cce:	9c 93       	st	X, r25
-    7cd0:	8e 93       	st	-X, r24
-    7cd2:	15 c0       	rjmp	.+42     	; 0x7cfe <realloc+0x196>
-    7cd4:	0e 94 81 3c 	call	0x7902	; 0x7902 <malloc>
-    7cd8:	c8 2e       	mov	r12, r24
-    7cda:	e6 01       	movw	r28, r12
-    7cdc:	6e 01       	movw	r12, r28
-    7cde:	d9 2e       	mov	r13, r25
-    7ce0:	e6 01       	movw	r28, r12
-    7ce2:	20 97       	sbiw	r28, 0x00	; 0
-    7ce4:	51 f0       	breq	.+20     	; 0x7cfa <realloc+0x192>
-    7ce6:	8c 2d       	mov	r24, r12
-    7ce8:	b8 01       	movw	r22, r16
-    7cea:	a7 01       	movw	r20, r14
-    7cec:	0e 94 90 3e 	call	0x7d20	; 0x7d20 <memcpy>
-    7cf0:	c8 01       	movw	r24, r16
-    7cf2:	0e 94 1b 3d 	call	0x7a36	; 0x7a36 <free>
-    7cf6:	86 01       	movw	r16, r12
-    7cf8:	02 c0       	rjmp	.+4      	; 0x7cfe <realloc+0x196>
-    7cfa:	00 e0       	ldi	r16, 0x00	; 0
-    7cfc:	10 e0       	ldi	r17, 0x00	; 0
-    7cfe:	c8 01       	movw	r24, r16
-    7d00:	df 91       	pop	r29
-    7d02:	cf 91       	pop	r28
-    7d04:	1f 91       	pop	r17
-    7d06:	0f 91       	pop	r16
-    7d08:	ff 90       	pop	r15
-    7d0a:	ef 90       	pop	r14
-    7d0c:	df 90       	pop	r13
-    7d0e:	cf 90       	pop	r12
-    7d10:	bf 90       	pop	r11
-    7d12:	af 90       	pop	r10
-    7d14:	9f 90       	pop	r9
-    7d16:	8f 90       	pop	r8
-    7d18:	08 95       	ret
-
-00007d1a <exit>:
-    7d1a:	f8 94       	cli
-    7d1c:	0c 94 a8 42 	jmp	0x8550	; 0x8550 <__do_global_dtors>
-
-00007d20 <memcpy>:
-    7d20:	fb 01       	movw	r30, r22
-    7d22:	dc 01       	movw	r26, r24
-    7d24:	02 c0       	rjmp	.+4      	; 0x7d2a <memcpy+0xa>
-    7d26:	01 90       	ld	r0, Z+
-    7d28:	0d 92       	st	X+, r0
-    7d2a:	41 50       	subi	r20, 0x01	; 1
-    7d2c:	50 40       	sbci	r21, 0x00	; 0
-    7d2e:	d8 f7       	brcc	.-10     	; 0x7d26 <memcpy+0x6>
-    7d30:	08 95       	ret
-
-00007d32 <__subsf3>:
-    7d32:	50 58       	subi	r21, 0x80	; 128
-
-00007d34 <__addsf3>:
-    7d34:	bb 27       	eor	r27, r27
-    7d36:	aa 27       	eor	r26, r26
-    7d38:	0e d0       	rcall	.+28     	; 0x7d56 <__addsf3x>
-    7d3a:	6a c2       	rjmp	.+1236   	; 0x8210 <__fp_round>
-    7d3c:	33 d2       	rcall	.+1126   	; 0x81a4 <__fp_pscA>
-    7d3e:	30 f0       	brcs	.+12     	; 0x7d4c <__addsf3+0x18>
-    7d40:	38 d2       	rcall	.+1136   	; 0x81b2 <__fp_pscB>
-    7d42:	20 f0       	brcs	.+8      	; 0x7d4c <__addsf3+0x18>
-    7d44:	31 f4       	brne	.+12     	; 0x7d52 <__addsf3+0x1e>
-    7d46:	9f 3f       	cpi	r25, 0xFF	; 255
-    7d48:	11 f4       	brne	.+4      	; 0x7d4e <__addsf3+0x1a>
-    7d4a:	1e f4       	brtc	.+6      	; 0x7d52 <__addsf3+0x1e>
-    7d4c:	f2 c1       	rjmp	.+996    	; 0x8132 <__fp_nan>
-    7d4e:	0e f4       	brtc	.+2      	; 0x7d52 <__addsf3+0x1e>
-    7d50:	e0 95       	com	r30
-    7d52:	e7 fb       	bst	r30, 7
-    7d54:	e8 c1       	rjmp	.+976    	; 0x8126 <__fp_inf>
-
-00007d56 <__addsf3x>:
-    7d56:	e9 2f       	mov	r30, r25
-    7d58:	7d d2       	rcall	.+1274   	; 0x8254 <__fp_split3>
-    7d5a:	80 f3       	brcs	.-32     	; 0x7d3c <__addsf3+0x8>
-    7d5c:	ba 17       	cp	r27, r26
-    7d5e:	62 07       	cpc	r22, r18
-    7d60:	73 07       	cpc	r23, r19
-    7d62:	84 07       	cpc	r24, r20
-    7d64:	95 07       	cpc	r25, r21
-    7d66:	18 f0       	brcs	.+6      	; 0x7d6e <__addsf3x+0x18>
-    7d68:	71 f4       	brne	.+28     	; 0x7d86 <__addsf3x+0x30>
-    7d6a:	9e f5       	brtc	.+102    	; 0x7dd2 <__addsf3x+0x7c>
-    7d6c:	95 c2       	rjmp	.+1322   	; 0x8298 <__fp_zero>
-    7d6e:	0e f4       	brtc	.+2      	; 0x7d72 <__addsf3x+0x1c>
-    7d70:	e0 95       	com	r30
-    7d72:	0b 2e       	mov	r0, r27
-    7d74:	ba 2f       	mov	r27, r26
-    7d76:	a0 2d       	mov	r26, r0
-    7d78:	0b 01       	movw	r0, r22
-    7d7a:	b9 01       	movw	r22, r18
-    7d7c:	90 01       	movw	r18, r0
-    7d7e:	0c 01       	movw	r0, r24
-    7d80:	ca 01       	movw	r24, r20
-    7d82:	a0 01       	movw	r20, r0
-    7d84:	11 24       	eor	r1, r1
-    7d86:	ff 27       	eor	r31, r31
-    7d88:	59 1b       	sub	r21, r25
-    7d8a:	99 f0       	breq	.+38     	; 0x7db2 <__addsf3x+0x5c>
-    7d8c:	59 3f       	cpi	r21, 0xF9	; 249
-    7d8e:	50 f4       	brcc	.+20     	; 0x7da4 <__addsf3x+0x4e>
-    7d90:	50 3e       	cpi	r21, 0xE0	; 224
-    7d92:	68 f1       	brcs	.+90     	; 0x7dee <__addsf3x+0x98>
-    7d94:	1a 16       	cp	r1, r26
-    7d96:	f0 40       	sbci	r31, 0x00	; 0
-    7d98:	a2 2f       	mov	r26, r18
-    7d9a:	23 2f       	mov	r18, r19
-    7d9c:	34 2f       	mov	r19, r20
-    7d9e:	44 27       	eor	r20, r20
-    7da0:	58 5f       	subi	r21, 0xF8	; 248
-    7da2:	f3 cf       	rjmp	.-26     	; 0x7d8a <__addsf3x+0x34>
-    7da4:	46 95       	lsr	r20
-    7da6:	37 95       	ror	r19
-    7da8:	27 95       	ror	r18
-    7daa:	a7 95       	ror	r26
-    7dac:	f0 40       	sbci	r31, 0x00	; 0
-    7dae:	53 95       	inc	r21
-    7db0:	c9 f7       	brne	.-14     	; 0x7da4 <__addsf3x+0x4e>
-    7db2:	7e f4       	brtc	.+30     	; 0x7dd2 <__addsf3x+0x7c>
-    7db4:	1f 16       	cp	r1, r31
-    7db6:	ba 0b       	sbc	r27, r26
-    7db8:	62 0b       	sbc	r22, r18
-    7dba:	73 0b       	sbc	r23, r19
-    7dbc:	84 0b       	sbc	r24, r20
-    7dbe:	ba f0       	brmi	.+46     	; 0x7dee <__addsf3x+0x98>
-    7dc0:	91 50       	subi	r25, 0x01	; 1
-    7dc2:	a1 f0       	breq	.+40     	; 0x7dec <__addsf3x+0x96>
-    7dc4:	ff 0f       	add	r31, r31
-    7dc6:	bb 1f       	adc	r27, r27
-    7dc8:	66 1f       	adc	r22, r22
-    7dca:	77 1f       	adc	r23, r23
-    7dcc:	88 1f       	adc	r24, r24
-    7dce:	c2 f7       	brpl	.-16     	; 0x7dc0 <__addsf3x+0x6a>
-    7dd0:	0e c0       	rjmp	.+28     	; 0x7dee <__addsf3x+0x98>
-    7dd2:	ba 0f       	add	r27, r26
-    7dd4:	62 1f       	adc	r22, r18
-    7dd6:	73 1f       	adc	r23, r19
-    7dd8:	84 1f       	adc	r24, r20
-    7dda:	48 f4       	brcc	.+18     	; 0x7dee <__addsf3x+0x98>
-    7ddc:	87 95       	ror	r24
-    7dde:	77 95       	ror	r23
-    7de0:	67 95       	ror	r22
-    7de2:	b7 95       	ror	r27
-    7de4:	f7 95       	ror	r31
-    7de6:	9e 3f       	cpi	r25, 0xFE	; 254
-    7de8:	08 f0       	brcs	.+2      	; 0x7dec <__addsf3x+0x96>
-    7dea:	b3 cf       	rjmp	.-154    	; 0x7d52 <__addsf3+0x1e>
-    7dec:	93 95       	inc	r25
-    7dee:	88 0f       	add	r24, r24
-    7df0:	08 f0       	brcs	.+2      	; 0x7df4 <__addsf3x+0x9e>
-    7df2:	99 27       	eor	r25, r25
-    7df4:	ee 0f       	add	r30, r30
-    7df6:	97 95       	ror	r25
-    7df8:	87 95       	ror	r24
+    7094:	20 33       	cpi	r18, 0x30	; 48
+    7096:	08 f0       	brcs	.+2      	; 0x709a <_ZN5Servo17writeMicrosecondsEi+0xa>
+    7098:	3f c0       	rjmp	.+126    	; 0x7118 <_ZN5Servo17writeMicrosecondsEi+0x88>
+    709a:	41 81       	ldd	r20, Z+1	; 0x01
+    709c:	55 27       	eor	r21, r21
+    709e:	47 fd       	sbrc	r20, 7
+    70a0:	50 95       	com	r21
+    70a2:	88 e8       	ldi	r24, 0x88	; 136
+    70a4:	90 e0       	ldi	r25, 0x00	; 0
+    70a6:	84 1b       	sub	r24, r20
+    70a8:	95 0b       	sbc	r25, r21
+    70aa:	88 0f       	add	r24, r24
+    70ac:	99 1f       	adc	r25, r25
+    70ae:	88 0f       	add	r24, r24
+    70b0:	99 1f       	adc	r25, r25
+    70b2:	68 17       	cp	r22, r24
+    70b4:	79 07       	cpc	r23, r25
+    70b6:	84 f0       	brlt	.+32     	; 0x70d8 <_ZN5Servo17writeMicrosecondsEi+0x48>
+    70b8:	42 81       	ldd	r20, Z+2	; 0x02
+    70ba:	55 27       	eor	r21, r21
+    70bc:	47 fd       	sbrc	r20, 7
+    70be:	50 95       	com	r21
+    70c0:	88 e5       	ldi	r24, 0x58	; 88
+    70c2:	92 e0       	ldi	r25, 0x02	; 2
+    70c4:	84 1b       	sub	r24, r20
+    70c6:	95 0b       	sbc	r25, r21
+    70c8:	88 0f       	add	r24, r24
+    70ca:	99 1f       	adc	r25, r25
+    70cc:	88 0f       	add	r24, r24
+    70ce:	99 1f       	adc	r25, r25
+    70d0:	68 17       	cp	r22, r24
+    70d2:	79 07       	cpc	r23, r25
+    70d4:	0c f4       	brge	.+2      	; 0x70d8 <_ZN5Servo17writeMicrosecondsEi+0x48>
+    70d6:	cb 01       	movw	r24, r22
+    70d8:	02 97       	sbiw	r24, 0x02	; 2
+    70da:	aa 27       	eor	r26, r26
+    70dc:	97 fd       	sbrc	r25, 7
+    70de:	a0 95       	com	r26
+    70e0:	ba 2f       	mov	r27, r26
+    70e2:	74 e0       	ldi	r23, 0x04	; 4
+    70e4:	88 0f       	add	r24, r24
+    70e6:	99 1f       	adc	r25, r25
+    70e8:	aa 1f       	adc	r26, r26
+    70ea:	bb 1f       	adc	r27, r27
+    70ec:	7a 95       	dec	r23
+    70ee:	d1 f7       	brne	.-12     	; 0x70e4 <_ZN5Servo17writeMicrosecondsEi+0x54>
+    70f0:	63 e0       	ldi	r22, 0x03	; 3
+    70f2:	b6 95       	lsr	r27
+    70f4:	a7 95       	ror	r26
+    70f6:	97 95       	ror	r25
+    70f8:	87 95       	ror	r24
+    70fa:	6a 95       	dec	r22
+    70fc:	d1 f7       	brne	.-12     	; 0x70f2 <_ZN5Servo17writeMicrosecondsEi+0x62>
+    70fe:	4f b7       	in	r20, 0x3f	; 63
+    7100:	f8 94       	cli
+    7102:	30 e0       	ldi	r19, 0x00	; 0
+    7104:	f9 01       	movw	r30, r18
+    7106:	ee 0f       	add	r30, r30
+    7108:	ff 1f       	adc	r31, r31
+    710a:	e2 0f       	add	r30, r18
+    710c:	f3 1f       	adc	r31, r19
+    710e:	ef 54       	subi	r30, 0x4F	; 79
+    7110:	ff 4e       	sbci	r31, 0xEF	; 239
+    7112:	92 83       	std	Z+2, r25	; 0x02
+    7114:	81 83       	std	Z+1, r24	; 0x01
+    7116:	4f bf       	out	0x3f, r20	; 63
+    7118:	08 95       	ret
+
+0000711a <_ZN5Servo5writeEi>:
+    711a:	af 92       	push	r10
+    711c:	bf 92       	push	r11
+    711e:	cf 92       	push	r12
+    7120:	df 92       	push	r13
+    7122:	ef 92       	push	r14
+    7124:	ff 92       	push	r15
+    7126:	0f 93       	push	r16
+    7128:	1f 93       	push	r17
+    712a:	cf 93       	push	r28
+    712c:	df 93       	push	r29
+    712e:	ec 01       	movw	r28, r24
+    7130:	82 e0       	ldi	r24, 0x02	; 2
+    7132:	60 32       	cpi	r22, 0x20	; 32
+    7134:	78 07       	cpc	r23, r24
+    7136:	0c f0       	brlt	.+2      	; 0x713a <_ZN5Servo5writeEi+0x20>
+    7138:	46 c0       	rjmp	.+140    	; 0x71c6 <_ZN5Servo5writeEi+0xac>
+    713a:	77 fd       	sbrc	r23, 7
+    713c:	04 c0       	rjmp	.+8      	; 0x7146 <_ZN5Servo5writeEi+0x2c>
+    713e:	65 3b       	cpi	r22, 0xB5	; 181
+    7140:	71 05       	cpc	r23, r1
+    7142:	24 f4       	brge	.+8      	; 0x714c <_ZN5Servo5writeEi+0x32>
+    7144:	05 c0       	rjmp	.+10     	; 0x7150 <_ZN5Servo5writeEi+0x36>
+    7146:	60 e0       	ldi	r22, 0x00	; 0
+    7148:	70 e0       	ldi	r23, 0x00	; 0
+    714a:	02 c0       	rjmp	.+4      	; 0x7150 <_ZN5Servo5writeEi+0x36>
+    714c:	64 eb       	ldi	r22, 0xB4	; 180
+    714e:	70 e0       	ldi	r23, 0x00	; 0
+    7150:	00 d0       	rcall	.+0      	; 0x7152 <_ZN5Servo5writeEi+0x38>
+    7152:	0f 92       	push	r0
+    7154:	88 27       	eor	r24, r24
+    7156:	77 fd       	sbrc	r23, 7
+    7158:	80 95       	com	r24
+    715a:	98 2f       	mov	r25, r24
+    715c:	49 81       	ldd	r20, Y+1	; 0x01
+    715e:	55 27       	eor	r21, r21
+    7160:	47 fd       	sbrc	r20, 7
+    7162:	50 95       	com	r21
+    7164:	28 e8       	ldi	r18, 0x88	; 136
+    7166:	30 e0       	ldi	r19, 0x00	; 0
+    7168:	24 1b       	sub	r18, r20
+    716a:	35 0b       	sbc	r19, r21
+    716c:	22 0f       	add	r18, r18
+    716e:	33 1f       	adc	r19, r19
+    7170:	22 0f       	add	r18, r18
+    7172:	33 1f       	adc	r19, r19
+    7174:	59 01       	movw	r10, r18
+    7176:	cc 24       	eor	r12, r12
+    7178:	b7 fc       	sbrc	r11, 7
+    717a:	c0 94       	com	r12
+    717c:	dc 2c       	mov	r13, r12
+    717e:	4a 81       	ldd	r20, Y+2	; 0x02
+    7180:	55 27       	eor	r21, r21
+    7182:	47 fd       	sbrc	r20, 7
+    7184:	50 95       	com	r21
+    7186:	28 e5       	ldi	r18, 0x58	; 88
+    7188:	32 e0       	ldi	r19, 0x02	; 2
+    718a:	24 1b       	sub	r18, r20
+    718c:	35 0b       	sbc	r19, r21
+    718e:	22 0f       	add	r18, r18
+    7190:	33 1f       	adc	r19, r19
+    7192:	22 0f       	add	r18, r18
+    7194:	33 1f       	adc	r19, r19
+    7196:	44 27       	eor	r20, r20
+    7198:	37 fd       	sbrc	r19, 7
+    719a:	40 95       	com	r20
+    719c:	54 2f       	mov	r21, r20
+    719e:	ed b7       	in	r30, 0x3d	; 61
+    71a0:	fe b7       	in	r31, 0x3e	; 62
+    71a2:	21 83       	std	Z+1, r18	; 0x01
+    71a4:	32 83       	std	Z+2, r19	; 0x02
+    71a6:	43 83       	std	Z+3, r20	; 0x03
+    71a8:	54 83       	std	Z+4, r21	; 0x04
+    71aa:	20 e0       	ldi	r18, 0x00	; 0
+    71ac:	30 e0       	ldi	r19, 0x00	; 0
+    71ae:	a9 01       	movw	r20, r18
+    71b0:	b4 eb       	ldi	r27, 0xB4	; 180
+    71b2:	eb 2e       	mov	r14, r27
+    71b4:	f1 2c       	mov	r15, r1
+    71b6:	01 2d       	mov	r16, r1
+    71b8:	11 2d       	mov	r17, r1
+    71ba:	0e 94 08 34 	call	0x6810	; 0x6810 <_Z3maplllll>
+    71be:	0f 90       	pop	r0
+    71c0:	0f 90       	pop	r0
+    71c2:	0f 90       	pop	r0
+    71c4:	0f 90       	pop	r0
+    71c6:	ce 01       	movw	r24, r28
+    71c8:	0e 94 48 38 	call	0x7090	; 0x7090 <_ZN5Servo17writeMicrosecondsEi>
+    71cc:	df 91       	pop	r29
+    71ce:	cf 91       	pop	r28
+    71d0:	1f 91       	pop	r17
+    71d2:	0f 91       	pop	r16
+    71d4:	ff 90       	pop	r15
+    71d6:	ef 90       	pop	r14
+    71d8:	df 90       	pop	r13
+    71da:	cf 90       	pop	r12
+    71dc:	bf 90       	pop	r11
+    71de:	af 90       	pop	r10
+    71e0:	08 95       	ret
+
+000071e2 <_ZN5Servo16readMicrosecondsEv>:
+    71e2:	fc 01       	movw	r30, r24
+    71e4:	80 81       	ld	r24, Z
+    71e6:	8f 3f       	cpi	r24, 0xFF	; 255
+    71e8:	b9 f0       	breq	.+46     	; 0x7218 <_ZN5Servo16readMicrosecondsEv+0x36>
+    71ea:	90 e0       	ldi	r25, 0x00	; 0
+    71ec:	fc 01       	movw	r30, r24
+    71ee:	ee 0f       	add	r30, r30
+    71f0:	ff 1f       	adc	r31, r31
+    71f2:	e8 0f       	add	r30, r24
+    71f4:	f9 1f       	adc	r31, r25
+    71f6:	ef 54       	subi	r30, 0x4F	; 79
+    71f8:	ff 4e       	sbci	r31, 0xEF	; 239
+    71fa:	21 81       	ldd	r18, Z+1	; 0x01
+    71fc:	32 81       	ldd	r19, Z+2	; 0x02
+    71fe:	93 e0       	ldi	r25, 0x03	; 3
+    7200:	22 0f       	add	r18, r18
+    7202:	33 1f       	adc	r19, r19
+    7204:	9a 95       	dec	r25
+    7206:	e1 f7       	brne	.-8      	; 0x7200 <_ZN5Servo16readMicrosecondsEv+0x1e>
+    7208:	84 e0       	ldi	r24, 0x04	; 4
+    720a:	36 95       	lsr	r19
+    720c:	27 95       	ror	r18
+    720e:	8a 95       	dec	r24
+    7210:	e1 f7       	brne	.-8      	; 0x720a <_ZN5Servo16readMicrosecondsEv+0x28>
+    7212:	2e 5f       	subi	r18, 0xFE	; 254
+    7214:	3f 4f       	sbci	r19, 0xFF	; 255
+    7216:	02 c0       	rjmp	.+4      	; 0x721c <_ZN5Servo16readMicrosecondsEv+0x3a>
+    7218:	20 e0       	ldi	r18, 0x00	; 0
+    721a:	30 e0       	ldi	r19, 0x00	; 0
+    721c:	c9 01       	movw	r24, r18
+    721e:	08 95       	ret
+
+00007220 <_ZN5Servo4readEv>:
+    7220:	af 92       	push	r10
+    7222:	bf 92       	push	r11
+    7224:	cf 92       	push	r12
+    7226:	df 92       	push	r13
+    7228:	ef 92       	push	r14
+    722a:	ff 92       	push	r15
+    722c:	0f 93       	push	r16
+    722e:	1f 93       	push	r17
+    7230:	cf 93       	push	r28
+    7232:	df 93       	push	r29
+    7234:	ec 01       	movw	r28, r24
+    7236:	0e 94 f1 38 	call	0x71e2	; 0x71e2 <_ZN5Servo16readMicrosecondsEv>
+    723a:	00 d0       	rcall	.+0      	; 0x723c <_ZN5Servo4readEv+0x1c>
+    723c:	0f 92       	push	r0
+    723e:	bc 01       	movw	r22, r24
+    7240:	6f 5f       	subi	r22, 0xFF	; 255
+    7242:	7f 4f       	sbci	r23, 0xFF	; 255
+    7244:	88 27       	eor	r24, r24
+    7246:	77 fd       	sbrc	r23, 7
+    7248:	80 95       	com	r24
+    724a:	98 2f       	mov	r25, r24
+    724c:	49 81       	ldd	r20, Y+1	; 0x01
+    724e:	55 27       	eor	r21, r21
+    7250:	47 fd       	sbrc	r20, 7
+    7252:	50 95       	com	r21
+    7254:	28 e8       	ldi	r18, 0x88	; 136
+    7256:	30 e0       	ldi	r19, 0x00	; 0
+    7258:	24 1b       	sub	r18, r20
+    725a:	35 0b       	sbc	r19, r21
+    725c:	22 0f       	add	r18, r18
+    725e:	33 1f       	adc	r19, r19
+    7260:	22 0f       	add	r18, r18
+    7262:	33 1f       	adc	r19, r19
+    7264:	44 27       	eor	r20, r20
+    7266:	37 fd       	sbrc	r19, 7
+    7268:	40 95       	com	r20
+    726a:	54 2f       	mov	r21, r20
+    726c:	aa 81       	ldd	r26, Y+2	; 0x02
+    726e:	bb 27       	eor	r27, r27
+    7270:	a7 fd       	sbrc	r26, 7
+    7272:	b0 95       	com	r27
+    7274:	e8 e5       	ldi	r30, 0x58	; 88
+    7276:	f2 e0       	ldi	r31, 0x02	; 2
+    7278:	ea 1b       	sub	r30, r26
+    727a:	fb 0b       	sbc	r31, r27
+    727c:	ee 0f       	add	r30, r30
+    727e:	ff 1f       	adc	r31, r31
+    7280:	ee 0f       	add	r30, r30
+    7282:	ff 1f       	adc	r31, r31
+    7284:	5f 01       	movw	r10, r30
+    7286:	cc 24       	eor	r12, r12
+    7288:	b7 fc       	sbrc	r11, 7
+    728a:	c0 94       	com	r12
+    728c:	dc 2c       	mov	r13, r12
+    728e:	e4 eb       	ldi	r30, 0xB4	; 180
+    7290:	ee 2e       	mov	r14, r30
+    7292:	f1 2c       	mov	r15, r1
+    7294:	01 2d       	mov	r16, r1
+    7296:	11 2d       	mov	r17, r1
+    7298:	ed b7       	in	r30, 0x3d	; 61
+    729a:	fe b7       	in	r31, 0x3e	; 62
+    729c:	e1 82       	std	Z+1, r14	; 0x01
+    729e:	f2 82       	std	Z+2, r15	; 0x02
+    72a0:	03 83       	std	Z+3, r16	; 0x03
+    72a2:	14 83       	std	Z+4, r17	; 0x04
+    72a4:	86 01       	movw	r16, r12
+    72a6:	75 01       	movw	r14, r10
+    72a8:	aa 24       	eor	r10, r10
+    72aa:	bb 24       	eor	r11, r11
+    72ac:	65 01       	movw	r12, r10
+    72ae:	0e 94 08 34 	call	0x6810	; 0x6810 <_Z3maplllll>
+    72b2:	0f 90       	pop	r0
+    72b4:	0f 90       	pop	r0
+    72b6:	0f 90       	pop	r0
+    72b8:	0f 90       	pop	r0
+    72ba:	cb 01       	movw	r24, r22
+    72bc:	df 91       	pop	r29
+    72be:	cf 91       	pop	r28
+    72c0:	1f 91       	pop	r17
+    72c2:	0f 91       	pop	r16
+    72c4:	ff 90       	pop	r15
+    72c6:	ef 90       	pop	r14
+    72c8:	df 90       	pop	r13
+    72ca:	cf 90       	pop	r12
+    72cc:	bf 90       	pop	r11
+    72ce:	af 90       	pop	r10
+    72d0:	08 95       	ret
+
+000072d2 <twi_init>:
+    72d2:	10 92 69 11 	sts	0x1169, r1
+    72d6:	58 9a       	sbi	0x0b, 0	; 11
+    72d8:	59 9a       	sbi	0x0b, 1	; 11
+    72da:	e9 eb       	ldi	r30, 0xB9	; 185
+    72dc:	f0 e0       	ldi	r31, 0x00	; 0
+    72de:	80 81       	ld	r24, Z
+    72e0:	8e 7f       	andi	r24, 0xFE	; 254
+    72e2:	80 83       	st	Z, r24
+    72e4:	80 81       	ld	r24, Z
+    72e6:	8d 7f       	andi	r24, 0xFD	; 253
+    72e8:	80 83       	st	Z, r24
+    72ea:	88 e4       	ldi	r24, 0x48	; 72
+    72ec:	80 93 b8 00 	sts	0x00B8, r24
+    72f0:	85 e4       	ldi	r24, 0x45	; 69
+    72f2:	80 93 bc 00 	sts	0x00BC, r24
+    72f6:	08 95       	ret
+
+000072f8 <twi_readFrom>:
+    72f8:	41 32       	cpi	r20, 0x21	; 33
+    72fa:	88 f5       	brcc	.+98     	; 0x735e <twi_readFrom+0x66>
+    72fc:	90 91 69 11 	lds	r25, 0x1169
+    7300:	99 23       	and	r25, r25
+    7302:	e1 f7       	brne	.-8      	; 0x72fc <twi_readFrom+0x4>
+    7304:	91 e0       	ldi	r25, 0x01	; 1
+    7306:	90 93 69 11 	sts	0x1169, r25
+    730a:	9f ef       	ldi	r25, 0xFF	; 255
+    730c:	90 93 68 11 	sts	0x1168, r25
+    7310:	10 92 46 11 	sts	0x1146, r1
+    7314:	94 2f       	mov	r25, r20
+    7316:	91 50       	subi	r25, 0x01	; 1
+    7318:	90 93 47 11 	sts	0x1147, r25
+    731c:	88 0f       	add	r24, r24
+    731e:	81 60       	ori	r24, 0x01	; 1
+    7320:	80 93 45 11 	sts	0x1145, r24
+    7324:	85 ee       	ldi	r24, 0xE5	; 229
+    7326:	80 93 bc 00 	sts	0x00BC, r24
+    732a:	80 91 69 11 	lds	r24, 0x1169
+    732e:	81 30       	cpi	r24, 0x01	; 1
+    7330:	e1 f3       	breq	.-8      	; 0x732a <twi_readFrom+0x32>
+    7332:	80 91 46 11 	lds	r24, 0x1146
+    7336:	84 17       	cp	r24, r20
+    7338:	10 f4       	brcc	.+4      	; 0x733e <twi_readFrom+0x46>
+    733a:	40 91 46 11 	lds	r20, 0x1146
+    733e:	e8 e4       	ldi	r30, 0x48	; 72
+    7340:	f1 e1       	ldi	r31, 0x11	; 17
+    7342:	26 2f       	mov	r18, r22
+    7344:	37 2f       	mov	r19, r23
+    7346:	d9 01       	movw	r26, r18
+    7348:	24 2f       	mov	r18, r20
+    734a:	30 e0       	ldi	r19, 0x00	; 0
+    734c:	2e 0f       	add	r18, r30
+    734e:	3f 1f       	adc	r19, r31
+    7350:	02 c0       	rjmp	.+4      	; 0x7356 <twi_readFrom+0x5e>
+    7352:	81 91       	ld	r24, Z+
+    7354:	8d 93       	st	X+, r24
+    7356:	e2 17       	cp	r30, r18
+    7358:	f3 07       	cpc	r31, r19
+    735a:	d9 f7       	brne	.-10     	; 0x7352 <twi_readFrom+0x5a>
+    735c:	01 c0       	rjmp	.+2      	; 0x7360 <twi_readFrom+0x68>
+    735e:	40 e0       	ldi	r20, 0x00	; 0
+    7360:	84 2f       	mov	r24, r20
+    7362:	08 95       	ret
+
+00007364 <twi_writeTo>:
+    7364:	41 32       	cpi	r20, 0x21	; 33
+    7366:	b0 f5       	brcc	.+108    	; 0x73d4 <twi_writeTo+0x70>
+    7368:	90 91 69 11 	lds	r25, 0x1169
+    736c:	99 23       	and	r25, r25
+    736e:	e1 f7       	brne	.-8      	; 0x7368 <twi_writeTo+0x4>
+    7370:	92 e0       	ldi	r25, 0x02	; 2
+    7372:	90 93 69 11 	sts	0x1169, r25
+    7376:	9f ef       	ldi	r25, 0xFF	; 255
+    7378:	90 93 68 11 	sts	0x1168, r25
+    737c:	10 92 46 11 	sts	0x1146, r1
+    7380:	40 93 47 11 	sts	0x1147, r20
+    7384:	db 01       	movw	r26, r22
+    7386:	e8 e4       	ldi	r30, 0x48	; 72
+    7388:	f1 e1       	ldi	r31, 0x11	; 17
+    738a:	50 e0       	ldi	r21, 0x00	; 0
+    738c:	4e 0f       	add	r20, r30
+    738e:	5f 1f       	adc	r21, r31
+    7390:	02 c0       	rjmp	.+4      	; 0x7396 <twi_writeTo+0x32>
+    7392:	9d 91       	ld	r25, X+
+    7394:	91 93       	st	Z+, r25
+    7396:	e4 17       	cp	r30, r20
+    7398:	f5 07       	cpc	r31, r21
+    739a:	d9 f7       	brne	.-10     	; 0x7392 <twi_writeTo+0x2e>
+    739c:	90 e0       	ldi	r25, 0x00	; 0
+    739e:	88 0f       	add	r24, r24
+    73a0:	99 1f       	adc	r25, r25
+    73a2:	80 93 45 11 	sts	0x1145, r24
+    73a6:	85 ee       	ldi	r24, 0xE5	; 229
+    73a8:	80 93 bc 00 	sts	0x00BC, r24
+    73ac:	22 23       	and	r18, r18
+    73ae:	21 f0       	breq	.+8      	; 0x73b8 <twi_writeTo+0x54>
+    73b0:	80 91 69 11 	lds	r24, 0x1169
+    73b4:	82 30       	cpi	r24, 0x02	; 2
+    73b6:	e1 f3       	breq	.-8      	; 0x73b0 <twi_writeTo+0x4c>
+    73b8:	80 91 68 11 	lds	r24, 0x1168
+    73bc:	8f 3f       	cpi	r24, 0xFF	; 255
+    73be:	61 f0       	breq	.+24     	; 0x73d8 <twi_writeTo+0x74>
+    73c0:	80 91 68 11 	lds	r24, 0x1168
+    73c4:	80 32       	cpi	r24, 0x20	; 32
+    73c6:	51 f0       	breq	.+20     	; 0x73dc <twi_writeTo+0x78>
+    73c8:	80 91 68 11 	lds	r24, 0x1168
+    73cc:	80 33       	cpi	r24, 0x30	; 48
+    73ce:	41 f4       	brne	.+16     	; 0x73e0 <twi_writeTo+0x7c>
+    73d0:	83 e0       	ldi	r24, 0x03	; 3
+    73d2:	08 95       	ret
+    73d4:	81 e0       	ldi	r24, 0x01	; 1
+    73d6:	08 95       	ret
+    73d8:	80 e0       	ldi	r24, 0x00	; 0
+    73da:	08 95       	ret
+    73dc:	82 e0       	ldi	r24, 0x02	; 2
+    73de:	08 95       	ret
+    73e0:	84 e0       	ldi	r24, 0x04	; 4
+    73e2:	08 95       	ret
+
+000073e4 <twi_transmit>:
+    73e4:	61 32       	cpi	r22, 0x21	; 33
+    73e6:	a0 f4       	brcc	.+40     	; 0x7410 <twi_transmit+0x2c>
+    73e8:	20 91 69 11 	lds	r18, 0x1169
+    73ec:	24 30       	cpi	r18, 0x04	; 4
+    73ee:	91 f4       	brne	.+36     	; 0x7414 <twi_transmit+0x30>
+    73f0:	60 93 8e 11 	sts	0x118E, r22
+    73f4:	dc 01       	movw	r26, r24
+    73f6:	e1 e9       	ldi	r30, 0x91	; 145
+    73f8:	f1 e1       	ldi	r31, 0x11	; 17
+    73fa:	70 e0       	ldi	r23, 0x00	; 0
+    73fc:	6e 0f       	add	r22, r30
+    73fe:	7f 1f       	adc	r23, r31
+    7400:	02 c0       	rjmp	.+4      	; 0x7406 <twi_transmit+0x22>
+    7402:	8d 91       	ld	r24, X+
+    7404:	81 93       	st	Z+, r24
+    7406:	e6 17       	cp	r30, r22
+    7408:	f7 07       	cpc	r31, r23
+    740a:	d9 f7       	brne	.-10     	; 0x7402 <twi_transmit+0x1e>
+    740c:	80 e0       	ldi	r24, 0x00	; 0
+    740e:	08 95       	ret
+    7410:	81 e0       	ldi	r24, 0x01	; 1
+    7412:	08 95       	ret
+    7414:	82 e0       	ldi	r24, 0x02	; 2
+    7416:	08 95       	ret
+
+00007418 <twi_reply>:
+    7418:	88 23       	and	r24, r24
+    741a:	11 f0       	breq	.+4      	; 0x7420 <twi_reply+0x8>
+    741c:	85 ec       	ldi	r24, 0xC5	; 197
+    741e:	01 c0       	rjmp	.+2      	; 0x7422 <twi_reply+0xa>
+    7420:	85 e8       	ldi	r24, 0x85	; 133
+    7422:	80 93 bc 00 	sts	0x00BC, r24
+    7426:	08 95       	ret
+
+00007428 <twi_stop>:
+    7428:	85 ed       	ldi	r24, 0xD5	; 213
+    742a:	80 93 bc 00 	sts	0x00BC, r24
+    742e:	80 91 bc 00 	lds	r24, 0x00BC
+    7432:	84 fd       	sbrc	r24, 4
+    7434:	fc cf       	rjmp	.-8      	; 0x742e <twi_stop+0x6>
+    7436:	10 92 69 11 	sts	0x1169, r1
+    743a:	08 95       	ret
+
+0000743c <twi_releaseBus>:
+    743c:	85 ec       	ldi	r24, 0xC5	; 197
+    743e:	80 93 bc 00 	sts	0x00BC, r24
+    7442:	10 92 69 11 	sts	0x1169, r1
+    7446:	08 95       	ret
+
+00007448 <__vector_39>:
+    7448:	1f 92       	push	r1
+    744a:	0f 92       	push	r0
+    744c:	0f b6       	in	r0, 0x3f	; 63
+    744e:	0f 92       	push	r0
+    7450:	0b b6       	in	r0, 0x3b	; 59
+    7452:	0f 92       	push	r0
+    7454:	11 24       	eor	r1, r1
+    7456:	2f 93       	push	r18
+    7458:	3f 93       	push	r19
+    745a:	4f 93       	push	r20
+    745c:	5f 93       	push	r21
+    745e:	6f 93       	push	r22
+    7460:	7f 93       	push	r23
+    7462:	8f 93       	push	r24
+    7464:	9f 93       	push	r25
+    7466:	af 93       	push	r26
+    7468:	bf 93       	push	r27
+    746a:	ef 93       	push	r30
+    746c:	ff 93       	push	r31
+    746e:	80 91 b9 00 	lds	r24, 0x00B9
+    7472:	90 e0       	ldi	r25, 0x00	; 0
+    7474:	88 7f       	andi	r24, 0xF8	; 248
+    7476:	90 70       	andi	r25, 0x00	; 0
+    7478:	80 36       	cpi	r24, 0x60	; 96
+    747a:	91 05       	cpc	r25, r1
+    747c:	09 f4       	brne	.+2      	; 0x7480 <__vector_39+0x38>
+    747e:	c2 c0       	rjmp	.+388    	; 0x7604 <__vector_39+0x1bc>
+    7480:	81 36       	cpi	r24, 0x61	; 97
+    7482:	91 05       	cpc	r25, r1
+    7484:	e4 f5       	brge	.+120    	; 0x74fe <__vector_39+0xb6>
+    7486:	88 32       	cpi	r24, 0x28	; 40
+    7488:	91 05       	cpc	r25, r1
+    748a:	09 f4       	brne	.+2      	; 0x748e <__vector_39+0x46>
+    748c:	7e c0       	rjmp	.+252    	; 0x758a <__vector_39+0x142>
+    748e:	89 32       	cpi	r24, 0x29	; 41
+    7490:	91 05       	cpc	r25, r1
+    7492:	c4 f4       	brge	.+48     	; 0x74c4 <__vector_39+0x7c>
+    7494:	80 31       	cpi	r24, 0x10	; 16
+    7496:	91 05       	cpc	r25, r1
+    7498:	09 f4       	brne	.+2      	; 0x749c <__vector_39+0x54>
+    749a:	72 c0       	rjmp	.+228    	; 0x7580 <__vector_39+0x138>
+    749c:	81 31       	cpi	r24, 0x11	; 17
+    749e:	91 05       	cpc	r25, r1
+    74a0:	44 f4       	brge	.+16     	; 0x74b2 <__vector_39+0x6a>
+    74a2:	00 97       	sbiw	r24, 0x00	; 0
+    74a4:	09 f4       	brne	.+2      	; 0x74a8 <__vector_39+0x60>
+    74a6:	13 c1       	rjmp	.+550    	; 0x76ce <__vector_39+0x286>
+    74a8:	88 30       	cpi	r24, 0x08	; 8
+    74aa:	91 05       	cpc	r25, r1
+    74ac:	09 f0       	breq	.+2      	; 0x74b0 <__vector_39+0x68>
+    74ae:	13 c1       	rjmp	.+550    	; 0x76d6 <__vector_39+0x28e>
+    74b0:	67 c0       	rjmp	.+206    	; 0x7580 <__vector_39+0x138>
+    74b2:	88 31       	cpi	r24, 0x18	; 24
+    74b4:	91 05       	cpc	r25, r1
+    74b6:	09 f4       	brne	.+2      	; 0x74ba <__vector_39+0x72>
+    74b8:	68 c0       	rjmp	.+208    	; 0x758a <__vector_39+0x142>
+    74ba:	80 32       	cpi	r24, 0x20	; 32
+    74bc:	91 05       	cpc	r25, r1
+    74be:	09 f0       	breq	.+2      	; 0x74c2 <__vector_39+0x7a>
+    74c0:	0a c1       	rjmp	.+532    	; 0x76d6 <__vector_39+0x28e>
+    74c2:	78 c0       	rjmp	.+240    	; 0x75b4 <__vector_39+0x16c>
+    74c4:	80 34       	cpi	r24, 0x40	; 64
+    74c6:	91 05       	cpc	r25, r1
+    74c8:	09 f4       	brne	.+2      	; 0x74cc <__vector_39+0x84>
+    74ca:	8a c0       	rjmp	.+276    	; 0x75e0 <__vector_39+0x198>
+    74cc:	81 34       	cpi	r24, 0x41	; 65
+    74ce:	91 05       	cpc	r25, r1
+    74d0:	4c f4       	brge	.+18     	; 0x74e4 <__vector_39+0x9c>
+    74d2:	80 33       	cpi	r24, 0x30	; 48
+    74d4:	91 05       	cpc	r25, r1
+    74d6:	09 f4       	brne	.+2      	; 0x74da <__vector_39+0x92>
+    74d8:	6f c0       	rjmp	.+222    	; 0x75b8 <__vector_39+0x170>
+    74da:	88 33       	cpi	r24, 0x38	; 56
+    74dc:	91 05       	cpc	r25, r1
+    74de:	09 f0       	breq	.+2      	; 0x74e2 <__vector_39+0x9a>
+    74e0:	fa c0       	rjmp	.+500    	; 0x76d6 <__vector_39+0x28e>
+    74e2:	6e c0       	rjmp	.+220    	; 0x75c0 <__vector_39+0x178>
+    74e4:	80 35       	cpi	r24, 0x50	; 80
+    74e6:	91 05       	cpc	r25, r1
+    74e8:	09 f4       	brne	.+2      	; 0x74ec <__vector_39+0xa4>
+    74ea:	6e c0       	rjmp	.+220    	; 0x75c8 <__vector_39+0x180>
+    74ec:	88 35       	cpi	r24, 0x58	; 88
+    74ee:	91 05       	cpc	r25, r1
+    74f0:	09 f4       	brne	.+2      	; 0x74f4 <__vector_39+0xac>
+    74f2:	7b c0       	rjmp	.+246    	; 0x75ea <__vector_39+0x1a2>
+    74f4:	88 34       	cpi	r24, 0x48	; 72
+    74f6:	91 05       	cpc	r25, r1
+    74f8:	09 f0       	breq	.+2      	; 0x74fc <__vector_39+0xb4>
+    74fa:	ed c0       	rjmp	.+474    	; 0x76d6 <__vector_39+0x28e>
+    74fc:	ea c0       	rjmp	.+468    	; 0x76d2 <__vector_39+0x28a>
+    74fe:	88 39       	cpi	r24, 0x98	; 152
+    7500:	91 05       	cpc	r25, r1
+    7502:	09 f4       	brne	.+2      	; 0x7506 <__vector_39+0xbe>
+    7504:	da c0       	rjmp	.+436    	; 0x76ba <__vector_39+0x272>
+    7506:	89 39       	cpi	r24, 0x99	; 153
+    7508:	91 05       	cpc	r25, r1
+    750a:	ec f4       	brge	.+58     	; 0x7546 <__vector_39+0xfe>
+    750c:	88 37       	cpi	r24, 0x78	; 120
+    750e:	91 05       	cpc	r25, r1
+    7510:	09 f4       	brne	.+2      	; 0x7514 <__vector_39+0xcc>
+    7512:	78 c0       	rjmp	.+240    	; 0x7604 <__vector_39+0x1bc>
+    7514:	89 37       	cpi	r24, 0x79	; 121
+    7516:	91 05       	cpc	r25, r1
+    7518:	4c f4       	brge	.+18     	; 0x752c <__vector_39+0xe4>
+    751a:	88 36       	cpi	r24, 0x68	; 104
+    751c:	91 05       	cpc	r25, r1
+    751e:	09 f4       	brne	.+2      	; 0x7522 <__vector_39+0xda>
+    7520:	71 c0       	rjmp	.+226    	; 0x7604 <__vector_39+0x1bc>
+    7522:	80 37       	cpi	r24, 0x70	; 112
+    7524:	91 05       	cpc	r25, r1
+    7526:	09 f0       	breq	.+2      	; 0x752a <__vector_39+0xe2>
+    7528:	d6 c0       	rjmp	.+428    	; 0x76d6 <__vector_39+0x28e>
+    752a:	6c c0       	rjmp	.+216    	; 0x7604 <__vector_39+0x1bc>
+    752c:	88 38       	cpi	r24, 0x88	; 136
+    752e:	91 05       	cpc	r25, r1
+    7530:	09 f4       	brne	.+2      	; 0x7534 <__vector_39+0xec>
+    7532:	c3 c0       	rjmp	.+390    	; 0x76ba <__vector_39+0x272>
+    7534:	80 39       	cpi	r24, 0x90	; 144
+    7536:	91 05       	cpc	r25, r1
+    7538:	09 f4       	brne	.+2      	; 0x753c <__vector_39+0xf4>
+    753a:	6a c0       	rjmp	.+212    	; 0x7610 <__vector_39+0x1c8>
+    753c:	80 38       	cpi	r24, 0x80	; 128
+    753e:	91 05       	cpc	r25, r1
+    7540:	09 f0       	breq	.+2      	; 0x7544 <__vector_39+0xfc>
+    7542:	c9 c0       	rjmp	.+402    	; 0x76d6 <__vector_39+0x28e>
+    7544:	65 c0       	rjmp	.+202    	; 0x7610 <__vector_39+0x1c8>
+    7546:	80 3b       	cpi	r24, 0xB0	; 176
+    7548:	91 05       	cpc	r25, r1
+    754a:	09 f4       	brne	.+2      	; 0x754e <__vector_39+0x106>
+    754c:	8e c0       	rjmp	.+284    	; 0x766a <__vector_39+0x222>
+    754e:	81 3b       	cpi	r24, 0xB1	; 177
+    7550:	91 05       	cpc	r25, r1
+    7552:	4c f4       	brge	.+18     	; 0x7566 <__vector_39+0x11e>
+    7554:	80 3a       	cpi	r24, 0xA0	; 160
+    7556:	91 05       	cpc	r25, r1
+    7558:	09 f4       	brne	.+2      	; 0x755c <__vector_39+0x114>
+    755a:	6c c0       	rjmp	.+216    	; 0x7634 <__vector_39+0x1ec>
+    755c:	88 3a       	cpi	r24, 0xA8	; 168
+    755e:	91 05       	cpc	r25, r1
+    7560:	09 f0       	breq	.+2      	; 0x7564 <__vector_39+0x11c>
+    7562:	b9 c0       	rjmp	.+370    	; 0x76d6 <__vector_39+0x28e>
+    7564:	82 c0       	rjmp	.+260    	; 0x766a <__vector_39+0x222>
+    7566:	80 3c       	cpi	r24, 0xC0	; 192
+    7568:	91 05       	cpc	r25, r1
+    756a:	09 f4       	brne	.+2      	; 0x756e <__vector_39+0x126>
+    756c:	aa c0       	rjmp	.+340    	; 0x76c2 <__vector_39+0x27a>
+    756e:	88 3c       	cpi	r24, 0xC8	; 200
+    7570:	91 05       	cpc	r25, r1
+    7572:	09 f4       	brne	.+2      	; 0x7576 <__vector_39+0x12e>
+    7574:	a6 c0       	rjmp	.+332    	; 0x76c2 <__vector_39+0x27a>
+    7576:	88 3b       	cpi	r24, 0xB8	; 184
+    7578:	91 05       	cpc	r25, r1
+    757a:	09 f0       	breq	.+2      	; 0x757e <__vector_39+0x136>
+    757c:	ac c0       	rjmp	.+344    	; 0x76d6 <__vector_39+0x28e>
+    757e:	8a c0       	rjmp	.+276    	; 0x7694 <__vector_39+0x24c>
+    7580:	80 91 45 11 	lds	r24, 0x1145
+    7584:	80 93 bb 00 	sts	0x00BB, r24
+    7588:	13 c0       	rjmp	.+38     	; 0x75b0 <__vector_39+0x168>
+    758a:	90 91 46 11 	lds	r25, 0x1146
+    758e:	80 91 47 11 	lds	r24, 0x1147
+    7592:	98 17       	cp	r25, r24
+    7594:	08 f0       	brcs	.+2      	; 0x7598 <__vector_39+0x150>
+    7596:	9d c0       	rjmp	.+314    	; 0x76d2 <__vector_39+0x28a>
+    7598:	80 91 46 11 	lds	r24, 0x1146
+    759c:	e8 2f       	mov	r30, r24
+    759e:	f0 e0       	ldi	r31, 0x00	; 0
+    75a0:	e8 5b       	subi	r30, 0xB8	; 184
+    75a2:	fe 4e       	sbci	r31, 0xEE	; 238
+    75a4:	90 81       	ld	r25, Z
+    75a6:	90 93 bb 00 	sts	0x00BB, r25
+    75aa:	8f 5f       	subi	r24, 0xFF	; 255
+    75ac:	80 93 46 11 	sts	0x1146, r24
+    75b0:	81 e0       	ldi	r24, 0x01	; 1
+    75b2:	84 c0       	rjmp	.+264    	; 0x76bc <__vector_39+0x274>
+    75b4:	80 e2       	ldi	r24, 0x20	; 32
+    75b6:	01 c0       	rjmp	.+2      	; 0x75ba <__vector_39+0x172>
+    75b8:	80 e3       	ldi	r24, 0x30	; 48
+    75ba:	80 93 68 11 	sts	0x1168, r24
+    75be:	89 c0       	rjmp	.+274    	; 0x76d2 <__vector_39+0x28a>
+    75c0:	88 e3       	ldi	r24, 0x38	; 56
+    75c2:	80 93 68 11 	sts	0x1168, r24
+    75c6:	4e c0       	rjmp	.+156    	; 0x7664 <__vector_39+0x21c>
+    75c8:	80 91 46 11 	lds	r24, 0x1146
+    75cc:	90 91 bb 00 	lds	r25, 0x00BB
+    75d0:	e8 2f       	mov	r30, r24
+    75d2:	f0 e0       	ldi	r31, 0x00	; 0
+    75d4:	e8 5b       	subi	r30, 0xB8	; 184
+    75d6:	fe 4e       	sbci	r31, 0xEE	; 238
+    75d8:	90 83       	st	Z, r25
+    75da:	8f 5f       	subi	r24, 0xFF	; 255
+    75dc:	80 93 46 11 	sts	0x1146, r24
+    75e0:	90 91 46 11 	lds	r25, 0x1146
+    75e4:	80 91 47 11 	lds	r24, 0x1147
+    75e8:	65 c0       	rjmp	.+202    	; 0x76b4 <__vector_39+0x26c>
+    75ea:	80 91 46 11 	lds	r24, 0x1146
+    75ee:	90 91 bb 00 	lds	r25, 0x00BB
+    75f2:	e8 2f       	mov	r30, r24
+    75f4:	f0 e0       	ldi	r31, 0x00	; 0
+    75f6:	e8 5b       	subi	r30, 0xB8	; 184
+    75f8:	fe 4e       	sbci	r31, 0xEE	; 238
+    75fa:	90 83       	st	Z, r25
+    75fc:	8f 5f       	subi	r24, 0xFF	; 255
+    75fe:	80 93 46 11 	sts	0x1146, r24
+    7602:	67 c0       	rjmp	.+206    	; 0x76d2 <__vector_39+0x28a>
+    7604:	83 e0       	ldi	r24, 0x03	; 3
+    7606:	80 93 69 11 	sts	0x1169, r24
+    760a:	10 92 6a 11 	sts	0x116A, r1
+    760e:	d0 cf       	rjmp	.-96     	; 0x75b0 <__vector_39+0x168>
+    7610:	80 91 6a 11 	lds	r24, 0x116A
+    7614:	80 32       	cpi	r24, 0x20	; 32
+    7616:	08 f0       	brcs	.+2      	; 0x761a <__vector_39+0x1d2>
+    7618:	50 c0       	rjmp	.+160    	; 0x76ba <__vector_39+0x272>
+    761a:	80 91 6a 11 	lds	r24, 0x116A
+    761e:	90 91 bb 00 	lds	r25, 0x00BB
+    7622:	e8 2f       	mov	r30, r24
+    7624:	f0 e0       	ldi	r31, 0x00	; 0
+    7626:	e5 59       	subi	r30, 0x95	; 149
+    7628:	fe 4e       	sbci	r31, 0xEE	; 238
+    762a:	90 83       	st	Z, r25
+    762c:	8f 5f       	subi	r24, 0xFF	; 255
+    762e:	80 93 6a 11 	sts	0x116A, r24
+    7632:	be cf       	rjmp	.-132    	; 0x75b0 <__vector_39+0x168>
+    7634:	80 91 6a 11 	lds	r24, 0x116A
+    7638:	80 32       	cpi	r24, 0x20	; 32
+    763a:	30 f4       	brcc	.+12     	; 0x7648 <__vector_39+0x200>
+    763c:	e0 91 6a 11 	lds	r30, 0x116A
+    7640:	f0 e0       	ldi	r31, 0x00	; 0
+    7642:	e5 59       	subi	r30, 0x95	; 149
+    7644:	fe 4e       	sbci	r31, 0xEE	; 238
+    7646:	10 82       	st	Z, r1
+    7648:	0e 94 14 3a 	call	0x7428	; 0x7428 <twi_stop>
+    764c:	60 91 6a 11 	lds	r22, 0x116A
+    7650:	e0 91 8b 11 	lds	r30, 0x118B
+    7654:	f0 91 8c 11 	lds	r31, 0x118C
+    7658:	8b e6       	ldi	r24, 0x6B	; 107
+    765a:	91 e1       	ldi	r25, 0x11	; 17
+    765c:	70 e0       	ldi	r23, 0x00	; 0
+    765e:	19 95       	eicall
+    7660:	10 92 6a 11 	sts	0x116A, r1
+    7664:	0e 94 1e 3a 	call	0x743c	; 0x743c <twi_releaseBus>
+    7668:	36 c0       	rjmp	.+108    	; 0x76d6 <__vector_39+0x28e>
+    766a:	84 e0       	ldi	r24, 0x04	; 4
+    766c:	80 93 69 11 	sts	0x1169, r24
+    7670:	10 92 8d 11 	sts	0x118D, r1
+    7674:	10 92 8e 11 	sts	0x118E, r1
+    7678:	e0 91 8f 11 	lds	r30, 0x118F
+    767c:	f0 91 90 11 	lds	r31, 0x1190
+    7680:	19 95       	eicall
+    7682:	80 91 8e 11 	lds	r24, 0x118E
+    7686:	88 23       	and	r24, r24
+    7688:	29 f4       	brne	.+10     	; 0x7694 <__vector_39+0x24c>
+    768a:	81 e0       	ldi	r24, 0x01	; 1
+    768c:	80 93 8e 11 	sts	0x118E, r24
+    7690:	10 92 91 11 	sts	0x1191, r1
+    7694:	80 91 8d 11 	lds	r24, 0x118D
+    7698:	e8 2f       	mov	r30, r24
+    769a:	f0 e0       	ldi	r31, 0x00	; 0
+    769c:	ef 56       	subi	r30, 0x6F	; 111
+    769e:	fe 4e       	sbci	r31, 0xEE	; 238
+    76a0:	90 81       	ld	r25, Z
+    76a2:	90 93 bb 00 	sts	0x00BB, r25
+    76a6:	8f 5f       	subi	r24, 0xFF	; 255
+    76a8:	80 93 8d 11 	sts	0x118D, r24
+    76ac:	90 91 8d 11 	lds	r25, 0x118D
+    76b0:	80 91 8e 11 	lds	r24, 0x118E
+    76b4:	98 17       	cp	r25, r24
+    76b6:	08 f4       	brcc	.+2      	; 0x76ba <__vector_39+0x272>
+    76b8:	7b cf       	rjmp	.-266    	; 0x75b0 <__vector_39+0x168>
+    76ba:	80 e0       	ldi	r24, 0x00	; 0
+    76bc:	0e 94 0c 3a 	call	0x7418	; 0x7418 <twi_reply>
+    76c0:	0a c0       	rjmp	.+20     	; 0x76d6 <__vector_39+0x28e>
+    76c2:	81 e0       	ldi	r24, 0x01	; 1
+    76c4:	0e 94 0c 3a 	call	0x7418	; 0x7418 <twi_reply>
+    76c8:	10 92 69 11 	sts	0x1169, r1
+    76cc:	04 c0       	rjmp	.+8      	; 0x76d6 <__vector_39+0x28e>
+    76ce:	10 92 68 11 	sts	0x1168, r1
+    76d2:	0e 94 14 3a 	call	0x7428	; 0x7428 <twi_stop>
+    76d6:	ff 91       	pop	r31
+    76d8:	ef 91       	pop	r30
+    76da:	bf 91       	pop	r27
+    76dc:	af 91       	pop	r26
+    76de:	9f 91       	pop	r25
+    76e0:	8f 91       	pop	r24
+    76e2:	7f 91       	pop	r23
+    76e4:	6f 91       	pop	r22
+    76e6:	5f 91       	pop	r21
+    76e8:	4f 91       	pop	r20
+    76ea:	3f 91       	pop	r19
+    76ec:	2f 91       	pop	r18
+    76ee:	0f 90       	pop	r0
+    76f0:	0b be       	out	0x3b, r0	; 59
+    76f2:	0f 90       	pop	r0
+    76f4:	0f be       	out	0x3f, r0	; 63
+    76f6:	0f 90       	pop	r0
+    76f8:	1f 90       	pop	r1
+    76fa:	18 95       	reti
+
+000076fc <malloc>:
+    76fc:	cf 93       	push	r28
+    76fe:	df 93       	push	r29
+    7700:	82 30       	cpi	r24, 0x02	; 2
+    7702:	91 05       	cpc	r25, r1
+    7704:	10 f4       	brcc	.+4      	; 0x770a <malloc+0xe>
+    7706:	82 e0       	ldi	r24, 0x02	; 2
+    7708:	90 e0       	ldi	r25, 0x00	; 0
+    770a:	e0 91 b3 11 	lds	r30, 0x11B3
+    770e:	f0 91 b4 11 	lds	r31, 0x11B4
+    7712:	40 e0       	ldi	r20, 0x00	; 0
+    7714:	50 e0       	ldi	r21, 0x00	; 0
+    7716:	20 e0       	ldi	r18, 0x00	; 0
+    7718:	30 e0       	ldi	r19, 0x00	; 0
+    771a:	26 c0       	rjmp	.+76     	; 0x7768 <malloc+0x6c>
+    771c:	60 81       	ld	r22, Z
+    771e:	71 81       	ldd	r23, Z+1	; 0x01
+    7720:	68 17       	cp	r22, r24
+    7722:	79 07       	cpc	r23, r25
+    7724:	e0 f0       	brcs	.+56     	; 0x775e <malloc+0x62>
+    7726:	68 17       	cp	r22, r24
+    7728:	79 07       	cpc	r23, r25
+    772a:	81 f4       	brne	.+32     	; 0x774c <malloc+0x50>
+    772c:	82 81       	ldd	r24, Z+2	; 0x02
+    772e:	93 81       	ldd	r25, Z+3	; 0x03
+    7730:	21 15       	cp	r18, r1
+    7732:	31 05       	cpc	r19, r1
+    7734:	31 f0       	breq	.+12     	; 0x7742 <malloc+0x46>
+    7736:	d9 01       	movw	r26, r18
+    7738:	13 96       	adiw	r26, 0x03	; 3
+    773a:	9c 93       	st	X, r25
+    773c:	8e 93       	st	-X, r24
+    773e:	12 97       	sbiw	r26, 0x02	; 2
+    7740:	2b c0       	rjmp	.+86     	; 0x7798 <malloc+0x9c>
+    7742:	90 93 b4 11 	sts	0x11B4, r25
+    7746:	80 93 b3 11 	sts	0x11B3, r24
+    774a:	26 c0       	rjmp	.+76     	; 0x7798 <malloc+0x9c>
+    774c:	41 15       	cp	r20, r1
+    774e:	51 05       	cpc	r21, r1
+    7750:	19 f0       	breq	.+6      	; 0x7758 <malloc+0x5c>
+    7752:	64 17       	cp	r22, r20
+    7754:	75 07       	cpc	r23, r21
+    7756:	18 f4       	brcc	.+6      	; 0x775e <malloc+0x62>
+    7758:	ab 01       	movw	r20, r22
+    775a:	e9 01       	movw	r28, r18
+    775c:	df 01       	movw	r26, r30
+    775e:	9f 01       	movw	r18, r30
+    7760:	72 81       	ldd	r23, Z+2	; 0x02
+    7762:	63 81       	ldd	r22, Z+3	; 0x03
+    7764:	e7 2f       	mov	r30, r23
+    7766:	f6 2f       	mov	r31, r22
+    7768:	30 97       	sbiw	r30, 0x00	; 0
+    776a:	c1 f6       	brne	.-80     	; 0x771c <malloc+0x20>
+    776c:	41 15       	cp	r20, r1
+    776e:	51 05       	cpc	r21, r1
+    7770:	01 f1       	breq	.+64     	; 0x77b2 <malloc+0xb6>
+    7772:	48 1b       	sub	r20, r24
+    7774:	59 0b       	sbc	r21, r25
+    7776:	44 30       	cpi	r20, 0x04	; 4
+    7778:	51 05       	cpc	r21, r1
+    777a:	80 f4       	brcc	.+32     	; 0x779c <malloc+0xa0>
+    777c:	12 96       	adiw	r26, 0x02	; 2
+    777e:	8d 91       	ld	r24, X+
+    7780:	9c 91       	ld	r25, X
+    7782:	13 97       	sbiw	r26, 0x03	; 3
+    7784:	20 97       	sbiw	r28, 0x00	; 0
+    7786:	19 f0       	breq	.+6      	; 0x778e <malloc+0x92>
+    7788:	9b 83       	std	Y+3, r25	; 0x03
+    778a:	8a 83       	std	Y+2, r24	; 0x02
+    778c:	04 c0       	rjmp	.+8      	; 0x7796 <malloc+0x9a>
+    778e:	90 93 b4 11 	sts	0x11B4, r25
+    7792:	80 93 b3 11 	sts	0x11B3, r24
+    7796:	fd 01       	movw	r30, r26
+    7798:	32 96       	adiw	r30, 0x02	; 2
+    779a:	46 c0       	rjmp	.+140    	; 0x7828 <malloc+0x12c>
+    779c:	fd 01       	movw	r30, r26
+    779e:	e4 0f       	add	r30, r20
+    77a0:	f5 1f       	adc	r31, r21
+    77a2:	81 93       	st	Z+, r24
+    77a4:	91 93       	st	Z+, r25
+    77a6:	42 50       	subi	r20, 0x02	; 2
+    77a8:	50 40       	sbci	r21, 0x00	; 0
+    77aa:	11 96       	adiw	r26, 0x01	; 1
+    77ac:	5c 93       	st	X, r21
+    77ae:	4e 93       	st	-X, r20
+    77b0:	3b c0       	rjmp	.+118    	; 0x7828 <malloc+0x12c>
+    77b2:	20 91 b1 11 	lds	r18, 0x11B1
+    77b6:	30 91 b2 11 	lds	r19, 0x11B2
+    77ba:	21 15       	cp	r18, r1
+    77bc:	31 05       	cpc	r19, r1
+    77be:	41 f4       	brne	.+16     	; 0x77d0 <malloc+0xd4>
+    77c0:	20 91 3e 05 	lds	r18, 0x053E
+    77c4:	30 91 3f 05 	lds	r19, 0x053F
+    77c8:	30 93 b2 11 	sts	0x11B2, r19
+    77cc:	20 93 b1 11 	sts	0x11B1, r18
+    77d0:	20 91 40 05 	lds	r18, 0x0540
+    77d4:	30 91 41 05 	lds	r19, 0x0541
+    77d8:	21 15       	cp	r18, r1
+    77da:	31 05       	cpc	r19, r1
+    77dc:	41 f4       	brne	.+16     	; 0x77ee <malloc+0xf2>
+    77de:	2d b7       	in	r18, 0x3d	; 61
+    77e0:	3e b7       	in	r19, 0x3e	; 62
+    77e2:	40 91 3c 05 	lds	r20, 0x053C
+    77e6:	50 91 3d 05 	lds	r21, 0x053D
+    77ea:	24 1b       	sub	r18, r20
+    77ec:	35 0b       	sbc	r19, r21
+    77ee:	e0 91 b1 11 	lds	r30, 0x11B1
+    77f2:	f0 91 b2 11 	lds	r31, 0x11B2
+    77f6:	e2 17       	cp	r30, r18
+    77f8:	f3 07       	cpc	r31, r19
+    77fa:	a0 f4       	brcc	.+40     	; 0x7824 <malloc+0x128>
+    77fc:	2e 1b       	sub	r18, r30
+    77fe:	3f 0b       	sbc	r19, r31
+    7800:	28 17       	cp	r18, r24
+    7802:	39 07       	cpc	r19, r25
+    7804:	78 f0       	brcs	.+30     	; 0x7824 <malloc+0x128>
+    7806:	ac 01       	movw	r20, r24
+    7808:	4e 5f       	subi	r20, 0xFE	; 254
+    780a:	5f 4f       	sbci	r21, 0xFF	; 255
+    780c:	24 17       	cp	r18, r20
+    780e:	35 07       	cpc	r19, r21
+    7810:	48 f0       	brcs	.+18     	; 0x7824 <malloc+0x128>
+    7812:	4e 0f       	add	r20, r30
+    7814:	5f 1f       	adc	r21, r31
+    7816:	50 93 b2 11 	sts	0x11B2, r21
+    781a:	40 93 b1 11 	sts	0x11B1, r20
+    781e:	81 93       	st	Z+, r24
+    7820:	91 93       	st	Z+, r25
+    7822:	02 c0       	rjmp	.+4      	; 0x7828 <malloc+0x12c>
+    7824:	e0 e0       	ldi	r30, 0x00	; 0
+    7826:	f0 e0       	ldi	r31, 0x00	; 0
+    7828:	cf 01       	movw	r24, r30
+    782a:	df 91       	pop	r29
+    782c:	cf 91       	pop	r28
+    782e:	08 95       	ret
+
+00007830 <free>:
+    7830:	cf 93       	push	r28
+    7832:	df 93       	push	r29
+    7834:	00 97       	sbiw	r24, 0x00	; 0
+    7836:	09 f4       	brne	.+2      	; 0x783a <free+0xa>
+    7838:	91 c0       	rjmp	.+290    	; 0x795c <free+0x12c>
+    783a:	fc 01       	movw	r30, r24
+    783c:	32 97       	sbiw	r30, 0x02	; 2
+    783e:	13 82       	std	Z+3, r1	; 0x03
+    7840:	12 82       	std	Z+2, r1	; 0x02
+    7842:	60 91 b3 11 	lds	r22, 0x11B3
+    7846:	70 91 b4 11 	lds	r23, 0x11B4
+    784a:	61 15       	cp	r22, r1
+    784c:	71 05       	cpc	r23, r1
+    784e:	81 f4       	brne	.+32     	; 0x7870 <free+0x40>
+    7850:	20 81       	ld	r18, Z
+    7852:	31 81       	ldd	r19, Z+1	; 0x01
+    7854:	28 0f       	add	r18, r24
+    7856:	39 1f       	adc	r19, r25
+    7858:	80 91 b1 11 	lds	r24, 0x11B1
+    785c:	90 91 b2 11 	lds	r25, 0x11B2
+    7860:	82 17       	cp	r24, r18
+    7862:	93 07       	cpc	r25, r19
+    7864:	99 f5       	brne	.+102    	; 0x78cc <free+0x9c>
+    7866:	f0 93 b2 11 	sts	0x11B2, r31
+    786a:	e0 93 b1 11 	sts	0x11B1, r30
+    786e:	76 c0       	rjmp	.+236    	; 0x795c <free+0x12c>
+    7870:	db 01       	movw	r26, r22
+    7872:	80 e0       	ldi	r24, 0x00	; 0
+    7874:	90 e0       	ldi	r25, 0x00	; 0
+    7876:	02 c0       	rjmp	.+4      	; 0x787c <free+0x4c>
+    7878:	cd 01       	movw	r24, r26
+    787a:	d9 01       	movw	r26, r18
+    787c:	ae 17       	cp	r26, r30
+    787e:	bf 07       	cpc	r27, r31
+    7880:	48 f4       	brcc	.+18     	; 0x7894 <free+0x64>
+    7882:	12 96       	adiw	r26, 0x02	; 2
+    7884:	2d 91       	ld	r18, X+
+    7886:	3c 91       	ld	r19, X
+    7888:	13 97       	sbiw	r26, 0x03	; 3
+    788a:	21 15       	cp	r18, r1
+    788c:	31 05       	cpc	r19, r1
+    788e:	a1 f7       	brne	.-24     	; 0x7878 <free+0x48>
+    7890:	cd 01       	movw	r24, r26
+    7892:	21 c0       	rjmp	.+66     	; 0x78d6 <free+0xa6>
+    7894:	b3 83       	std	Z+3, r27	; 0x03
+    7896:	a2 83       	std	Z+2, r26	; 0x02
+    7898:	ef 01       	movw	r28, r30
+    789a:	49 91       	ld	r20, Y+
+    789c:	59 91       	ld	r21, Y+
+    789e:	9e 01       	movw	r18, r28
+    78a0:	24 0f       	add	r18, r20
+    78a2:	35 1f       	adc	r19, r21
+    78a4:	a2 17       	cp	r26, r18
+    78a6:	b3 07       	cpc	r27, r19
+    78a8:	79 f4       	brne	.+30     	; 0x78c8 <free+0x98>
+    78aa:	2d 91       	ld	r18, X+
+    78ac:	3c 91       	ld	r19, X
+    78ae:	11 97       	sbiw	r26, 0x01	; 1
+    78b0:	24 0f       	add	r18, r20
+    78b2:	35 1f       	adc	r19, r21
+    78b4:	2e 5f       	subi	r18, 0xFE	; 254
+    78b6:	3f 4f       	sbci	r19, 0xFF	; 255
+    78b8:	31 83       	std	Z+1, r19	; 0x01
+    78ba:	20 83       	st	Z, r18
+    78bc:	12 96       	adiw	r26, 0x02	; 2
+    78be:	2d 91       	ld	r18, X+
+    78c0:	3c 91       	ld	r19, X
+    78c2:	13 97       	sbiw	r26, 0x03	; 3
+    78c4:	33 83       	std	Z+3, r19	; 0x03
+    78c6:	22 83       	std	Z+2, r18	; 0x02
+    78c8:	00 97       	sbiw	r24, 0x00	; 0
+    78ca:	29 f4       	brne	.+10     	; 0x78d6 <free+0xa6>
+    78cc:	f0 93 b4 11 	sts	0x11B4, r31
+    78d0:	e0 93 b3 11 	sts	0x11B3, r30
+    78d4:	43 c0       	rjmp	.+134    	; 0x795c <free+0x12c>
+    78d6:	dc 01       	movw	r26, r24
+    78d8:	13 96       	adiw	r26, 0x03	; 3
+    78da:	fc 93       	st	X, r31
+    78dc:	ee 93       	st	-X, r30
+    78de:	12 97       	sbiw	r26, 0x02	; 2
+    78e0:	4d 91       	ld	r20, X+
+    78e2:	5d 91       	ld	r21, X+
+    78e4:	a4 0f       	add	r26, r20
+    78e6:	b5 1f       	adc	r27, r21
+    78e8:	ea 17       	cp	r30, r26
+    78ea:	fb 07       	cpc	r31, r27
+    78ec:	69 f4       	brne	.+26     	; 0x7908 <free+0xd8>
+    78ee:	20 81       	ld	r18, Z
+    78f0:	31 81       	ldd	r19, Z+1	; 0x01
+    78f2:	24 0f       	add	r18, r20
+    78f4:	35 1f       	adc	r19, r21
+    78f6:	2e 5f       	subi	r18, 0xFE	; 254
+    78f8:	3f 4f       	sbci	r19, 0xFF	; 255
+    78fa:	ec 01       	movw	r28, r24
+    78fc:	39 83       	std	Y+1, r19	; 0x01
+    78fe:	28 83       	st	Y, r18
+    7900:	22 81       	ldd	r18, Z+2	; 0x02
+    7902:	33 81       	ldd	r19, Z+3	; 0x03
+    7904:	3b 83       	std	Y+3, r19	; 0x03
+    7906:	2a 83       	std	Y+2, r18	; 0x02
+    7908:	e0 e0       	ldi	r30, 0x00	; 0
+    790a:	f0 e0       	ldi	r31, 0x00	; 0
+    790c:	02 c0       	rjmp	.+4      	; 0x7912 <free+0xe2>
+    790e:	fb 01       	movw	r30, r22
+    7910:	bc 01       	movw	r22, r24
+    7912:	db 01       	movw	r26, r22
+    7914:	12 96       	adiw	r26, 0x02	; 2
+    7916:	8d 91       	ld	r24, X+
+    7918:	9c 91       	ld	r25, X
+    791a:	13 97       	sbiw	r26, 0x03	; 3
+    791c:	00 97       	sbiw	r24, 0x00	; 0
+    791e:	b9 f7       	brne	.-18     	; 0x790e <free+0xde>
+    7920:	9b 01       	movw	r18, r22
+    7922:	2e 5f       	subi	r18, 0xFE	; 254
+    7924:	3f 4f       	sbci	r19, 0xFF	; 255
+    7926:	8d 91       	ld	r24, X+
+    7928:	9c 91       	ld	r25, X
+    792a:	11 97       	sbiw	r26, 0x01	; 1
+    792c:	82 0f       	add	r24, r18
+    792e:	93 1f       	adc	r25, r19
+    7930:	40 91 b1 11 	lds	r20, 0x11B1
+    7934:	50 91 b2 11 	lds	r21, 0x11B2
+    7938:	48 17       	cp	r20, r24
+    793a:	59 07       	cpc	r21, r25
+    793c:	79 f4       	brne	.+30     	; 0x795c <free+0x12c>
+    793e:	30 97       	sbiw	r30, 0x00	; 0
+    7940:	29 f4       	brne	.+10     	; 0x794c <free+0x11c>
+    7942:	10 92 b4 11 	sts	0x11B4, r1
+    7946:	10 92 b3 11 	sts	0x11B3, r1
+    794a:	02 c0       	rjmp	.+4      	; 0x7950 <free+0x120>
+    794c:	13 82       	std	Z+3, r1	; 0x03
+    794e:	12 82       	std	Z+2, r1	; 0x02
+    7950:	22 50       	subi	r18, 0x02	; 2
+    7952:	30 40       	sbci	r19, 0x00	; 0
+    7954:	30 93 b2 11 	sts	0x11B2, r19
+    7958:	20 93 b1 11 	sts	0x11B1, r18
+    795c:	df 91       	pop	r29
+    795e:	cf 91       	pop	r28
+    7960:	08 95       	ret
+
+00007962 <realloc>:
+    7962:	8f 92       	push	r8
+    7964:	9f 92       	push	r9
+    7966:	af 92       	push	r10
+    7968:	bf 92       	push	r11
+    796a:	cf 92       	push	r12
+    796c:	df 92       	push	r13
+    796e:	ef 92       	push	r14
+    7970:	ff 92       	push	r15
+    7972:	0f 93       	push	r16
+    7974:	1f 93       	push	r17
+    7976:	cf 93       	push	r28
+    7978:	df 93       	push	r29
+    797a:	8c 01       	movw	r16, r24
+    797c:	cb 01       	movw	r24, r22
+    797e:	01 15       	cp	r16, r1
+    7980:	11 05       	cpc	r17, r1
+    7982:	29 f4       	brne	.+10     	; 0x798e <realloc+0x2c>
+    7984:	0e 94 7e 3b 	call	0x76fc	; 0x76fc <malloc>
+    7988:	08 2f       	mov	r16, r24
+    798a:	19 2f       	mov	r17, r25
+    798c:	b5 c0       	rjmp	.+362    	; 0x7af8 <realloc+0x196>
+    798e:	d8 01       	movw	r26, r16
+    7990:	12 97       	sbiw	r26, 0x02	; 2
+    7992:	98 01       	movw	r18, r16
+    7994:	26 0f       	add	r18, r22
+    7996:	37 1f       	adc	r19, r23
+    7998:	2a 17       	cp	r18, r26
+    799a:	3b 07       	cpc	r19, r27
+    799c:	08 f4       	brcc	.+2      	; 0x79a0 <realloc+0x3e>
+    799e:	aa c0       	rjmp	.+340    	; 0x7af4 <realloc+0x192>
+    79a0:	ed 90       	ld	r14, X+
+    79a2:	fc 90       	ld	r15, X
+    79a4:	11 97       	sbiw	r26, 0x01	; 1
+    79a6:	e6 16       	cp	r14, r22
+    79a8:	f7 06       	cpc	r15, r23
+    79aa:	d0 f0       	brcs	.+52     	; 0x79e0 <realloc+0x7e>
+    79ac:	45 e0       	ldi	r20, 0x05	; 5
+    79ae:	e4 16       	cp	r14, r20
+    79b0:	f1 04       	cpc	r15, r1
+    79b2:	08 f4       	brcc	.+2      	; 0x79b6 <realloc+0x54>
+    79b4:	a1 c0       	rjmp	.+322    	; 0x7af8 <realloc+0x196>
+    79b6:	a7 01       	movw	r20, r14
+    79b8:	44 50       	subi	r20, 0x04	; 4
+    79ba:	50 40       	sbci	r21, 0x00	; 0
+    79bc:	46 17       	cp	r20, r22
+    79be:	57 07       	cpc	r21, r23
+    79c0:	08 f4       	brcc	.+2      	; 0x79c4 <realloc+0x62>
+    79c2:	9a c0       	rjmp	.+308    	; 0x7af8 <realloc+0x196>
+    79c4:	a7 01       	movw	r20, r14
+    79c6:	42 50       	subi	r20, 0x02	; 2
+    79c8:	50 40       	sbci	r21, 0x00	; 0
+    79ca:	46 1b       	sub	r20, r22
+    79cc:	57 0b       	sbc	r21, r23
+    79ce:	f9 01       	movw	r30, r18
+    79d0:	41 93       	st	Z+, r20
+    79d2:	51 93       	st	Z+, r21
+    79d4:	6d 93       	st	X+, r22
+    79d6:	7c 93       	st	X, r23
+    79d8:	cf 01       	movw	r24, r30
+    79da:	0e 94 18 3c 	call	0x7830	; 0x7830 <free>
+    79de:	8c c0       	rjmp	.+280    	; 0x7af8 <realloc+0x196>
+    79e0:	5b 01       	movw	r10, r22
+    79e2:	ae 18       	sub	r10, r14
+    79e4:	bf 08       	sbc	r11, r15
+    79e6:	48 01       	movw	r8, r16
+    79e8:	8e 0c       	add	r8, r14
+    79ea:	9f 1c       	adc	r9, r15
+    79ec:	e0 91 b3 11 	lds	r30, 0x11B3
+    79f0:	f0 91 b4 11 	lds	r31, 0x11B4
+    79f4:	cc 24       	eor	r12, r12
+    79f6:	dd 24       	eor	r13, r13
+    79f8:	c0 e0       	ldi	r28, 0x00	; 0
+    79fa:	d0 e0       	ldi	r29, 0x00	; 0
+    79fc:	41 c0       	rjmp	.+130    	; 0x7a80 <realloc+0x11e>
+    79fe:	e8 15       	cp	r30, r8
+    7a00:	f9 05       	cpc	r31, r9
+    7a02:	99 f5       	brne	.+102    	; 0x7a6a <realloc+0x108>
+    7a04:	60 81       	ld	r22, Z
+    7a06:	71 81       	ldd	r23, Z+1	; 0x01
+    7a08:	ab 01       	movw	r20, r22
+    7a0a:	4e 5f       	subi	r20, 0xFE	; 254
+    7a0c:	5f 4f       	sbci	r21, 0xFF	; 255
+    7a0e:	4a 15       	cp	r20, r10
+    7a10:	5b 05       	cpc	r21, r11
+    7a12:	58 f1       	brcs	.+86     	; 0x7a6a <realloc+0x108>
+    7a14:	ab 01       	movw	r20, r22
+    7a16:	4a 19       	sub	r20, r10
+    7a18:	5b 09       	sbc	r21, r11
+    7a1a:	cc 24       	eor	r12, r12
+    7a1c:	dd 24       	eor	r13, r13
+    7a1e:	68 94       	set
+    7a20:	c1 f8       	bld	r12, 1
+    7a22:	c4 0e       	add	r12, r20
+    7a24:	d5 1e       	adc	r13, r21
+    7a26:	82 80       	ldd	r8, Z+2	; 0x02
+    7a28:	a3 80       	ldd	r10, Z+3	; 0x03
+    7a2a:	e5 e0       	ldi	r30, 0x05	; 5
+    7a2c:	ce 16       	cp	r12, r30
+    7a2e:	d1 04       	cpc	r13, r1
+    7a30:	48 f0       	brcs	.+18     	; 0x7a44 <realloc+0xe2>
+    7a32:	f9 01       	movw	r30, r18
+    7a34:	82 82       	std	Z+2, r8	; 0x02
+    7a36:	a3 82       	std	Z+3, r10	; 0x03
+    7a38:	51 83       	std	Z+1, r21	; 0x01
+    7a3a:	40 83       	st	Z, r20
+    7a3c:	11 96       	adiw	r26, 0x01	; 1
+    7a3e:	9c 93       	st	X, r25
+    7a40:	8e 93       	st	-X, r24
+    7a42:	09 c0       	rjmp	.+18     	; 0x7a56 <realloc+0xf4>
+    7a44:	c7 01       	movw	r24, r14
+    7a46:	02 96       	adiw	r24, 0x02	; 2
+    7a48:	86 0f       	add	r24, r22
+    7a4a:	97 1f       	adc	r25, r23
+    7a4c:	11 96       	adiw	r26, 0x01	; 1
+    7a4e:	9c 93       	st	X, r25
+    7a50:	8e 93       	st	-X, r24
+    7a52:	e8 2d       	mov	r30, r8
+    7a54:	fa 2d       	mov	r31, r10
+    7a56:	20 97       	sbiw	r28, 0x00	; 0
+    7a58:	19 f0       	breq	.+6      	; 0x7a60 <realloc+0xfe>
+    7a5a:	fb 83       	std	Y+3, r31	; 0x03
+    7a5c:	ea 83       	std	Y+2, r30	; 0x02
+    7a5e:	4c c0       	rjmp	.+152    	; 0x7af8 <realloc+0x196>
+    7a60:	f0 93 b4 11 	sts	0x11B4, r31
+    7a64:	e0 93 b3 11 	sts	0x11B3, r30
+    7a68:	47 c0       	rjmp	.+142    	; 0x7af8 <realloc+0x196>
+    7a6a:	40 81       	ld	r20, Z
+    7a6c:	51 81       	ldd	r21, Z+1	; 0x01
+    7a6e:	c4 16       	cp	r12, r20
+    7a70:	d5 06       	cpc	r13, r21
+    7a72:	08 f4       	brcc	.+2      	; 0x7a76 <realloc+0x114>
+    7a74:	6a 01       	movw	r12, r20
+    7a76:	ef 01       	movw	r28, r30
+    7a78:	52 81       	ldd	r21, Z+2	; 0x02
+    7a7a:	43 81       	ldd	r20, Z+3	; 0x03
+    7a7c:	e5 2f       	mov	r30, r21
+    7a7e:	f4 2f       	mov	r31, r20
+    7a80:	30 97       	sbiw	r30, 0x00	; 0
+    7a82:	09 f0       	breq	.+2      	; 0x7a86 <realloc+0x124>
+    7a84:	bc cf       	rjmp	.-136    	; 0x79fe <realloc+0x9c>
+    7a86:	40 91 b1 11 	lds	r20, 0x11B1
+    7a8a:	50 91 b2 11 	lds	r21, 0x11B2
+    7a8e:	48 15       	cp	r20, r8
+    7a90:	59 05       	cpc	r21, r9
+    7a92:	e9 f4       	brne	.+58     	; 0x7ace <realloc+0x16c>
+    7a94:	c8 16       	cp	r12, r24
+    7a96:	d9 06       	cpc	r13, r25
+    7a98:	d0 f4       	brcc	.+52     	; 0x7ace <realloc+0x16c>
+    7a9a:	40 91 40 05 	lds	r20, 0x0540
+    7a9e:	50 91 41 05 	lds	r21, 0x0541
+    7aa2:	41 15       	cp	r20, r1
+    7aa4:	51 05       	cpc	r21, r1
+    7aa6:	41 f4       	brne	.+16     	; 0x7ab8 <realloc+0x156>
+    7aa8:	4d b7       	in	r20, 0x3d	; 61
+    7aaa:	5e b7       	in	r21, 0x3e	; 62
+    7aac:	60 91 3c 05 	lds	r22, 0x053C
+    7ab0:	70 91 3d 05 	lds	r23, 0x053D
+    7ab4:	46 1b       	sub	r20, r22
+    7ab6:	57 0b       	sbc	r21, r23
+    7ab8:	24 17       	cp	r18, r20
+    7aba:	35 07       	cpc	r19, r21
+    7abc:	d8 f4       	brcc	.+54     	; 0x7af4 <realloc+0x192>
+    7abe:	30 93 b2 11 	sts	0x11B2, r19
+    7ac2:	20 93 b1 11 	sts	0x11B1, r18
+    7ac6:	11 96       	adiw	r26, 0x01	; 1
+    7ac8:	9c 93       	st	X, r25
+    7aca:	8e 93       	st	-X, r24
+    7acc:	15 c0       	rjmp	.+42     	; 0x7af8 <realloc+0x196>
+    7ace:	0e 94 7e 3b 	call	0x76fc	; 0x76fc <malloc>
+    7ad2:	c8 2e       	mov	r12, r24
+    7ad4:	e6 01       	movw	r28, r12
+    7ad6:	6e 01       	movw	r12, r28
+    7ad8:	d9 2e       	mov	r13, r25
+    7ada:	e6 01       	movw	r28, r12
+    7adc:	20 97       	sbiw	r28, 0x00	; 0
+    7ade:	51 f0       	breq	.+20     	; 0x7af4 <realloc+0x192>
+    7ae0:	8c 2d       	mov	r24, r12
+    7ae2:	b8 01       	movw	r22, r16
+    7ae4:	a7 01       	movw	r20, r14
+    7ae6:	0e 94 8d 3d 	call	0x7b1a	; 0x7b1a <memcpy>
+    7aea:	c8 01       	movw	r24, r16
+    7aec:	0e 94 18 3c 	call	0x7830	; 0x7830 <free>
+    7af0:	86 01       	movw	r16, r12
+    7af2:	02 c0       	rjmp	.+4      	; 0x7af8 <realloc+0x196>
+    7af4:	00 e0       	ldi	r16, 0x00	; 0
+    7af6:	10 e0       	ldi	r17, 0x00	; 0
+    7af8:	c8 01       	movw	r24, r16
+    7afa:	df 91       	pop	r29
+    7afc:	cf 91       	pop	r28
+    7afe:	1f 91       	pop	r17
+    7b00:	0f 91       	pop	r16
+    7b02:	ff 90       	pop	r15
+    7b04:	ef 90       	pop	r14
+    7b06:	df 90       	pop	r13
+    7b08:	cf 90       	pop	r12
+    7b0a:	bf 90       	pop	r11
+    7b0c:	af 90       	pop	r10
+    7b0e:	9f 90       	pop	r9
+    7b10:	8f 90       	pop	r8
+    7b12:	08 95       	ret
+
+00007b14 <exit>:
+    7b14:	f8 94       	cli
+    7b16:	0c 94 a5 41 	jmp	0x834a	; 0x834a <__do_global_dtors>
+
+00007b1a <memcpy>:
+    7b1a:	fb 01       	movw	r30, r22
+    7b1c:	dc 01       	movw	r26, r24
+    7b1e:	02 c0       	rjmp	.+4      	; 0x7b24 <memcpy+0xa>
+    7b20:	01 90       	ld	r0, Z+
+    7b22:	0d 92       	st	X+, r0
+    7b24:	41 50       	subi	r20, 0x01	; 1
+    7b26:	50 40       	sbci	r21, 0x00	; 0
+    7b28:	d8 f7       	brcc	.-10     	; 0x7b20 <memcpy+0x6>
+    7b2a:	08 95       	ret
+
+00007b2c <__subsf3>:
+    7b2c:	50 58       	subi	r21, 0x80	; 128
+
+00007b2e <__addsf3>:
+    7b2e:	bb 27       	eor	r27, r27
+    7b30:	aa 27       	eor	r26, r26
+    7b32:	0e d0       	rcall	.+28     	; 0x7b50 <__addsf3x>
+    7b34:	6a c2       	rjmp	.+1236   	; 0x800a <__fp_round>
+    7b36:	33 d2       	rcall	.+1126   	; 0x7f9e <__fp_pscA>
+    7b38:	30 f0       	brcs	.+12     	; 0x7b46 <__addsf3+0x18>
+    7b3a:	38 d2       	rcall	.+1136   	; 0x7fac <__fp_pscB>
+    7b3c:	20 f0       	brcs	.+8      	; 0x7b46 <__addsf3+0x18>
+    7b3e:	31 f4       	brne	.+12     	; 0x7b4c <__addsf3+0x1e>
+    7b40:	9f 3f       	cpi	r25, 0xFF	; 255
+    7b42:	11 f4       	brne	.+4      	; 0x7b48 <__addsf3+0x1a>
+    7b44:	1e f4       	brtc	.+6      	; 0x7b4c <__addsf3+0x1e>
+    7b46:	f2 c1       	rjmp	.+996    	; 0x7f2c <__fp_nan>
+    7b48:	0e f4       	brtc	.+2      	; 0x7b4c <__addsf3+0x1e>
+    7b4a:	e0 95       	com	r30
+    7b4c:	e7 fb       	bst	r30, 7
+    7b4e:	e8 c1       	rjmp	.+976    	; 0x7f20 <__fp_inf>
+
+00007b50 <__addsf3x>:
+    7b50:	e9 2f       	mov	r30, r25
+    7b52:	7d d2       	rcall	.+1274   	; 0x804e <__fp_split3>
+    7b54:	80 f3       	brcs	.-32     	; 0x7b36 <__addsf3+0x8>
+    7b56:	ba 17       	cp	r27, r26
+    7b58:	62 07       	cpc	r22, r18
+    7b5a:	73 07       	cpc	r23, r19
+    7b5c:	84 07       	cpc	r24, r20
+    7b5e:	95 07       	cpc	r25, r21
+    7b60:	18 f0       	brcs	.+6      	; 0x7b68 <__addsf3x+0x18>
+    7b62:	71 f4       	brne	.+28     	; 0x7b80 <__addsf3x+0x30>
+    7b64:	9e f5       	brtc	.+102    	; 0x7bcc <__addsf3x+0x7c>
+    7b66:	95 c2       	rjmp	.+1322   	; 0x8092 <__fp_zero>
+    7b68:	0e f4       	brtc	.+2      	; 0x7b6c <__addsf3x+0x1c>
+    7b6a:	e0 95       	com	r30
+    7b6c:	0b 2e       	mov	r0, r27
+    7b6e:	ba 2f       	mov	r27, r26
+    7b70:	a0 2d       	mov	r26, r0
+    7b72:	0b 01       	movw	r0, r22
+    7b74:	b9 01       	movw	r22, r18
+    7b76:	90 01       	movw	r18, r0
+    7b78:	0c 01       	movw	r0, r24
+    7b7a:	ca 01       	movw	r24, r20
+    7b7c:	a0 01       	movw	r20, r0
+    7b7e:	11 24       	eor	r1, r1
+    7b80:	ff 27       	eor	r31, r31
+    7b82:	59 1b       	sub	r21, r25
+    7b84:	99 f0       	breq	.+38     	; 0x7bac <__addsf3x+0x5c>
+    7b86:	59 3f       	cpi	r21, 0xF9	; 249
+    7b88:	50 f4       	brcc	.+20     	; 0x7b9e <__addsf3x+0x4e>
+    7b8a:	50 3e       	cpi	r21, 0xE0	; 224
+    7b8c:	68 f1       	brcs	.+90     	; 0x7be8 <__addsf3x+0x98>
+    7b8e:	1a 16       	cp	r1, r26
+    7b90:	f0 40       	sbci	r31, 0x00	; 0
+    7b92:	a2 2f       	mov	r26, r18
+    7b94:	23 2f       	mov	r18, r19
+    7b96:	34 2f       	mov	r19, r20
+    7b98:	44 27       	eor	r20, r20
+    7b9a:	58 5f       	subi	r21, 0xF8	; 248
+    7b9c:	f3 cf       	rjmp	.-26     	; 0x7b84 <__addsf3x+0x34>
+    7b9e:	46 95       	lsr	r20
+    7ba0:	37 95       	ror	r19
+    7ba2:	27 95       	ror	r18
+    7ba4:	a7 95       	ror	r26
+    7ba6:	f0 40       	sbci	r31, 0x00	; 0
+    7ba8:	53 95       	inc	r21
+    7baa:	c9 f7       	brne	.-14     	; 0x7b9e <__addsf3x+0x4e>
+    7bac:	7e f4       	brtc	.+30     	; 0x7bcc <__addsf3x+0x7c>
+    7bae:	1f 16       	cp	r1, r31
+    7bb0:	ba 0b       	sbc	r27, r26
+    7bb2:	62 0b       	sbc	r22, r18
+    7bb4:	73 0b       	sbc	r23, r19
+    7bb6:	84 0b       	sbc	r24, r20
+    7bb8:	ba f0       	brmi	.+46     	; 0x7be8 <__addsf3x+0x98>
+    7bba:	91 50       	subi	r25, 0x01	; 1
+    7bbc:	a1 f0       	breq	.+40     	; 0x7be6 <__addsf3x+0x96>
+    7bbe:	ff 0f       	add	r31, r31
+    7bc0:	bb 1f       	adc	r27, r27
+    7bc2:	66 1f       	adc	r22, r22
+    7bc4:	77 1f       	adc	r23, r23
+    7bc6:	88 1f       	adc	r24, r24
+    7bc8:	c2 f7       	brpl	.-16     	; 0x7bba <__addsf3x+0x6a>
+    7bca:	0e c0       	rjmp	.+28     	; 0x7be8 <__addsf3x+0x98>
+    7bcc:	ba 0f       	add	r27, r26
+    7bce:	62 1f       	adc	r22, r18
+    7bd0:	73 1f       	adc	r23, r19
+    7bd2:	84 1f       	adc	r24, r20
+    7bd4:	48 f4       	brcc	.+18     	; 0x7be8 <__addsf3x+0x98>
+    7bd6:	87 95       	ror	r24
+    7bd8:	77 95       	ror	r23
+    7bda:	67 95       	ror	r22
+    7bdc:	b7 95       	ror	r27
+    7bde:	f7 95       	ror	r31
+    7be0:	9e 3f       	cpi	r25, 0xFE	; 254
+    7be2:	08 f0       	brcs	.+2      	; 0x7be6 <__addsf3x+0x96>
+    7be4:	b3 cf       	rjmp	.-154    	; 0x7b4c <__addsf3+0x1e>
+    7be6:	93 95       	inc	r25
+    7be8:	88 0f       	add	r24, r24
+    7bea:	08 f0       	brcs	.+2      	; 0x7bee <__addsf3x+0x9e>
+    7bec:	99 27       	eor	r25, r25
+    7bee:	ee 0f       	add	r30, r30
+    7bf0:	97 95       	ror	r25
+    7bf2:	87 95       	ror	r24
+    7bf4:	08 95       	ret
+
+00007bf6 <asin>:
+    7bf6:	9f 93       	push	r25
+    7bf8:	9f 77       	andi	r25, 0x7F	; 127
+    7bfa:	ee e3       	ldi	r30, 0x3E	; 62
+    7bfc:	89 37       	cpi	r24, 0x79	; 121
+    7bfe:	9e 07       	cpc	r25, r30
+    7c00:	20 f4       	brcc	.+8      	; 0x7c0a <asin+0x14>
+    7c02:	e4 ee       	ldi	r30, 0xE4	; 228
+    7c04:	f0 e0       	ldi	r31, 0x00	; 0
+    7c06:	ba d1       	rcall	.+884    	; 0x7f7c <__fp_powsodd>
+    7c08:	09 c0       	rjmp	.+18     	; 0x7c1c <asin+0x26>
+    7c0a:	4b d1       	rcall	.+662    	; 0x7ea2 <__fp_arccos>
+    7c0c:	90 58       	subi	r25, 0x80	; 128
+    7c0e:	a2 ea       	ldi	r26, 0xA2	; 162
+    7c10:	2a ed       	ldi	r18, 0xDA	; 218
+    7c12:	3f e0       	ldi	r19, 0x0F	; 15
+    7c14:	49 ec       	ldi	r20, 0xC9	; 201
+    7c16:	5f e3       	ldi	r21, 0x3F	; 63
+    7c18:	9b df       	rcall	.-202    	; 0x7b50 <__addsf3x>
+    7c1a:	f7 d1       	rcall	.+1006   	; 0x800a <__fp_round>
+    7c1c:	0f 90       	pop	r0
+    7c1e:	07 fc       	sbrc	r0, 7
+    7c20:	90 58       	subi	r25, 0x80	; 128
+    7c22:	08 95       	ret
+    7c24:	bc d1       	rcall	.+888    	; 0x7f9e <__fp_pscA>
+    7c26:	58 f0       	brcs	.+22     	; 0x7c3e <asin+0x48>
+    7c28:	80 e8       	ldi	r24, 0x80	; 128
+    7c2a:	91 e0       	ldi	r25, 0x01	; 1
+    7c2c:	09 f4       	brne	.+2      	; 0x7c30 <asin+0x3a>
+    7c2e:	9e ef       	ldi	r25, 0xFE	; 254
+    7c30:	bd d1       	rcall	.+890    	; 0x7fac <__fp_pscB>
+    7c32:	28 f0       	brcs	.+10     	; 0x7c3e <asin+0x48>
+    7c34:	40 e8       	ldi	r20, 0x80	; 128
+    7c36:	51 e0       	ldi	r21, 0x01	; 1
+    7c38:	59 f4       	brne	.+22     	; 0x7c50 <atan2+0xe>
+    7c3a:	5e ef       	ldi	r21, 0xFE	; 254
+    7c3c:	09 c0       	rjmp	.+18     	; 0x7c50 <atan2+0xe>
+    7c3e:	76 c1       	rjmp	.+748    	; 0x7f2c <__fp_nan>
+    7c40:	28 c2       	rjmp	.+1104   	; 0x8092 <__fp_zero>
+
+00007c42 <atan2>:
+    7c42:	e9 2f       	mov	r30, r25
+    7c44:	e0 78       	andi	r30, 0x80	; 128
+    7c46:	03 d2       	rcall	.+1030   	; 0x804e <__fp_split3>
+    7c48:	68 f3       	brcs	.-38     	; 0x7c24 <asin+0x2e>
+    7c4a:	09 2e       	mov	r0, r25
+    7c4c:	05 2a       	or	r0, r21
+    7c4e:	c1 f3       	breq	.-16     	; 0x7c40 <asin+0x4a>
+    7c50:	26 17       	cp	r18, r22
+    7c52:	37 07       	cpc	r19, r23
+    7c54:	48 07       	cpc	r20, r24
+    7c56:	59 07       	cpc	r21, r25
+    7c58:	38 f0       	brcs	.+14     	; 0x7c68 <atan2+0x26>
+    7c5a:	0e 2e       	mov	r0, r30
+    7c5c:	07 f8       	bld	r0, 7
+    7c5e:	e0 25       	eor	r30, r0
+    7c60:	69 f0       	breq	.+26     	; 0x7c7c <atan2+0x3a>
+    7c62:	e0 25       	eor	r30, r0
+    7c64:	e0 64       	ori	r30, 0x40	; 64
+    7c66:	0a c0       	rjmp	.+20     	; 0x7c7c <atan2+0x3a>
+    7c68:	ef 63       	ori	r30, 0x3F	; 63
+    7c6a:	07 f8       	bld	r0, 7
+    7c6c:	00 94       	com	r0
+    7c6e:	07 fa       	bst	r0, 7
+    7c70:	db 01       	movw	r26, r22
+    7c72:	b9 01       	movw	r22, r18
+    7c74:	9d 01       	movw	r18, r26
+    7c76:	dc 01       	movw	r26, r24
+    7c78:	ca 01       	movw	r24, r20
+    7c7a:	ad 01       	movw	r20, r26
+    7c7c:	ef 93       	push	r30
+    7c7e:	4a d0       	rcall	.+148    	; 0x7d14 <__divsf3_pse>
+    7c80:	c4 d1       	rcall	.+904    	; 0x800a <__fp_round>
+    7c82:	0a d0       	rcall	.+20     	; 0x7c98 <atan>
+    7c84:	5f 91       	pop	r21
+    7c86:	55 23       	and	r21, r21
+    7c88:	31 f0       	breq	.+12     	; 0x7c96 <atan2+0x54>
+    7c8a:	2b ed       	ldi	r18, 0xDB	; 219
+    7c8c:	3f e0       	ldi	r19, 0x0F	; 15
+    7c8e:	49 e4       	ldi	r20, 0x49	; 73
+    7c90:	50 fd       	sbrc	r21, 0
+    7c92:	49 ec       	ldi	r20, 0xC9	; 201
+    7c94:	4c cf       	rjmp	.-360    	; 0x7b2e <__addsf3>
+    7c96:	08 95       	ret
+
+00007c98 <atan>:
+    7c98:	df 93       	push	r29
+    7c9a:	dd 27       	eor	r29, r29
+    7c9c:	b9 2f       	mov	r27, r25
+    7c9e:	bf 77       	andi	r27, 0x7F	; 127
+    7ca0:	40 e8       	ldi	r20, 0x80	; 128
+    7ca2:	5f e3       	ldi	r21, 0x3F	; 63
+    7ca4:	16 16       	cp	r1, r22
+    7ca6:	17 06       	cpc	r1, r23
+    7ca8:	48 07       	cpc	r20, r24
+    7caa:	5b 07       	cpc	r21, r27
+    7cac:	10 f4       	brcc	.+4      	; 0x7cb2 <atan+0x1a>
+    7cae:	d9 2f       	mov	r29, r25
+    7cb0:	fb d1       	rcall	.+1014   	; 0x80a8 <inverse>
+    7cb2:	9f 93       	push	r25
+    7cb4:	8f 93       	push	r24
+    7cb6:	7f 93       	push	r23
+    7cb8:	6f 93       	push	r22
+    7cba:	a8 d2       	rcall	.+1360   	; 0x820c <square>
+    7cbc:	e8 ef       	ldi	r30, 0xF8	; 248
+    7cbe:	f0 e0       	ldi	r31, 0x00	; 0
+    7cc0:	38 d1       	rcall	.+624    	; 0x7f32 <__fp_powser>
+    7cc2:	a3 d1       	rcall	.+838    	; 0x800a <__fp_round>
+    7cc4:	2f 91       	pop	r18
+    7cc6:	3f 91       	pop	r19
+    7cc8:	4f 91       	pop	r20
+    7cca:	5f 91       	pop	r21
+    7ccc:	00 d2       	rcall	.+1024   	; 0x80ce <__mulsf3x>
+    7cce:	dd 23       	and	r29, r29
+    7cd0:	49 f0       	breq	.+18     	; 0x7ce4 <atan+0x4c>
+    7cd2:	90 58       	subi	r25, 0x80	; 128
+    7cd4:	a2 ea       	ldi	r26, 0xA2	; 162
+    7cd6:	2a ed       	ldi	r18, 0xDA	; 218
+    7cd8:	3f e0       	ldi	r19, 0x0F	; 15
+    7cda:	49 ec       	ldi	r20, 0xC9	; 201
+    7cdc:	5f e3       	ldi	r21, 0x3F	; 63
+    7cde:	d0 78       	andi	r29, 0x80	; 128
+    7ce0:	5d 27       	eor	r21, r29
+    7ce2:	36 df       	rcall	.-404    	; 0x7b50 <__addsf3x>
+    7ce4:	df 91       	pop	r29
+    7ce6:	91 c1       	rjmp	.+802    	; 0x800a <__fp_round>
+
+00007ce8 <__cmpsf2>:
+    7ce8:	f7 d0       	rcall	.+494    	; 0x7ed8 <__fp_cmp>
+    7cea:	08 f4       	brcc	.+2      	; 0x7cee <__cmpsf2+0x6>
+    7cec:	81 e0       	ldi	r24, 0x01	; 1
+    7cee:	08 95       	ret
+
+00007cf0 <cos>:
+    7cf0:	65 d1       	rcall	.+714    	; 0x7fbc <__fp_rempio2>
+    7cf2:	e3 95       	inc	r30
+    7cf4:	9b c1       	rjmp	.+822    	; 0x802c <__fp_sinus>
+
+00007cf6 <__divsf3>:
+    7cf6:	0c d0       	rcall	.+24     	; 0x7d10 <__divsf3x>
+    7cf8:	88 c1       	rjmp	.+784    	; 0x800a <__fp_round>
+    7cfa:	58 d1       	rcall	.+688    	; 0x7fac <__fp_pscB>
+    7cfc:	40 f0       	brcs	.+16     	; 0x7d0e <__divsf3+0x18>
+    7cfe:	4f d1       	rcall	.+670    	; 0x7f9e <__fp_pscA>
+    7d00:	30 f0       	brcs	.+12     	; 0x7d0e <__divsf3+0x18>
+    7d02:	21 f4       	brne	.+8      	; 0x7d0c <__divsf3+0x16>
+    7d04:	5f 3f       	cpi	r21, 0xFF	; 255
+    7d06:	19 f0       	breq	.+6      	; 0x7d0e <__divsf3+0x18>
+    7d08:	0b c1       	rjmp	.+534    	; 0x7f20 <__fp_inf>
+    7d0a:	51 11       	cpse	r21, r1
+    7d0c:	c3 c1       	rjmp	.+902    	; 0x8094 <__fp_szero>
+    7d0e:	0e c1       	rjmp	.+540    	; 0x7f2c <__fp_nan>
+
+00007d10 <__divsf3x>:
+    7d10:	9e d1       	rcall	.+828    	; 0x804e <__fp_split3>
+    7d12:	98 f3       	brcs	.-26     	; 0x7cfa <__divsf3+0x4>
+
+00007d14 <__divsf3_pse>:
+    7d14:	99 23       	and	r25, r25
+    7d16:	c9 f3       	breq	.-14     	; 0x7d0a <__divsf3+0x14>
+    7d18:	55 23       	and	r21, r21
+    7d1a:	b1 f3       	breq	.-20     	; 0x7d08 <__divsf3+0x12>
+    7d1c:	95 1b       	sub	r25, r21
+    7d1e:	55 0b       	sbc	r21, r21
+    7d20:	bb 27       	eor	r27, r27
+    7d22:	aa 27       	eor	r26, r26
+    7d24:	62 17       	cp	r22, r18
+    7d26:	73 07       	cpc	r23, r19
+    7d28:	84 07       	cpc	r24, r20
+    7d2a:	38 f0       	brcs	.+14     	; 0x7d3a <__divsf3_pse+0x26>
+    7d2c:	9f 5f       	subi	r25, 0xFF	; 255
+    7d2e:	5f 4f       	sbci	r21, 0xFF	; 255
+    7d30:	22 0f       	add	r18, r18
+    7d32:	33 1f       	adc	r19, r19
+    7d34:	44 1f       	adc	r20, r20
+    7d36:	aa 1f       	adc	r26, r26
+    7d38:	a9 f3       	breq	.-22     	; 0x7d24 <__divsf3_pse+0x10>
+    7d3a:	33 d0       	rcall	.+102    	; 0x7da2 <__divsf3_pse+0x8e>
+    7d3c:	0e 2e       	mov	r0, r30
+    7d3e:	3a f0       	brmi	.+14     	; 0x7d4e <__divsf3_pse+0x3a>
+    7d40:	e0 e8       	ldi	r30, 0x80	; 128
+    7d42:	30 d0       	rcall	.+96     	; 0x7da4 <__divsf3_pse+0x90>
+    7d44:	91 50       	subi	r25, 0x01	; 1
+    7d46:	50 40       	sbci	r21, 0x00	; 0
+    7d48:	e6 95       	lsr	r30
+    7d4a:	00 1c       	adc	r0, r0
+    7d4c:	ca f7       	brpl	.-14     	; 0x7d40 <__divsf3_pse+0x2c>
+    7d4e:	29 d0       	rcall	.+82     	; 0x7da2 <__divsf3_pse+0x8e>
+    7d50:	fe 2f       	mov	r31, r30
+    7d52:	27 d0       	rcall	.+78     	; 0x7da2 <__divsf3_pse+0x8e>
+    7d54:	66 0f       	add	r22, r22
+    7d56:	77 1f       	adc	r23, r23
+    7d58:	88 1f       	adc	r24, r24
+    7d5a:	bb 1f       	adc	r27, r27
+    7d5c:	26 17       	cp	r18, r22
+    7d5e:	37 07       	cpc	r19, r23
+    7d60:	48 07       	cpc	r20, r24
+    7d62:	ab 07       	cpc	r26, r27
+    7d64:	b0 e8       	ldi	r27, 0x80	; 128
+    7d66:	09 f0       	breq	.+2      	; 0x7d6a <__divsf3_pse+0x56>
+    7d68:	bb 0b       	sbc	r27, r27
+    7d6a:	80 2d       	mov	r24, r0
+    7d6c:	bf 01       	movw	r22, r30
+    7d6e:	ff 27       	eor	r31, r31
+    7d70:	93 58       	subi	r25, 0x83	; 131
+    7d72:	5f 4f       	sbci	r21, 0xFF	; 255
+    7d74:	2a f0       	brmi	.+10     	; 0x7d80 <__divsf3_pse+0x6c>
+    7d76:	9e 3f       	cpi	r25, 0xFE	; 254
+    7d78:	51 05       	cpc	r21, r1
+    7d7a:	68 f0       	brcs	.+26     	; 0x7d96 <__divsf3_pse+0x82>
+    7d7c:	d1 c0       	rjmp	.+418    	; 0x7f20 <__fp_inf>
+    7d7e:	8a c1       	rjmp	.+788    	; 0x8094 <__fp_szero>
+    7d80:	5f 3f       	cpi	r21, 0xFF	; 255
+    7d82:	ec f3       	brlt	.-6      	; 0x7d7e <__divsf3_pse+0x6a>
+    7d84:	98 3e       	cpi	r25, 0xE8	; 232
+    7d86:	dc f3       	brlt	.-10     	; 0x7d7e <__divsf3_pse+0x6a>
+    7d88:	86 95       	lsr	r24
+    7d8a:	77 95       	ror	r23
+    7d8c:	67 95       	ror	r22
+    7d8e:	b7 95       	ror	r27
+    7d90:	f7 95       	ror	r31
+    7d92:	9f 5f       	subi	r25, 0xFF	; 255
+    7d94:	c9 f7       	brne	.-14     	; 0x7d88 <__divsf3_pse+0x74>
+    7d96:	88 0f       	add	r24, r24
+    7d98:	91 1d       	adc	r25, r1
+    7d9a:	96 95       	lsr	r25
+    7d9c:	87 95       	ror	r24
+    7d9e:	97 f9       	bld	r25, 7
+    7da0:	08 95       	ret
+    7da2:	e1 e0       	ldi	r30, 0x01	; 1
+    7da4:	66 0f       	add	r22, r22
+    7da6:	77 1f       	adc	r23, r23
+    7da8:	88 1f       	adc	r24, r24
+    7daa:	bb 1f       	adc	r27, r27
+    7dac:	62 17       	cp	r22, r18
+    7dae:	73 07       	cpc	r23, r19
+    7db0:	84 07       	cpc	r24, r20
+    7db2:	ba 07       	cpc	r27, r26
+    7db4:	20 f0       	brcs	.+8      	; 0x7dbe <__divsf3_pse+0xaa>
+    7db6:	62 1b       	sub	r22, r18
+    7db8:	73 0b       	sbc	r23, r19
+    7dba:	84 0b       	sbc	r24, r20
+    7dbc:	ba 0b       	sbc	r27, r26
+    7dbe:	ee 1f       	adc	r30, r30
+    7dc0:	88 f7       	brcc	.-30     	; 0x7da4 <__divsf3_pse+0x90>
+    7dc2:	e0 95       	com	r30
+    7dc4:	08 95       	ret
+
+00007dc6 <__fixsfsi>:
+    7dc6:	04 d0       	rcall	.+8      	; 0x7dd0 <__fixunssfsi>
+    7dc8:	68 94       	set
+    7dca:	b1 11       	cpse	r27, r1
+    7dcc:	63 c1       	rjmp	.+710    	; 0x8094 <__fp_szero>
+    7dce:	08 95       	ret
+
+00007dd0 <__fixunssfsi>:
+    7dd0:	46 d1       	rcall	.+652    	; 0x805e <__fp_splitA>
+    7dd2:	88 f0       	brcs	.+34     	; 0x7df6 <__fixunssfsi+0x26>
+    7dd4:	9f 57       	subi	r25, 0x7F	; 127
+    7dd6:	90 f0       	brcs	.+36     	; 0x7dfc <__fixunssfsi+0x2c>
+    7dd8:	b9 2f       	mov	r27, r25
+    7dda:	99 27       	eor	r25, r25
+    7ddc:	b7 51       	subi	r27, 0x17	; 23
+    7dde:	a0 f0       	brcs	.+40     	; 0x7e08 <__fixunssfsi+0x38>
+    7de0:	d1 f0       	breq	.+52     	; 0x7e16 <__fixunssfsi+0x46>
+    7de2:	66 0f       	add	r22, r22
+    7de4:	77 1f       	adc	r23, r23
+    7de6:	88 1f       	adc	r24, r24
+    7de8:	99 1f       	adc	r25, r25
+    7dea:	1a f0       	brmi	.+6      	; 0x7df2 <__fixunssfsi+0x22>
+    7dec:	ba 95       	dec	r27
+    7dee:	c9 f7       	brne	.-14     	; 0x7de2 <__fixunssfsi+0x12>
+    7df0:	12 c0       	rjmp	.+36     	; 0x7e16 <__fixunssfsi+0x46>
+    7df2:	b1 30       	cpi	r27, 0x01	; 1
+    7df4:	81 f0       	breq	.+32     	; 0x7e16 <__fixunssfsi+0x46>
+    7df6:	4d d1       	rcall	.+666    	; 0x8092 <__fp_zero>
+    7df8:	b1 e0       	ldi	r27, 0x01	; 1
     7dfa:	08 95       	ret
-
-00007dfc <asin>:
-    7dfc:	9f 93       	push	r25
-    7dfe:	9f 77       	andi	r25, 0x7F	; 127
-    7e00:	ee e3       	ldi	r30, 0x3E	; 62
-    7e02:	89 37       	cpi	r24, 0x79	; 121
-    7e04:	9e 07       	cpc	r25, r30
-    7e06:	20 f4       	brcc	.+8      	; 0x7e10 <asin+0x14>
-    7e08:	e4 ee       	ldi	r30, 0xE4	; 228
-    7e0a:	f0 e0       	ldi	r31, 0x00	; 0
-    7e0c:	ba d1       	rcall	.+884    	; 0x8182 <__fp_powsodd>
-    7e0e:	09 c0       	rjmp	.+18     	; 0x7e22 <asin+0x26>
-    7e10:	4b d1       	rcall	.+662    	; 0x80a8 <__fp_arccos>
-    7e12:	90 58       	subi	r25, 0x80	; 128
-    7e14:	a2 ea       	ldi	r26, 0xA2	; 162
-    7e16:	2a ed       	ldi	r18, 0xDA	; 218
-    7e18:	3f e0       	ldi	r19, 0x0F	; 15
-    7e1a:	49 ec       	ldi	r20, 0xC9	; 201
-    7e1c:	5f e3       	ldi	r21, 0x3F	; 63
-    7e1e:	9b df       	rcall	.-202    	; 0x7d56 <__addsf3x>
-    7e20:	f7 d1       	rcall	.+1006   	; 0x8210 <__fp_round>
-    7e22:	0f 90       	pop	r0
-    7e24:	07 fc       	sbrc	r0, 7
-    7e26:	90 58       	subi	r25, 0x80	; 128
-    7e28:	08 95       	ret
-    7e2a:	bc d1       	rcall	.+888    	; 0x81a4 <__fp_pscA>
-    7e2c:	58 f0       	brcs	.+22     	; 0x7e44 <asin+0x48>
-    7e2e:	80 e8       	ldi	r24, 0x80	; 128
-    7e30:	91 e0       	ldi	r25, 0x01	; 1
-    7e32:	09 f4       	brne	.+2      	; 0x7e36 <asin+0x3a>
-    7e34:	9e ef       	ldi	r25, 0xFE	; 254
-    7e36:	bd d1       	rcall	.+890    	; 0x81b2 <__fp_pscB>
-    7e38:	28 f0       	brcs	.+10     	; 0x7e44 <asin+0x48>
-    7e3a:	40 e8       	ldi	r20, 0x80	; 128
-    7e3c:	51 e0       	ldi	r21, 0x01	; 1
-    7e3e:	59 f4       	brne	.+22     	; 0x7e56 <atan2+0xe>
-    7e40:	5e ef       	ldi	r21, 0xFE	; 254
-    7e42:	09 c0       	rjmp	.+18     	; 0x7e56 <atan2+0xe>
-    7e44:	76 c1       	rjmp	.+748    	; 0x8132 <__fp_nan>
-    7e46:	28 c2       	rjmp	.+1104   	; 0x8298 <__fp_zero>
-
-00007e48 <atan2>:
-    7e48:	e9 2f       	mov	r30, r25
-    7e4a:	e0 78       	andi	r30, 0x80	; 128
-    7e4c:	03 d2       	rcall	.+1030   	; 0x8254 <__fp_split3>
-    7e4e:	68 f3       	brcs	.-38     	; 0x7e2a <asin+0x2e>
-    7e50:	09 2e       	mov	r0, r25
-    7e52:	05 2a       	or	r0, r21
-    7e54:	c1 f3       	breq	.-16     	; 0x7e46 <asin+0x4a>
-    7e56:	26 17       	cp	r18, r22
-    7e58:	37 07       	cpc	r19, r23
-    7e5a:	48 07       	cpc	r20, r24
-    7e5c:	59 07       	cpc	r21, r25
-    7e5e:	38 f0       	brcs	.+14     	; 0x7e6e <atan2+0x26>
-    7e60:	0e 2e       	mov	r0, r30
-    7e62:	07 f8       	bld	r0, 7
-    7e64:	e0 25       	eor	r30, r0
-    7e66:	69 f0       	breq	.+26     	; 0x7e82 <atan2+0x3a>
-    7e68:	e0 25       	eor	r30, r0
-    7e6a:	e0 64       	ori	r30, 0x40	; 64
-    7e6c:	0a c0       	rjmp	.+20     	; 0x7e82 <atan2+0x3a>
-    7e6e:	ef 63       	ori	r30, 0x3F	; 63
-    7e70:	07 f8       	bld	r0, 7
-    7e72:	00 94       	com	r0
-    7e74:	07 fa       	bst	r0, 7
-    7e76:	db 01       	movw	r26, r22
-    7e78:	b9 01       	movw	r22, r18
-    7e7a:	9d 01       	movw	r18, r26
-    7e7c:	dc 01       	movw	r26, r24
-    7e7e:	ca 01       	movw	r24, r20
-    7e80:	ad 01       	movw	r20, r26
-    7e82:	ef 93       	push	r30
-    7e84:	4a d0       	rcall	.+148    	; 0x7f1a <__divsf3_pse>
-    7e86:	c4 d1       	rcall	.+904    	; 0x8210 <__fp_round>
-    7e88:	0a d0       	rcall	.+20     	; 0x7e9e <atan>
-    7e8a:	5f 91       	pop	r21
-    7e8c:	55 23       	and	r21, r21
-    7e8e:	31 f0       	breq	.+12     	; 0x7e9c <atan2+0x54>
-    7e90:	2b ed       	ldi	r18, 0xDB	; 219
-    7e92:	3f e0       	ldi	r19, 0x0F	; 15
-    7e94:	49 e4       	ldi	r20, 0x49	; 73
-    7e96:	50 fd       	sbrc	r21, 0
-    7e98:	49 ec       	ldi	r20, 0xC9	; 201
-    7e9a:	4c cf       	rjmp	.-360    	; 0x7d34 <__addsf3>
-    7e9c:	08 95       	ret
-
-00007e9e <atan>:
-    7e9e:	df 93       	push	r29
-    7ea0:	dd 27       	eor	r29, r29
-    7ea2:	b9 2f       	mov	r27, r25
-    7ea4:	bf 77       	andi	r27, 0x7F	; 127
-    7ea6:	40 e8       	ldi	r20, 0x80	; 128
-    7ea8:	5f e3       	ldi	r21, 0x3F	; 63
-    7eaa:	16 16       	cp	r1, r22
-    7eac:	17 06       	cpc	r1, r23
-    7eae:	48 07       	cpc	r20, r24
-    7eb0:	5b 07       	cpc	r21, r27
-    7eb2:	10 f4       	brcc	.+4      	; 0x7eb8 <atan+0x1a>
-    7eb4:	d9 2f       	mov	r29, r25
-    7eb6:	fb d1       	rcall	.+1014   	; 0x82ae <inverse>
-    7eb8:	9f 93       	push	r25
-    7eba:	8f 93       	push	r24
-    7ebc:	7f 93       	push	r23
-    7ebe:	6f 93       	push	r22
-    7ec0:	a8 d2       	rcall	.+1360   	; 0x8412 <square>
-    7ec2:	e8 ef       	ldi	r30, 0xF8	; 248
-    7ec4:	f0 e0       	ldi	r31, 0x00	; 0
-    7ec6:	38 d1       	rcall	.+624    	; 0x8138 <__fp_powser>
-    7ec8:	a3 d1       	rcall	.+838    	; 0x8210 <__fp_round>
-    7eca:	2f 91       	pop	r18
-    7ecc:	3f 91       	pop	r19
-    7ece:	4f 91       	pop	r20
-    7ed0:	5f 91       	pop	r21
-    7ed2:	00 d2       	rcall	.+1024   	; 0x82d4 <__mulsf3x>
-    7ed4:	dd 23       	and	r29, r29
-    7ed6:	49 f0       	breq	.+18     	; 0x7eea <atan+0x4c>
-    7ed8:	90 58       	subi	r25, 0x80	; 128
-    7eda:	a2 ea       	ldi	r26, 0xA2	; 162
-    7edc:	2a ed       	ldi	r18, 0xDA	; 218
-    7ede:	3f e0       	ldi	r19, 0x0F	; 15
-    7ee0:	49 ec       	ldi	r20, 0xC9	; 201
-    7ee2:	5f e3       	ldi	r21, 0x3F	; 63
-    7ee4:	d0 78       	andi	r29, 0x80	; 128
-    7ee6:	5d 27       	eor	r21, r29
-    7ee8:	36 df       	rcall	.-404    	; 0x7d56 <__addsf3x>
-    7eea:	df 91       	pop	r29
-    7eec:	91 c1       	rjmp	.+802    	; 0x8210 <__fp_round>
-
-00007eee <__cmpsf2>:
-    7eee:	f7 d0       	rcall	.+494    	; 0x80de <__fp_cmp>
-    7ef0:	08 f4       	brcc	.+2      	; 0x7ef4 <__cmpsf2+0x6>
-    7ef2:	81 e0       	ldi	r24, 0x01	; 1
-    7ef4:	08 95       	ret
-
-00007ef6 <cos>:
-    7ef6:	65 d1       	rcall	.+714    	; 0x81c2 <__fp_rempio2>
-    7ef8:	e3 95       	inc	r30
-    7efa:	9b c1       	rjmp	.+822    	; 0x8232 <__fp_sinus>
-
-00007efc <__divsf3>:
-    7efc:	0c d0       	rcall	.+24     	; 0x7f16 <__divsf3x>
-    7efe:	88 c1       	rjmp	.+784    	; 0x8210 <__fp_round>
-    7f00:	58 d1       	rcall	.+688    	; 0x81b2 <__fp_pscB>
-    7f02:	40 f0       	brcs	.+16     	; 0x7f14 <__divsf3+0x18>
-    7f04:	4f d1       	rcall	.+670    	; 0x81a4 <__fp_pscA>
-    7f06:	30 f0       	brcs	.+12     	; 0x7f14 <__divsf3+0x18>
-    7f08:	21 f4       	brne	.+8      	; 0x7f12 <__divsf3+0x16>
-    7f0a:	5f 3f       	cpi	r21, 0xFF	; 255
-    7f0c:	19 f0       	breq	.+6      	; 0x7f14 <__divsf3+0x18>
-    7f0e:	0b c1       	rjmp	.+534    	; 0x8126 <__fp_inf>
-    7f10:	51 11       	cpse	r21, r1
-    7f12:	c3 c1       	rjmp	.+902    	; 0x829a <__fp_szero>
-    7f14:	0e c1       	rjmp	.+540    	; 0x8132 <__fp_nan>
-
-00007f16 <__divsf3x>:
-    7f16:	9e d1       	rcall	.+828    	; 0x8254 <__fp_split3>
-    7f18:	98 f3       	brcs	.-26     	; 0x7f00 <__divsf3+0x4>
-
-00007f1a <__divsf3_pse>:
-    7f1a:	99 23       	and	r25, r25
-    7f1c:	c9 f3       	breq	.-14     	; 0x7f10 <__divsf3+0x14>
-    7f1e:	55 23       	and	r21, r21
-    7f20:	b1 f3       	breq	.-20     	; 0x7f0e <__divsf3+0x12>
-    7f22:	95 1b       	sub	r25, r21
-    7f24:	55 0b       	sbc	r21, r21
-    7f26:	bb 27       	eor	r27, r27
-    7f28:	aa 27       	eor	r26, r26
-    7f2a:	62 17       	cp	r22, r18
-    7f2c:	73 07       	cpc	r23, r19
-    7f2e:	84 07       	cpc	r24, r20
-    7f30:	38 f0       	brcs	.+14     	; 0x7f40 <__divsf3_pse+0x26>
-    7f32:	9f 5f       	subi	r25, 0xFF	; 255
-    7f34:	5f 4f       	sbci	r21, 0xFF	; 255
-    7f36:	22 0f       	add	r18, r18
-    7f38:	33 1f       	adc	r19, r19
-    7f3a:	44 1f       	adc	r20, r20
-    7f3c:	aa 1f       	adc	r26, r26
-    7f3e:	a9 f3       	breq	.-22     	; 0x7f2a <__divsf3_pse+0x10>
-    7f40:	33 d0       	rcall	.+102    	; 0x7fa8 <__divsf3_pse+0x8e>
-    7f42:	0e 2e       	mov	r0, r30
-    7f44:	3a f0       	brmi	.+14     	; 0x7f54 <__divsf3_pse+0x3a>
-    7f46:	e0 e8       	ldi	r30, 0x80	; 128
-    7f48:	30 d0       	rcall	.+96     	; 0x7faa <__divsf3_pse+0x90>
-    7f4a:	91 50       	subi	r25, 0x01	; 1
-    7f4c:	50 40       	sbci	r21, 0x00	; 0
-    7f4e:	e6 95       	lsr	r30
-    7f50:	00 1c       	adc	r0, r0
-    7f52:	ca f7       	brpl	.-14     	; 0x7f46 <__divsf3_pse+0x2c>
-    7f54:	29 d0       	rcall	.+82     	; 0x7fa8 <__divsf3_pse+0x8e>
-    7f56:	fe 2f       	mov	r31, r30
-    7f58:	27 d0       	rcall	.+78     	; 0x7fa8 <__divsf3_pse+0x8e>
-    7f5a:	66 0f       	add	r22, r22
-    7f5c:	77 1f       	adc	r23, r23
-    7f5e:	88 1f       	adc	r24, r24
-    7f60:	bb 1f       	adc	r27, r27
-    7f62:	26 17       	cp	r18, r22
-    7f64:	37 07       	cpc	r19, r23
-    7f66:	48 07       	cpc	r20, r24
-    7f68:	ab 07       	cpc	r26, r27
-    7f6a:	b0 e8       	ldi	r27, 0x80	; 128
-    7f6c:	09 f0       	breq	.+2      	; 0x7f70 <__divsf3_pse+0x56>
-    7f6e:	bb 0b       	sbc	r27, r27
-    7f70:	80 2d       	mov	r24, r0
-    7f72:	bf 01       	movw	r22, r30
-    7f74:	ff 27       	eor	r31, r31
-    7f76:	93 58       	subi	r25, 0x83	; 131
-    7f78:	5f 4f       	sbci	r21, 0xFF	; 255
-    7f7a:	2a f0       	brmi	.+10     	; 0x7f86 <__divsf3_pse+0x6c>
-    7f7c:	9e 3f       	cpi	r25, 0xFE	; 254
-    7f7e:	51 05       	cpc	r21, r1
-    7f80:	68 f0       	brcs	.+26     	; 0x7f9c <__divsf3_pse+0x82>
-    7f82:	d1 c0       	rjmp	.+418    	; 0x8126 <__fp_inf>
-    7f84:	8a c1       	rjmp	.+788    	; 0x829a <__fp_szero>
-    7f86:	5f 3f       	cpi	r21, 0xFF	; 255
-    7f88:	ec f3       	brlt	.-6      	; 0x7f84 <__divsf3_pse+0x6a>
-    7f8a:	98 3e       	cpi	r25, 0xE8	; 232
-    7f8c:	dc f3       	brlt	.-10     	; 0x7f84 <__divsf3_pse+0x6a>
-    7f8e:	86 95       	lsr	r24
-    7f90:	77 95       	ror	r23
-    7f92:	67 95       	ror	r22
-    7f94:	b7 95       	ror	r27
-    7f96:	f7 95       	ror	r31
-    7f98:	9f 5f       	subi	r25, 0xFF	; 255
-    7f9a:	c9 f7       	brne	.-14     	; 0x7f8e <__divsf3_pse+0x74>
-    7f9c:	88 0f       	add	r24, r24
-    7f9e:	91 1d       	adc	r25, r1
-    7fa0:	96 95       	lsr	r25
-    7fa2:	87 95       	ror	r24
-    7fa4:	97 f9       	bld	r25, 7
-    7fa6:	08 95       	ret
-    7fa8:	e1 e0       	ldi	r30, 0x01	; 1
-    7faa:	66 0f       	add	r22, r22
-    7fac:	77 1f       	adc	r23, r23
-    7fae:	88 1f       	adc	r24, r24
-    7fb0:	bb 1f       	adc	r27, r27
-    7fb2:	62 17       	cp	r22, r18
-    7fb4:	73 07       	cpc	r23, r19
-    7fb6:	84 07       	cpc	r24, r20
-    7fb8:	ba 07       	cpc	r27, r26
-    7fba:	20 f0       	brcs	.+8      	; 0x7fc4 <__divsf3_pse+0xaa>
-    7fbc:	62 1b       	sub	r22, r18
-    7fbe:	73 0b       	sbc	r23, r19
-    7fc0:	84 0b       	sbc	r24, r20
-    7fc2:	ba 0b       	sbc	r27, r26
-    7fc4:	ee 1f       	adc	r30, r30
-    7fc6:	88 f7       	brcc	.-30     	; 0x7faa <__divsf3_pse+0x90>
-    7fc8:	e0 95       	com	r30
-    7fca:	08 95       	ret
-
-00007fcc <__fixsfsi>:
-    7fcc:	04 d0       	rcall	.+8      	; 0x7fd6 <__fixunssfsi>
-    7fce:	68 94       	set
-    7fd0:	b1 11       	cpse	r27, r1
-    7fd2:	63 c1       	rjmp	.+710    	; 0x829a <__fp_szero>
-    7fd4:	08 95       	ret
-
-00007fd6 <__fixunssfsi>:
-    7fd6:	46 d1       	rcall	.+652    	; 0x8264 <__fp_splitA>
-    7fd8:	88 f0       	brcs	.+34     	; 0x7ffc <__fixunssfsi+0x26>
-    7fda:	9f 57       	subi	r25, 0x7F	; 127
-    7fdc:	90 f0       	brcs	.+36     	; 0x8002 <__fixunssfsi+0x2c>
-    7fde:	b9 2f       	mov	r27, r25
-    7fe0:	99 27       	eor	r25, r25
-    7fe2:	b7 51       	subi	r27, 0x17	; 23
-    7fe4:	a0 f0       	brcs	.+40     	; 0x800e <__fixunssfsi+0x38>
-    7fe6:	d1 f0       	breq	.+52     	; 0x801c <__fixunssfsi+0x46>
-    7fe8:	66 0f       	add	r22, r22
-    7fea:	77 1f       	adc	r23, r23
-    7fec:	88 1f       	adc	r24, r24
-    7fee:	99 1f       	adc	r25, r25
-    7ff0:	1a f0       	brmi	.+6      	; 0x7ff8 <__fixunssfsi+0x22>
-    7ff2:	ba 95       	dec	r27
-    7ff4:	c9 f7       	brne	.-14     	; 0x7fe8 <__fixunssfsi+0x12>
-    7ff6:	12 c0       	rjmp	.+36     	; 0x801c <__fixunssfsi+0x46>
-    7ff8:	b1 30       	cpi	r27, 0x01	; 1
-    7ffa:	81 f0       	breq	.+32     	; 0x801c <__fixunssfsi+0x46>
-    7ffc:	4d d1       	rcall	.+666    	; 0x8298 <__fp_zero>
-    7ffe:	b1 e0       	ldi	r27, 0x01	; 1
-    8000:	08 95       	ret
-    8002:	4a c1       	rjmp	.+660    	; 0x8298 <__fp_zero>
-    8004:	67 2f       	mov	r22, r23
-    8006:	78 2f       	mov	r23, r24
-    8008:	88 27       	eor	r24, r24
-    800a:	b8 5f       	subi	r27, 0xF8	; 248
-    800c:	39 f0       	breq	.+14     	; 0x801c <__fixunssfsi+0x46>
-    800e:	b9 3f       	cpi	r27, 0xF9	; 249
-    8010:	cc f3       	brlt	.-14     	; 0x8004 <__fixunssfsi+0x2e>
-    8012:	86 95       	lsr	r24
-    8014:	77 95       	ror	r23
-    8016:	67 95       	ror	r22
-    8018:	b3 95       	inc	r27
-    801a:	d9 f7       	brne	.-10     	; 0x8012 <__fixunssfsi+0x3c>
-    801c:	3e f4       	brtc	.+14     	; 0x802c <__fixunssfsi+0x56>
-    801e:	90 95       	com	r25
-    8020:	80 95       	com	r24
-    8022:	70 95       	com	r23
-    8024:	61 95       	neg	r22
-    8026:	7f 4f       	sbci	r23, 0xFF	; 255
-    8028:	8f 4f       	sbci	r24, 0xFF	; 255
-    802a:	9f 4f       	sbci	r25, 0xFF	; 255
-    802c:	08 95       	ret
-
-0000802e <__floatunsisf>:
-    802e:	e8 94       	clt
-    8030:	09 c0       	rjmp	.+18     	; 0x8044 <__floatsisf+0x12>
-
-00008032 <__floatsisf>:
-    8032:	97 fb       	bst	r25, 7
-    8034:	3e f4       	brtc	.+14     	; 0x8044 <__floatsisf+0x12>
-    8036:	90 95       	com	r25
-    8038:	80 95       	com	r24
-    803a:	70 95       	com	r23
-    803c:	61 95       	neg	r22
-    803e:	7f 4f       	sbci	r23, 0xFF	; 255
-    8040:	8f 4f       	sbci	r24, 0xFF	; 255
-    8042:	9f 4f       	sbci	r25, 0xFF	; 255
-    8044:	99 23       	and	r25, r25
-    8046:	a9 f0       	breq	.+42     	; 0x8072 <__floatsisf+0x40>
-    8048:	f9 2f       	mov	r31, r25
-    804a:	96 e9       	ldi	r25, 0x96	; 150
-    804c:	bb 27       	eor	r27, r27
-    804e:	93 95       	inc	r25
-    8050:	f6 95       	lsr	r31
-    8052:	87 95       	ror	r24
-    8054:	77 95       	ror	r23
-    8056:	67 95       	ror	r22
-    8058:	b7 95       	ror	r27
-    805a:	f1 11       	cpse	r31, r1
-    805c:	f8 cf       	rjmp	.-16     	; 0x804e <__floatsisf+0x1c>
-    805e:	fa f4       	brpl	.+62     	; 0x809e <__floatsisf+0x6c>
-    8060:	bb 0f       	add	r27, r27
-    8062:	11 f4       	brne	.+4      	; 0x8068 <__floatsisf+0x36>
-    8064:	60 ff       	sbrs	r22, 0
-    8066:	1b c0       	rjmp	.+54     	; 0x809e <__floatsisf+0x6c>
-    8068:	6f 5f       	subi	r22, 0xFF	; 255
-    806a:	7f 4f       	sbci	r23, 0xFF	; 255
-    806c:	8f 4f       	sbci	r24, 0xFF	; 255
-    806e:	9f 4f       	sbci	r25, 0xFF	; 255
-    8070:	16 c0       	rjmp	.+44     	; 0x809e <__floatsisf+0x6c>
-    8072:	88 23       	and	r24, r24
-    8074:	11 f0       	breq	.+4      	; 0x807a <__floatsisf+0x48>
-    8076:	96 e9       	ldi	r25, 0x96	; 150
-    8078:	11 c0       	rjmp	.+34     	; 0x809c <__floatsisf+0x6a>
-    807a:	77 23       	and	r23, r23
-    807c:	21 f0       	breq	.+8      	; 0x8086 <__floatsisf+0x54>
-    807e:	9e e8       	ldi	r25, 0x8E	; 142
-    8080:	87 2f       	mov	r24, r23
-    8082:	76 2f       	mov	r23, r22
-    8084:	05 c0       	rjmp	.+10     	; 0x8090 <__floatsisf+0x5e>
-    8086:	66 23       	and	r22, r22
-    8088:	71 f0       	breq	.+28     	; 0x80a6 <__floatsisf+0x74>
-    808a:	96 e8       	ldi	r25, 0x86	; 134
-    808c:	86 2f       	mov	r24, r22
-    808e:	70 e0       	ldi	r23, 0x00	; 0
-    8090:	60 e0       	ldi	r22, 0x00	; 0
-    8092:	2a f0       	brmi	.+10     	; 0x809e <__floatsisf+0x6c>
-    8094:	9a 95       	dec	r25
-    8096:	66 0f       	add	r22, r22
-    8098:	77 1f       	adc	r23, r23
-    809a:	88 1f       	adc	r24, r24
-    809c:	da f7       	brpl	.-10     	; 0x8094 <__floatsisf+0x62>
-    809e:	88 0f       	add	r24, r24
-    80a0:	96 95       	lsr	r25
-    80a2:	87 95       	ror	r24
-    80a4:	97 f9       	bld	r25, 7
+    7dfc:	4a c1       	rjmp	.+660    	; 0x8092 <__fp_zero>
+    7dfe:	67 2f       	mov	r22, r23
+    7e00:	78 2f       	mov	r23, r24
+    7e02:	88 27       	eor	r24, r24
+    7e04:	b8 5f       	subi	r27, 0xF8	; 248
+    7e06:	39 f0       	breq	.+14     	; 0x7e16 <__fixunssfsi+0x46>
+    7e08:	b9 3f       	cpi	r27, 0xF9	; 249
+    7e0a:	cc f3       	brlt	.-14     	; 0x7dfe <__fixunssfsi+0x2e>
+    7e0c:	86 95       	lsr	r24
+    7e0e:	77 95       	ror	r23
+    7e10:	67 95       	ror	r22
+    7e12:	b3 95       	inc	r27
+    7e14:	d9 f7       	brne	.-10     	; 0x7e0c <__fixunssfsi+0x3c>
+    7e16:	3e f4       	brtc	.+14     	; 0x7e26 <__fixunssfsi+0x56>
+    7e18:	90 95       	com	r25
+    7e1a:	80 95       	com	r24
+    7e1c:	70 95       	com	r23
+    7e1e:	61 95       	neg	r22
+    7e20:	7f 4f       	sbci	r23, 0xFF	; 255
+    7e22:	8f 4f       	sbci	r24, 0xFF	; 255
+    7e24:	9f 4f       	sbci	r25, 0xFF	; 255
+    7e26:	08 95       	ret
+
+00007e28 <__floatunsisf>:
+    7e28:	e8 94       	clt
+    7e2a:	09 c0       	rjmp	.+18     	; 0x7e3e <__floatsisf+0x12>
+
+00007e2c <__floatsisf>:
+    7e2c:	97 fb       	bst	r25, 7
+    7e2e:	3e f4       	brtc	.+14     	; 0x7e3e <__floatsisf+0x12>
+    7e30:	90 95       	com	r25
+    7e32:	80 95       	com	r24
+    7e34:	70 95       	com	r23
+    7e36:	61 95       	neg	r22
+    7e38:	7f 4f       	sbci	r23, 0xFF	; 255
+    7e3a:	8f 4f       	sbci	r24, 0xFF	; 255
+    7e3c:	9f 4f       	sbci	r25, 0xFF	; 255
+    7e3e:	99 23       	and	r25, r25
+    7e40:	a9 f0       	breq	.+42     	; 0x7e6c <__floatsisf+0x40>
+    7e42:	f9 2f       	mov	r31, r25
+    7e44:	96 e9       	ldi	r25, 0x96	; 150
+    7e46:	bb 27       	eor	r27, r27
+    7e48:	93 95       	inc	r25
+    7e4a:	f6 95       	lsr	r31
+    7e4c:	87 95       	ror	r24
+    7e4e:	77 95       	ror	r23
+    7e50:	67 95       	ror	r22
+    7e52:	b7 95       	ror	r27
+    7e54:	f1 11       	cpse	r31, r1
+    7e56:	f8 cf       	rjmp	.-16     	; 0x7e48 <__floatsisf+0x1c>
+    7e58:	fa f4       	brpl	.+62     	; 0x7e98 <__floatsisf+0x6c>
+    7e5a:	bb 0f       	add	r27, r27
+    7e5c:	11 f4       	brne	.+4      	; 0x7e62 <__floatsisf+0x36>
+    7e5e:	60 ff       	sbrs	r22, 0
+    7e60:	1b c0       	rjmp	.+54     	; 0x7e98 <__floatsisf+0x6c>
+    7e62:	6f 5f       	subi	r22, 0xFF	; 255
+    7e64:	7f 4f       	sbci	r23, 0xFF	; 255
+    7e66:	8f 4f       	sbci	r24, 0xFF	; 255
+    7e68:	9f 4f       	sbci	r25, 0xFF	; 255
+    7e6a:	16 c0       	rjmp	.+44     	; 0x7e98 <__floatsisf+0x6c>
+    7e6c:	88 23       	and	r24, r24
+    7e6e:	11 f0       	breq	.+4      	; 0x7e74 <__floatsisf+0x48>
+    7e70:	96 e9       	ldi	r25, 0x96	; 150
+    7e72:	11 c0       	rjmp	.+34     	; 0x7e96 <__floatsisf+0x6a>
+    7e74:	77 23       	and	r23, r23
+    7e76:	21 f0       	breq	.+8      	; 0x7e80 <__floatsisf+0x54>
+    7e78:	9e e8       	ldi	r25, 0x8E	; 142
+    7e7a:	87 2f       	mov	r24, r23
+    7e7c:	76 2f       	mov	r23, r22
+    7e7e:	05 c0       	rjmp	.+10     	; 0x7e8a <__floatsisf+0x5e>
+    7e80:	66 23       	and	r22, r22
+    7e82:	71 f0       	breq	.+28     	; 0x7ea0 <__floatsisf+0x74>
+    7e84:	96 e8       	ldi	r25, 0x86	; 134
+    7e86:	86 2f       	mov	r24, r22
+    7e88:	70 e0       	ldi	r23, 0x00	; 0
+    7e8a:	60 e0       	ldi	r22, 0x00	; 0
+    7e8c:	2a f0       	brmi	.+10     	; 0x7e98 <__floatsisf+0x6c>
+    7e8e:	9a 95       	dec	r25
+    7e90:	66 0f       	add	r22, r22
+    7e92:	77 1f       	adc	r23, r23
+    7e94:	88 1f       	adc	r24, r24
+    7e96:	da f7       	brpl	.-10     	; 0x7e8e <__floatsisf+0x62>
+    7e98:	88 0f       	add	r24, r24
+    7e9a:	96 95       	lsr	r25
+    7e9c:	87 95       	ror	r24
+    7e9e:	97 f9       	bld	r25, 7
+    7ea0:	08 95       	ret
+
+00007ea2 <__fp_arccos>:
+    7ea2:	df 93       	push	r29
+    7ea4:	cf 93       	push	r28
+    7ea6:	1f 93       	push	r17
+    7ea8:	0f 93       	push	r16
+    7eaa:	8b 01       	movw	r16, r22
+    7eac:	ec 01       	movw	r28, r24
+    7eae:	e5 e2       	ldi	r30, 0x25	; 37
+    7eb0:	f1 e0       	ldi	r31, 0x01	; 1
+    7eb2:	3f d0       	rcall	.+126    	; 0x7f32 <__fp_powser>
+    7eb4:	aa d0       	rcall	.+340    	; 0x800a <__fp_round>
+    7eb6:	98 01       	movw	r18, r16
+    7eb8:	ae 01       	movw	r20, r28
+    7eba:	8b 01       	movw	r16, r22
+    7ebc:	ec 01       	movw	r28, r24
+    7ebe:	60 e0       	ldi	r22, 0x00	; 0
+    7ec0:	70 e0       	ldi	r23, 0x00	; 0
+    7ec2:	80 e8       	ldi	r24, 0x80	; 128
+    7ec4:	9f e3       	ldi	r25, 0x3F	; 63
+    7ec6:	32 de       	rcall	.-924    	; 0x7b2c <__subsf3>
+    7ec8:	63 d1       	rcall	.+710    	; 0x8190 <sqrt>
+    7eca:	98 01       	movw	r18, r16
+    7ecc:	ae 01       	movw	r20, r28
+    7ece:	0f 91       	pop	r16
+    7ed0:	1f 91       	pop	r17
+    7ed2:	cf 91       	pop	r28
+    7ed4:	df 91       	pop	r29
+    7ed6:	fb c0       	rjmp	.+502    	; 0x80ce <__mulsf3x>
+
+00007ed8 <__fp_cmp>:
+    7ed8:	99 0f       	add	r25, r25
+    7eda:	00 08       	sbc	r0, r0
+    7edc:	55 0f       	add	r21, r21
+    7ede:	aa 0b       	sbc	r26, r26
+    7ee0:	e0 e8       	ldi	r30, 0x80	; 128
+    7ee2:	fe ef       	ldi	r31, 0xFE	; 254
+    7ee4:	16 16       	cp	r1, r22
+    7ee6:	17 06       	cpc	r1, r23
+    7ee8:	e8 07       	cpc	r30, r24
+    7eea:	f9 07       	cpc	r31, r25
+    7eec:	c0 f0       	brcs	.+48     	; 0x7f1e <__fp_cmp+0x46>
+    7eee:	12 16       	cp	r1, r18
+    7ef0:	13 06       	cpc	r1, r19
+    7ef2:	e4 07       	cpc	r30, r20
+    7ef4:	f5 07       	cpc	r31, r21
+    7ef6:	98 f0       	brcs	.+38     	; 0x7f1e <__fp_cmp+0x46>
+    7ef8:	62 1b       	sub	r22, r18
+    7efa:	73 0b       	sbc	r23, r19
+    7efc:	84 0b       	sbc	r24, r20
+    7efe:	95 0b       	sbc	r25, r21
+    7f00:	39 f4       	brne	.+14     	; 0x7f10 <__fp_cmp+0x38>
+    7f02:	0a 26       	eor	r0, r26
+    7f04:	61 f0       	breq	.+24     	; 0x7f1e <__fp_cmp+0x46>
+    7f06:	23 2b       	or	r18, r19
+    7f08:	24 2b       	or	r18, r20
+    7f0a:	25 2b       	or	r18, r21
+    7f0c:	21 f4       	brne	.+8      	; 0x7f16 <__fp_cmp+0x3e>
+    7f0e:	08 95       	ret
+    7f10:	0a 26       	eor	r0, r26
+    7f12:	09 f4       	brne	.+2      	; 0x7f16 <__fp_cmp+0x3e>
+    7f14:	a1 40       	sbci	r26, 0x01	; 1
+    7f16:	a6 95       	lsr	r26
+    7f18:	8f ef       	ldi	r24, 0xFF	; 255
+    7f1a:	81 1d       	adc	r24, r1
+    7f1c:	81 1d       	adc	r24, r1
+    7f1e:	08 95       	ret
+
+00007f20 <__fp_inf>:
+    7f20:	97 f9       	bld	r25, 7
+    7f22:	9f 67       	ori	r25, 0x7F	; 127
+    7f24:	80 e8       	ldi	r24, 0x80	; 128
+    7f26:	70 e0       	ldi	r23, 0x00	; 0
+    7f28:	60 e0       	ldi	r22, 0x00	; 0
+    7f2a:	08 95       	ret
+
+00007f2c <__fp_nan>:
+    7f2c:	9f ef       	ldi	r25, 0xFF	; 255
+    7f2e:	80 ec       	ldi	r24, 0xC0	; 192
+    7f30:	08 95       	ret
+
+00007f32 <__fp_powser>:
+    7f32:	df 93       	push	r29
+    7f34:	cf 93       	push	r28
+    7f36:	1f 93       	push	r17
+    7f38:	0f 93       	push	r16
+    7f3a:	ff 92       	push	r15
+    7f3c:	ef 92       	push	r14
+    7f3e:	df 92       	push	r13
+    7f40:	7b 01       	movw	r14, r22
+    7f42:	8c 01       	movw	r16, r24
+    7f44:	68 94       	set
+    7f46:	05 c0       	rjmp	.+10     	; 0x7f52 <__fp_powser+0x20>
+    7f48:	da 2e       	mov	r13, r26
+    7f4a:	ef 01       	movw	r28, r30
+    7f4c:	c0 d0       	rcall	.+384    	; 0x80ce <__mulsf3x>
+    7f4e:	fe 01       	movw	r30, r28
+    7f50:	e8 94       	clt
+    7f52:	a5 91       	lpm	r26, Z+
+    7f54:	25 91       	lpm	r18, Z+
+    7f56:	35 91       	lpm	r19, Z+
+    7f58:	45 91       	lpm	r20, Z+
+    7f5a:	55 91       	lpm	r21, Z+
+    7f5c:	ae f3       	brts	.-22     	; 0x7f48 <__fp_powser+0x16>
+    7f5e:	ef 01       	movw	r28, r30
+    7f60:	f7 dd       	rcall	.-1042   	; 0x7b50 <__addsf3x>
+    7f62:	fe 01       	movw	r30, r28
+    7f64:	97 01       	movw	r18, r14
+    7f66:	a8 01       	movw	r20, r16
+    7f68:	da 94       	dec	r13
+    7f6a:	79 f7       	brne	.-34     	; 0x7f4a <__fp_powser+0x18>
+    7f6c:	df 90       	pop	r13
+    7f6e:	ef 90       	pop	r14
+    7f70:	ff 90       	pop	r15
+    7f72:	0f 91       	pop	r16
+    7f74:	1f 91       	pop	r17
+    7f76:	cf 91       	pop	r28
+    7f78:	df 91       	pop	r29
+    7f7a:	08 95       	ret
+
+00007f7c <__fp_powsodd>:
+    7f7c:	9f 93       	push	r25
+    7f7e:	8f 93       	push	r24
+    7f80:	7f 93       	push	r23
+    7f82:	6f 93       	push	r22
+    7f84:	ff 93       	push	r31
+    7f86:	ef 93       	push	r30
+    7f88:	9b 01       	movw	r18, r22
+    7f8a:	ac 01       	movw	r20, r24
+    7f8c:	94 d0       	rcall	.+296    	; 0x80b6 <__mulsf3>
+    7f8e:	ef 91       	pop	r30
+    7f90:	ff 91       	pop	r31
+    7f92:	cf df       	rcall	.-98     	; 0x7f32 <__fp_powser>
+    7f94:	2f 91       	pop	r18
+    7f96:	3f 91       	pop	r19
+    7f98:	4f 91       	pop	r20
+    7f9a:	5f 91       	pop	r21
+    7f9c:	8c c0       	rjmp	.+280    	; 0x80b6 <__mulsf3>
+
+00007f9e <__fp_pscA>:
+    7f9e:	00 24       	eor	r0, r0
+    7fa0:	0a 94       	dec	r0
+    7fa2:	16 16       	cp	r1, r22
+    7fa4:	17 06       	cpc	r1, r23
+    7fa6:	18 06       	cpc	r1, r24
+    7fa8:	09 06       	cpc	r0, r25
+    7faa:	08 95       	ret
+
+00007fac <__fp_pscB>:
+    7fac:	00 24       	eor	r0, r0
+    7fae:	0a 94       	dec	r0
+    7fb0:	12 16       	cp	r1, r18
+    7fb2:	13 06       	cpc	r1, r19
+    7fb4:	14 06       	cpc	r1, r20
+    7fb6:	05 06       	cpc	r0, r21
+    7fb8:	08 95       	ret
+    7fba:	b8 cf       	rjmp	.-144    	; 0x7f2c <__fp_nan>
+
+00007fbc <__fp_rempio2>:
+    7fbc:	50 d0       	rcall	.+160    	; 0x805e <__fp_splitA>
+    7fbe:	e8 f3       	brcs	.-6      	; 0x7fba <__fp_pscB+0xe>
+    7fc0:	e8 94       	clt
+    7fc2:	e0 e0       	ldi	r30, 0x00	; 0
+    7fc4:	bb 27       	eor	r27, r27
+    7fc6:	9f 57       	subi	r25, 0x7F	; 127
+    7fc8:	f0 f0       	brcs	.+60     	; 0x8006 <__fp_rempio2+0x4a>
+    7fca:	2a ed       	ldi	r18, 0xDA	; 218
+    7fcc:	3f e0       	ldi	r19, 0x0F	; 15
+    7fce:	49 ec       	ldi	r20, 0xC9	; 201
+    7fd0:	06 c0       	rjmp	.+12     	; 0x7fde <__fp_rempio2+0x22>
+    7fd2:	ee 0f       	add	r30, r30
+    7fd4:	bb 0f       	add	r27, r27
+    7fd6:	66 1f       	adc	r22, r22
+    7fd8:	77 1f       	adc	r23, r23
+    7fda:	88 1f       	adc	r24, r24
+    7fdc:	28 f0       	brcs	.+10     	; 0x7fe8 <__fp_rempio2+0x2c>
+    7fde:	b2 3a       	cpi	r27, 0xA2	; 162
+    7fe0:	62 07       	cpc	r22, r18
+    7fe2:	73 07       	cpc	r23, r19
+    7fe4:	84 07       	cpc	r24, r20
+    7fe6:	28 f0       	brcs	.+10     	; 0x7ff2 <__fp_rempio2+0x36>
+    7fe8:	b2 5a       	subi	r27, 0xA2	; 162
+    7fea:	62 0b       	sbc	r22, r18
+    7fec:	73 0b       	sbc	r23, r19
+    7fee:	84 0b       	sbc	r24, r20
+    7ff0:	e3 95       	inc	r30
+    7ff2:	9a 95       	dec	r25
+    7ff4:	72 f7       	brpl	.-36     	; 0x7fd2 <__fp_rempio2+0x16>
+    7ff6:	80 38       	cpi	r24, 0x80	; 128
+    7ff8:	30 f4       	brcc	.+12     	; 0x8006 <__fp_rempio2+0x4a>
+    7ffa:	9a 95       	dec	r25
+    7ffc:	bb 0f       	add	r27, r27
+    7ffe:	66 1f       	adc	r22, r22
+    8000:	77 1f       	adc	r23, r23
+    8002:	88 1f       	adc	r24, r24
+    8004:	d2 f7       	brpl	.-12     	; 0x7ffa <__fp_rempio2+0x3e>
+    8006:	90 48       	sbci	r25, 0x80	; 128
+    8008:	06 c1       	rjmp	.+524    	; 0x8216 <__fp_mpack_finite>
+
+0000800a <__fp_round>:
+    800a:	09 2e       	mov	r0, r25
+    800c:	03 94       	inc	r0
+    800e:	00 0c       	add	r0, r0
+    8010:	11 f4       	brne	.+4      	; 0x8016 <__fp_round+0xc>
+    8012:	88 23       	and	r24, r24
+    8014:	52 f0       	brmi	.+20     	; 0x802a <__fp_round+0x20>
+    8016:	bb 0f       	add	r27, r27
+    8018:	40 f4       	brcc	.+16     	; 0x802a <__fp_round+0x20>
+    801a:	bf 2b       	or	r27, r31
+    801c:	11 f4       	brne	.+4      	; 0x8022 <__fp_round+0x18>
+    801e:	60 ff       	sbrs	r22, 0
+    8020:	04 c0       	rjmp	.+8      	; 0x802a <__fp_round+0x20>
+    8022:	6f 5f       	subi	r22, 0xFF	; 255
+    8024:	7f 4f       	sbci	r23, 0xFF	; 255
+    8026:	8f 4f       	sbci	r24, 0xFF	; 255
+    8028:	9f 4f       	sbci	r25, 0xFF	; 255
+    802a:	08 95       	ret
+
+0000802c <__fp_sinus>:
+    802c:	ef 93       	push	r30
+    802e:	e0 ff       	sbrs	r30, 0
+    8030:	06 c0       	rjmp	.+12     	; 0x803e <__fp_sinus+0x12>
+    8032:	a2 ea       	ldi	r26, 0xA2	; 162
+    8034:	2a ed       	ldi	r18, 0xDA	; 218
+    8036:	3f e0       	ldi	r19, 0x0F	; 15
+    8038:	49 ec       	ldi	r20, 0xC9	; 201
+    803a:	5f eb       	ldi	r21, 0xBF	; 191
+    803c:	89 dd       	rcall	.-1262   	; 0x7b50 <__addsf3x>
+    803e:	e5 df       	rcall	.-54     	; 0x800a <__fp_round>
+    8040:	0f 90       	pop	r0
+    8042:	03 94       	inc	r0
+    8044:	01 fc       	sbrc	r0, 1
+    8046:	90 58       	subi	r25, 0x80	; 128
+    8048:	ed e4       	ldi	r30, 0x4D	; 77
+    804a:	f1 e0       	ldi	r31, 0x01	; 1
+    804c:	97 cf       	rjmp	.-210    	; 0x7f7c <__fp_powsodd>
+
+0000804e <__fp_split3>:
+    804e:	57 fd       	sbrc	r21, 7
+    8050:	90 58       	subi	r25, 0x80	; 128
+    8052:	44 0f       	add	r20, r20
+    8054:	55 1f       	adc	r21, r21
+    8056:	59 f0       	breq	.+22     	; 0x806e <__fp_splitA+0x10>
+    8058:	5f 3f       	cpi	r21, 0xFF	; 255
+    805a:	71 f0       	breq	.+28     	; 0x8078 <__fp_splitA+0x1a>
+    805c:	47 95       	ror	r20
+
+0000805e <__fp_splitA>:
+    805e:	88 0f       	add	r24, r24
+    8060:	97 fb       	bst	r25, 7
+    8062:	99 1f       	adc	r25, r25
+    8064:	61 f0       	breq	.+24     	; 0x807e <__fp_splitA+0x20>
+    8066:	9f 3f       	cpi	r25, 0xFF	; 255
+    8068:	79 f0       	breq	.+30     	; 0x8088 <__fp_splitA+0x2a>
+    806a:	87 95       	ror	r24
+    806c:	08 95       	ret
+    806e:	12 16       	cp	r1, r18
+    8070:	13 06       	cpc	r1, r19
+    8072:	14 06       	cpc	r1, r20
+    8074:	55 1f       	adc	r21, r21
+    8076:	f2 cf       	rjmp	.-28     	; 0x805c <__fp_split3+0xe>
+    8078:	46 95       	lsr	r20
+    807a:	f1 df       	rcall	.-30     	; 0x805e <__fp_splitA>
+    807c:	08 c0       	rjmp	.+16     	; 0x808e <__fp_splitA+0x30>
+    807e:	16 16       	cp	r1, r22
+    8080:	17 06       	cpc	r1, r23
+    8082:	18 06       	cpc	r1, r24
+    8084:	99 1f       	adc	r25, r25
+    8086:	f1 cf       	rjmp	.-30     	; 0x806a <__fp_splitA+0xc>
+    8088:	86 95       	lsr	r24
+    808a:	71 05       	cpc	r23, r1
+    808c:	61 05       	cpc	r22, r1
+    808e:	08 94       	sec
+    8090:	08 95       	ret
+
+00008092 <__fp_zero>:
+    8092:	e8 94       	clt
+
+00008094 <__fp_szero>:
+    8094:	bb 27       	eor	r27, r27
+    8096:	66 27       	eor	r22, r22
+    8098:	77 27       	eor	r23, r23
+    809a:	cb 01       	movw	r24, r22
+    809c:	97 f9       	bld	r25, 7
+    809e:	08 95       	ret
+
+000080a0 <__gesf2>:
+    80a0:	1b df       	rcall	.-458    	; 0x7ed8 <__fp_cmp>
+    80a2:	08 f4       	brcc	.+2      	; 0x80a6 <__gesf2+0x6>
+    80a4:	8f ef       	ldi	r24, 0xFF	; 255
     80a6:	08 95       	ret
 
-000080a8 <__fp_arccos>:
-    80a8:	df 93       	push	r29
-    80aa:	cf 93       	push	r28
-    80ac:	1f 93       	push	r17
-    80ae:	0f 93       	push	r16
-    80b0:	8b 01       	movw	r16, r22
-    80b2:	ec 01       	movw	r28, r24
-    80b4:	e5 e2       	ldi	r30, 0x25	; 37
-    80b6:	f1 e0       	ldi	r31, 0x01	; 1
-    80b8:	3f d0       	rcall	.+126    	; 0x8138 <__fp_powser>
-    80ba:	aa d0       	rcall	.+340    	; 0x8210 <__fp_round>
-    80bc:	98 01       	movw	r18, r16
-    80be:	ae 01       	movw	r20, r28
-    80c0:	8b 01       	movw	r16, r22
-    80c2:	ec 01       	movw	r28, r24
-    80c4:	60 e0       	ldi	r22, 0x00	; 0
-    80c6:	70 e0       	ldi	r23, 0x00	; 0
-    80c8:	80 e8       	ldi	r24, 0x80	; 128
-    80ca:	9f e3       	ldi	r25, 0x3F	; 63
-    80cc:	32 de       	rcall	.-924    	; 0x7d32 <__subsf3>
-    80ce:	63 d1       	rcall	.+710    	; 0x8396 <sqrt>
-    80d0:	98 01       	movw	r18, r16
-    80d2:	ae 01       	movw	r20, r28
-    80d4:	0f 91       	pop	r16
-    80d6:	1f 91       	pop	r17
-    80d8:	cf 91       	pop	r28
-    80da:	df 91       	pop	r29
-    80dc:	fb c0       	rjmp	.+502    	; 0x82d4 <__mulsf3x>
-
-000080de <__fp_cmp>:
-    80de:	99 0f       	add	r25, r25
-    80e0:	00 08       	sbc	r0, r0
-    80e2:	55 0f       	add	r21, r21
-    80e4:	aa 0b       	sbc	r26, r26
-    80e6:	e0 e8       	ldi	r30, 0x80	; 128
-    80e8:	fe ef       	ldi	r31, 0xFE	; 254
-    80ea:	16 16       	cp	r1, r22
-    80ec:	17 06       	cpc	r1, r23
-    80ee:	e8 07       	cpc	r30, r24
-    80f0:	f9 07       	cpc	r31, r25
-    80f2:	c0 f0       	brcs	.+48     	; 0x8124 <__fp_cmp+0x46>
-    80f4:	12 16       	cp	r1, r18
-    80f6:	13 06       	cpc	r1, r19
-    80f8:	e4 07       	cpc	r30, r20
-    80fa:	f5 07       	cpc	r31, r21
-    80fc:	98 f0       	brcs	.+38     	; 0x8124 <__fp_cmp+0x46>
-    80fe:	62 1b       	sub	r22, r18
-    8100:	73 0b       	sbc	r23, r19
-    8102:	84 0b       	sbc	r24, r20
-    8104:	95 0b       	sbc	r25, r21
-    8106:	39 f4       	brne	.+14     	; 0x8116 <__fp_cmp+0x38>
-    8108:	0a 26       	eor	r0, r26
-    810a:	61 f0       	breq	.+24     	; 0x8124 <__fp_cmp+0x46>
-    810c:	23 2b       	or	r18, r19
-    810e:	24 2b       	or	r18, r20
-    8110:	25 2b       	or	r18, r21
-    8112:	21 f4       	brne	.+8      	; 0x811c <__fp_cmp+0x3e>
-    8114:	08 95       	ret
-    8116:	0a 26       	eor	r0, r26
-    8118:	09 f4       	brne	.+2      	; 0x811c <__fp_cmp+0x3e>
-    811a:	a1 40       	sbci	r26, 0x01	; 1
-    811c:	a6 95       	lsr	r26
-    811e:	8f ef       	ldi	r24, 0xFF	; 255
-    8120:	81 1d       	adc	r24, r1
-    8122:	81 1d       	adc	r24, r1
-    8124:	08 95       	ret
-
-00008126 <__fp_inf>:
-    8126:	97 f9       	bld	r25, 7
-    8128:	9f 67       	ori	r25, 0x7F	; 127
-    812a:	80 e8       	ldi	r24, 0x80	; 128
-    812c:	70 e0       	ldi	r23, 0x00	; 0
-    812e:	60 e0       	ldi	r22, 0x00	; 0
-    8130:	08 95       	ret
-
-00008132 <__fp_nan>:
-    8132:	9f ef       	ldi	r25, 0xFF	; 255
-    8134:	80 ec       	ldi	r24, 0xC0	; 192
-    8136:	08 95       	ret
-
-00008138 <__fp_powser>:
-    8138:	df 93       	push	r29
-    813a:	cf 93       	push	r28
-    813c:	1f 93       	push	r17
-    813e:	0f 93       	push	r16
-    8140:	ff 92       	push	r15
-    8142:	ef 92       	push	r14
-    8144:	df 92       	push	r13
-    8146:	7b 01       	movw	r14, r22
-    8148:	8c 01       	movw	r16, r24
-    814a:	68 94       	set
-    814c:	05 c0       	rjmp	.+10     	; 0x8158 <__fp_powser+0x20>
-    814e:	da 2e       	mov	r13, r26
-    8150:	ef 01       	movw	r28, r30
-    8152:	c0 d0       	rcall	.+384    	; 0x82d4 <__mulsf3x>
-    8154:	fe 01       	movw	r30, r28
-    8156:	e8 94       	clt
-    8158:	a5 91       	lpm	r26, Z+
-    815a:	25 91       	lpm	r18, Z+
-    815c:	35 91       	lpm	r19, Z+
-    815e:	45 91       	lpm	r20, Z+
-    8160:	55 91       	lpm	r21, Z+
-    8162:	ae f3       	brts	.-22     	; 0x814e <__fp_powser+0x16>
-    8164:	ef 01       	movw	r28, r30
-    8166:	f7 dd       	rcall	.-1042   	; 0x7d56 <__addsf3x>
-    8168:	fe 01       	movw	r30, r28
-    816a:	97 01       	movw	r18, r14
-    816c:	a8 01       	movw	r20, r16
-    816e:	da 94       	dec	r13
-    8170:	79 f7       	brne	.-34     	; 0x8150 <__fp_powser+0x18>
-    8172:	df 90       	pop	r13
-    8174:	ef 90       	pop	r14
-    8176:	ff 90       	pop	r15
-    8178:	0f 91       	pop	r16
-    817a:	1f 91       	pop	r17
-    817c:	cf 91       	pop	r28
-    817e:	df 91       	pop	r29
-    8180:	08 95       	ret
-
-00008182 <__fp_powsodd>:
-    8182:	9f 93       	push	r25
-    8184:	8f 93       	push	r24
-    8186:	7f 93       	push	r23
-    8188:	6f 93       	push	r22
-    818a:	ff 93       	push	r31
-    818c:	ef 93       	push	r30
-    818e:	9b 01       	movw	r18, r22
-    8190:	ac 01       	movw	r20, r24
-    8192:	94 d0       	rcall	.+296    	; 0x82bc <__mulsf3>
-    8194:	ef 91       	pop	r30
-    8196:	ff 91       	pop	r31
-    8198:	cf df       	rcall	.-98     	; 0x8138 <__fp_powser>
-    819a:	2f 91       	pop	r18
-    819c:	3f 91       	pop	r19
-    819e:	4f 91       	pop	r20
-    81a0:	5f 91       	pop	r21
-    81a2:	8c c0       	rjmp	.+280    	; 0x82bc <__mulsf3>
-
-000081a4 <__fp_pscA>:
-    81a4:	00 24       	eor	r0, r0
-    81a6:	0a 94       	dec	r0
-    81a8:	16 16       	cp	r1, r22
-    81aa:	17 06       	cpc	r1, r23
-    81ac:	18 06       	cpc	r1, r24
-    81ae:	09 06       	cpc	r0, r25
-    81b0:	08 95       	ret
-
-000081b2 <__fp_pscB>:
-    81b2:	00 24       	eor	r0, r0
-    81b4:	0a 94       	dec	r0
-    81b6:	12 16       	cp	r1, r18
-    81b8:	13 06       	cpc	r1, r19
-    81ba:	14 06       	cpc	r1, r20
-    81bc:	05 06       	cpc	r0, r21
-    81be:	08 95       	ret
-    81c0:	b8 cf       	rjmp	.-144    	; 0x8132 <__fp_nan>
-
-000081c2 <__fp_rempio2>:
-    81c2:	50 d0       	rcall	.+160    	; 0x8264 <__fp_splitA>
-    81c4:	e8 f3       	brcs	.-6      	; 0x81c0 <__fp_pscB+0xe>
-    81c6:	e8 94       	clt
-    81c8:	e0 e0       	ldi	r30, 0x00	; 0
-    81ca:	bb 27       	eor	r27, r27
-    81cc:	9f 57       	subi	r25, 0x7F	; 127
-    81ce:	f0 f0       	brcs	.+60     	; 0x820c <__fp_rempio2+0x4a>
-    81d0:	2a ed       	ldi	r18, 0xDA	; 218
-    81d2:	3f e0       	ldi	r19, 0x0F	; 15
-    81d4:	49 ec       	ldi	r20, 0xC9	; 201
-    81d6:	06 c0       	rjmp	.+12     	; 0x81e4 <__fp_rempio2+0x22>
-    81d8:	ee 0f       	add	r30, r30
-    81da:	bb 0f       	add	r27, r27
-    81dc:	66 1f       	adc	r22, r22
-    81de:	77 1f       	adc	r23, r23
-    81e0:	88 1f       	adc	r24, r24
-    81e2:	28 f0       	brcs	.+10     	; 0x81ee <__fp_rempio2+0x2c>
-    81e4:	b2 3a       	cpi	r27, 0xA2	; 162
-    81e6:	62 07       	cpc	r22, r18
-    81e8:	73 07       	cpc	r23, r19
-    81ea:	84 07       	cpc	r24, r20
-    81ec:	28 f0       	brcs	.+10     	; 0x81f8 <__fp_rempio2+0x36>
-    81ee:	b2 5a       	subi	r27, 0xA2	; 162
-    81f0:	62 0b       	sbc	r22, r18
-    81f2:	73 0b       	sbc	r23, r19
-    81f4:	84 0b       	sbc	r24, r20
-    81f6:	e3 95       	inc	r30
-    81f8:	9a 95       	dec	r25
-    81fa:	72 f7       	brpl	.-36     	; 0x81d8 <__fp_rempio2+0x16>
-    81fc:	80 38       	cpi	r24, 0x80	; 128
-    81fe:	30 f4       	brcc	.+12     	; 0x820c <__fp_rempio2+0x4a>
-    8200:	9a 95       	dec	r25
-    8202:	bb 0f       	add	r27, r27
-    8204:	66 1f       	adc	r22, r22
-    8206:	77 1f       	adc	r23, r23
-    8208:	88 1f       	adc	r24, r24
-    820a:	d2 f7       	brpl	.-12     	; 0x8200 <__fp_rempio2+0x3e>
-    820c:	90 48       	sbci	r25, 0x80	; 128
-    820e:	06 c1       	rjmp	.+524    	; 0x841c <__fp_mpack_finite>
-
-00008210 <__fp_round>:
-    8210:	09 2e       	mov	r0, r25
-    8212:	03 94       	inc	r0
-    8214:	00 0c       	add	r0, r0
-    8216:	11 f4       	brne	.+4      	; 0x821c <__fp_round+0xc>
-    8218:	88 23       	and	r24, r24
-    821a:	52 f0       	brmi	.+20     	; 0x8230 <__fp_round+0x20>
-    821c:	bb 0f       	add	r27, r27
-    821e:	40 f4       	brcc	.+16     	; 0x8230 <__fp_round+0x20>
-    8220:	bf 2b       	or	r27, r31
-    8222:	11 f4       	brne	.+4      	; 0x8228 <__fp_round+0x18>
-    8224:	60 ff       	sbrs	r22, 0
-    8226:	04 c0       	rjmp	.+8      	; 0x8230 <__fp_round+0x20>
-    8228:	6f 5f       	subi	r22, 0xFF	; 255
-    822a:	7f 4f       	sbci	r23, 0xFF	; 255
-    822c:	8f 4f       	sbci	r24, 0xFF	; 255
-    822e:	9f 4f       	sbci	r25, 0xFF	; 255
-    8230:	08 95       	ret
-
-00008232 <__fp_sinus>:
-    8232:	ef 93       	push	r30
-    8234:	e0 ff       	sbrs	r30, 0
-    8236:	06 c0       	rjmp	.+12     	; 0x8244 <__fp_sinus+0x12>
-    8238:	a2 ea       	ldi	r26, 0xA2	; 162
-    823a:	2a ed       	ldi	r18, 0xDA	; 218
-    823c:	3f e0       	ldi	r19, 0x0F	; 15
-    823e:	49 ec       	ldi	r20, 0xC9	; 201
-    8240:	5f eb       	ldi	r21, 0xBF	; 191
-    8242:	89 dd       	rcall	.-1262   	; 0x7d56 <__addsf3x>
-    8244:	e5 df       	rcall	.-54     	; 0x8210 <__fp_round>
-    8246:	0f 90       	pop	r0
-    8248:	03 94       	inc	r0
-    824a:	01 fc       	sbrc	r0, 1
-    824c:	90 58       	subi	r25, 0x80	; 128
-    824e:	ed e4       	ldi	r30, 0x4D	; 77
-    8250:	f1 e0       	ldi	r31, 0x01	; 1
-    8252:	97 cf       	rjmp	.-210    	; 0x8182 <__fp_powsodd>
-
-00008254 <__fp_split3>:
-    8254:	57 fd       	sbrc	r21, 7
-    8256:	90 58       	subi	r25, 0x80	; 128
-    8258:	44 0f       	add	r20, r20
-    825a:	55 1f       	adc	r21, r21
-    825c:	59 f0       	breq	.+22     	; 0x8274 <__fp_splitA+0x10>
-    825e:	5f 3f       	cpi	r21, 0xFF	; 255
-    8260:	71 f0       	breq	.+28     	; 0x827e <__fp_splitA+0x1a>
-    8262:	47 95       	ror	r20
-
-00008264 <__fp_splitA>:
-    8264:	88 0f       	add	r24, r24
-    8266:	97 fb       	bst	r25, 7
-    8268:	99 1f       	adc	r25, r25
-    826a:	61 f0       	breq	.+24     	; 0x8284 <__fp_splitA+0x20>
-    826c:	9f 3f       	cpi	r25, 0xFF	; 255
-    826e:	79 f0       	breq	.+30     	; 0x828e <__fp_splitA+0x2a>
-    8270:	87 95       	ror	r24
-    8272:	08 95       	ret
-    8274:	12 16       	cp	r1, r18
-    8276:	13 06       	cpc	r1, r19
-    8278:	14 06       	cpc	r1, r20
-    827a:	55 1f       	adc	r21, r21
-    827c:	f2 cf       	rjmp	.-28     	; 0x8262 <__fp_split3+0xe>
-    827e:	46 95       	lsr	r20
-    8280:	f1 df       	rcall	.-30     	; 0x8264 <__fp_splitA>
-    8282:	08 c0       	rjmp	.+16     	; 0x8294 <__fp_splitA+0x30>
-    8284:	16 16       	cp	r1, r22
-    8286:	17 06       	cpc	r1, r23
-    8288:	18 06       	cpc	r1, r24
-    828a:	99 1f       	adc	r25, r25
-    828c:	f1 cf       	rjmp	.-30     	; 0x8270 <__fp_splitA+0xc>
-    828e:	86 95       	lsr	r24
-    8290:	71 05       	cpc	r23, r1
-    8292:	61 05       	cpc	r22, r1
-    8294:	08 94       	sec
-    8296:	08 95       	ret
-
-00008298 <__fp_zero>:
-    8298:	e8 94       	clt
-
-0000829a <__fp_szero>:
-    829a:	bb 27       	eor	r27, r27
-    829c:	66 27       	eor	r22, r22
-    829e:	77 27       	eor	r23, r23
-    82a0:	cb 01       	movw	r24, r22
-    82a2:	97 f9       	bld	r25, 7
-    82a4:	08 95       	ret
-
-000082a6 <__gesf2>:
-    82a6:	1b df       	rcall	.-458    	; 0x80de <__fp_cmp>
-    82a8:	08 f4       	brcc	.+2      	; 0x82ac <__gesf2+0x6>
-    82aa:	8f ef       	ldi	r24, 0xFF	; 255
-    82ac:	08 95       	ret
-
-000082ae <inverse>:
-    82ae:	9b 01       	movw	r18, r22
-    82b0:	ac 01       	movw	r20, r24
-    82b2:	60 e0       	ldi	r22, 0x00	; 0
-    82b4:	70 e0       	ldi	r23, 0x00	; 0
-    82b6:	80 e8       	ldi	r24, 0x80	; 128
-    82b8:	9f e3       	ldi	r25, 0x3F	; 63
-    82ba:	20 ce       	rjmp	.-960    	; 0x7efc <__divsf3>
-
-000082bc <__mulsf3>:
-    82bc:	0b d0       	rcall	.+22     	; 0x82d4 <__mulsf3x>
-    82be:	a8 cf       	rjmp	.-176    	; 0x8210 <__fp_round>
-    82c0:	71 df       	rcall	.-286    	; 0x81a4 <__fp_pscA>
-    82c2:	28 f0       	brcs	.+10     	; 0x82ce <__mulsf3+0x12>
-    82c4:	76 df       	rcall	.-276    	; 0x81b2 <__fp_pscB>
-    82c6:	18 f0       	brcs	.+6      	; 0x82ce <__mulsf3+0x12>
-    82c8:	95 23       	and	r25, r21
-    82ca:	09 f0       	breq	.+2      	; 0x82ce <__mulsf3+0x12>
-    82cc:	2c cf       	rjmp	.-424    	; 0x8126 <__fp_inf>
-    82ce:	31 cf       	rjmp	.-414    	; 0x8132 <__fp_nan>
-    82d0:	11 24       	eor	r1, r1
-    82d2:	e3 cf       	rjmp	.-58     	; 0x829a <__fp_szero>
-
-000082d4 <__mulsf3x>:
-    82d4:	bf df       	rcall	.-130    	; 0x8254 <__fp_split3>
-    82d6:	a0 f3       	brcs	.-24     	; 0x82c0 <__mulsf3+0x4>
-
-000082d8 <__mulsf3_pse>:
-    82d8:	95 9f       	mul	r25, r21
-    82da:	d1 f3       	breq	.-12     	; 0x82d0 <__mulsf3+0x14>
-    82dc:	95 0f       	add	r25, r21
-    82de:	50 e0       	ldi	r21, 0x00	; 0
-    82e0:	55 1f       	adc	r21, r21
-    82e2:	62 9f       	mul	r22, r18
-    82e4:	f0 01       	movw	r30, r0
-    82e6:	72 9f       	mul	r23, r18
-    82e8:	bb 27       	eor	r27, r27
-    82ea:	f0 0d       	add	r31, r0
-    82ec:	b1 1d       	adc	r27, r1
-    82ee:	63 9f       	mul	r22, r19
-    82f0:	aa 27       	eor	r26, r26
-    82f2:	f0 0d       	add	r31, r0
-    82f4:	b1 1d       	adc	r27, r1
-    82f6:	aa 1f       	adc	r26, r26
-    82f8:	64 9f       	mul	r22, r20
-    82fa:	66 27       	eor	r22, r22
-    82fc:	b0 0d       	add	r27, r0
-    82fe:	a1 1d       	adc	r26, r1
-    8300:	66 1f       	adc	r22, r22
-    8302:	82 9f       	mul	r24, r18
-    8304:	22 27       	eor	r18, r18
-    8306:	b0 0d       	add	r27, r0
-    8308:	a1 1d       	adc	r26, r1
-    830a:	62 1f       	adc	r22, r18
-    830c:	73 9f       	mul	r23, r19
-    830e:	b0 0d       	add	r27, r0
-    8310:	a1 1d       	adc	r26, r1
-    8312:	62 1f       	adc	r22, r18
-    8314:	83 9f       	mul	r24, r19
-    8316:	a0 0d       	add	r26, r0
-    8318:	61 1d       	adc	r22, r1
-    831a:	22 1f       	adc	r18, r18
-    831c:	74 9f       	mul	r23, r20
-    831e:	33 27       	eor	r19, r19
-    8320:	a0 0d       	add	r26, r0
-    8322:	61 1d       	adc	r22, r1
-    8324:	23 1f       	adc	r18, r19
-    8326:	84 9f       	mul	r24, r20
-    8328:	60 0d       	add	r22, r0
-    832a:	21 1d       	adc	r18, r1
-    832c:	82 2f       	mov	r24, r18
-    832e:	76 2f       	mov	r23, r22
-    8330:	6a 2f       	mov	r22, r26
-    8332:	11 24       	eor	r1, r1
-    8334:	9f 57       	subi	r25, 0x7F	; 127
-    8336:	50 40       	sbci	r21, 0x00	; 0
-    8338:	8a f0       	brmi	.+34     	; 0x835c <__mulsf3_pse+0x84>
-    833a:	e1 f0       	breq	.+56     	; 0x8374 <__mulsf3_pse+0x9c>
-    833c:	88 23       	and	r24, r24
-    833e:	4a f0       	brmi	.+18     	; 0x8352 <__mulsf3_pse+0x7a>
-    8340:	ee 0f       	add	r30, r30
-    8342:	ff 1f       	adc	r31, r31
-    8344:	bb 1f       	adc	r27, r27
-    8346:	66 1f       	adc	r22, r22
-    8348:	77 1f       	adc	r23, r23
-    834a:	88 1f       	adc	r24, r24
-    834c:	91 50       	subi	r25, 0x01	; 1
-    834e:	50 40       	sbci	r21, 0x00	; 0
-    8350:	a9 f7       	brne	.-22     	; 0x833c <__mulsf3_pse+0x64>
-    8352:	9e 3f       	cpi	r25, 0xFE	; 254
-    8354:	51 05       	cpc	r21, r1
-    8356:	70 f0       	brcs	.+28     	; 0x8374 <__mulsf3_pse+0x9c>
-    8358:	e6 ce       	rjmp	.-564    	; 0x8126 <__fp_inf>
-    835a:	9f cf       	rjmp	.-194    	; 0x829a <__fp_szero>
-    835c:	5f 3f       	cpi	r21, 0xFF	; 255
-    835e:	ec f3       	brlt	.-6      	; 0x835a <__mulsf3_pse+0x82>
-    8360:	98 3e       	cpi	r25, 0xE8	; 232
-    8362:	dc f3       	brlt	.-10     	; 0x835a <__mulsf3_pse+0x82>
-    8364:	86 95       	lsr	r24
-    8366:	77 95       	ror	r23
-    8368:	67 95       	ror	r22
-    836a:	b7 95       	ror	r27
-    836c:	f7 95       	ror	r31
-    836e:	e7 95       	ror	r30
-    8370:	9f 5f       	subi	r25, 0xFF	; 255
-    8372:	c1 f7       	brne	.-16     	; 0x8364 <__mulsf3_pse+0x8c>
-    8374:	fe 2b       	or	r31, r30
-    8376:	88 0f       	add	r24, r24
-    8378:	91 1d       	adc	r25, r1
-    837a:	96 95       	lsr	r25
-    837c:	87 95       	ror	r24
-    837e:	97 f9       	bld	r25, 7
-    8380:	08 95       	ret
-
-00008382 <sin>:
-    8382:	9f 93       	push	r25
-    8384:	1e df       	rcall	.-452    	; 0x81c2 <__fp_rempio2>
-    8386:	0f 90       	pop	r0
-    8388:	07 fc       	sbrc	r0, 7
-    838a:	ee 5f       	subi	r30, 0xFE	; 254
-    838c:	52 cf       	rjmp	.-348    	; 0x8232 <__fp_sinus>
-    838e:	11 f4       	brne	.+4      	; 0x8394 <sin+0x12>
-    8390:	0e f4       	brtc	.+2      	; 0x8394 <sin+0x12>
-    8392:	cf ce       	rjmp	.-610    	; 0x8132 <__fp_nan>
-    8394:	41 c0       	rjmp	.+130    	; 0x8418 <__fp_mpack>
-
-00008396 <sqrt>:
-    8396:	66 df       	rcall	.-308    	; 0x8264 <__fp_splitA>
-    8398:	d0 f3       	brcs	.-12     	; 0x838e <sin+0xc>
-    839a:	99 23       	and	r25, r25
-    839c:	d9 f3       	breq	.-10     	; 0x8394 <sin+0x12>
-    839e:	ce f3       	brts	.-14     	; 0x8392 <sin+0x10>
-    83a0:	9f 57       	subi	r25, 0x7F	; 127
-    83a2:	55 0b       	sbc	r21, r21
-    83a4:	87 ff       	sbrs	r24, 7
-    83a6:	46 d0       	rcall	.+140    	; 0x8434 <__fp_norm2>
-    83a8:	00 24       	eor	r0, r0
-    83aa:	a0 e6       	ldi	r26, 0x60	; 96
-    83ac:	40 ea       	ldi	r20, 0xA0	; 160
-    83ae:	90 01       	movw	r18, r0
-    83b0:	80 58       	subi	r24, 0x80	; 128
-    83b2:	56 95       	lsr	r21
-    83b4:	97 95       	ror	r25
-    83b6:	28 f4       	brcc	.+10     	; 0x83c2 <sqrt+0x2c>
-    83b8:	80 5c       	subi	r24, 0xC0	; 192
-    83ba:	66 0f       	add	r22, r22
-    83bc:	77 1f       	adc	r23, r23
-    83be:	88 1f       	adc	r24, r24
-    83c0:	20 f0       	brcs	.+8      	; 0x83ca <sqrt+0x34>
-    83c2:	26 17       	cp	r18, r22
-    83c4:	37 07       	cpc	r19, r23
-    83c6:	48 07       	cpc	r20, r24
-    83c8:	30 f4       	brcc	.+12     	; 0x83d6 <sqrt+0x40>
-    83ca:	62 1b       	sub	r22, r18
-    83cc:	73 0b       	sbc	r23, r19
-    83ce:	84 0b       	sbc	r24, r20
-    83d0:	20 29       	or	r18, r0
-    83d2:	31 29       	or	r19, r1
-    83d4:	4a 2b       	or	r20, r26
-    83d6:	a6 95       	lsr	r26
-    83d8:	17 94       	ror	r1
-    83da:	07 94       	ror	r0
-    83dc:	20 25       	eor	r18, r0
-    83de:	31 25       	eor	r19, r1
-    83e0:	4a 27       	eor	r20, r26
-    83e2:	58 f7       	brcc	.-42     	; 0x83ba <sqrt+0x24>
-    83e4:	66 0f       	add	r22, r22
-    83e6:	77 1f       	adc	r23, r23
-    83e8:	88 1f       	adc	r24, r24
-    83ea:	20 f0       	brcs	.+8      	; 0x83f4 <sqrt+0x5e>
-    83ec:	26 17       	cp	r18, r22
-    83ee:	37 07       	cpc	r19, r23
-    83f0:	48 07       	cpc	r20, r24
-    83f2:	30 f4       	brcc	.+12     	; 0x8400 <sqrt+0x6a>
-    83f4:	62 0b       	sbc	r22, r18
-    83f6:	73 0b       	sbc	r23, r19
-    83f8:	84 0b       	sbc	r24, r20
-    83fa:	20 0d       	add	r18, r0
-    83fc:	31 1d       	adc	r19, r1
-    83fe:	41 1d       	adc	r20, r1
-    8400:	a0 95       	com	r26
-    8402:	81 f7       	brne	.-32     	; 0x83e4 <sqrt+0x4e>
-    8404:	b9 01       	movw	r22, r18
-    8406:	84 2f       	mov	r24, r20
-    8408:	91 58       	subi	r25, 0x81	; 129
-    840a:	88 0f       	add	r24, r24
-    840c:	96 95       	lsr	r25
-    840e:	87 95       	ror	r24
-    8410:	08 95       	ret
-
-00008412 <square>:
-    8412:	9b 01       	movw	r18, r22
-    8414:	ac 01       	movw	r20, r24
-    8416:	52 cf       	rjmp	.-348    	; 0x82bc <__mulsf3>
-
-00008418 <__fp_mpack>:
-    8418:	9f 3f       	cpi	r25, 0xFF	; 255
-    841a:	31 f0       	breq	.+12     	; 0x8428 <__fp_mpack_finite+0xc>
-
-0000841c <__fp_mpack_finite>:
-    841c:	91 50       	subi	r25, 0x01	; 1
-    841e:	20 f4       	brcc	.+8      	; 0x8428 <__fp_mpack_finite+0xc>
-    8420:	87 95       	ror	r24
-    8422:	77 95       	ror	r23
-    8424:	67 95       	ror	r22
-    8426:	b7 95       	ror	r27
-    8428:	88 0f       	add	r24, r24
-    842a:	91 1d       	adc	r25, r1
-    842c:	96 95       	lsr	r25
-    842e:	87 95       	ror	r24
-    8430:	97 f9       	bld	r25, 7
-    8432:	08 95       	ret
-
-00008434 <__fp_norm2>:
-    8434:	91 50       	subi	r25, 0x01	; 1
-    8436:	50 40       	sbci	r21, 0x00	; 0
-    8438:	66 0f       	add	r22, r22
-    843a:	77 1f       	adc	r23, r23
-    843c:	88 1f       	adc	r24, r24
-    843e:	d2 f7       	brpl	.-12     	; 0x8434 <__fp_norm2>
-    8440:	08 95       	ret
-
-00008442 <__mulsi3>:
-    8442:	62 9f       	mul	r22, r18
-    8444:	d0 01       	movw	r26, r0
-    8446:	73 9f       	mul	r23, r19
-    8448:	f0 01       	movw	r30, r0
-    844a:	82 9f       	mul	r24, r18
-    844c:	e0 0d       	add	r30, r0
-    844e:	f1 1d       	adc	r31, r1
-    8450:	64 9f       	mul	r22, r20
-    8452:	e0 0d       	add	r30, r0
-    8454:	f1 1d       	adc	r31, r1
-    8456:	92 9f       	mul	r25, r18
-    8458:	f0 0d       	add	r31, r0
-    845a:	83 9f       	mul	r24, r19
-    845c:	f0 0d       	add	r31, r0
-    845e:	74 9f       	mul	r23, r20
-    8460:	f0 0d       	add	r31, r0
-    8462:	65 9f       	mul	r22, r21
-    8464:	f0 0d       	add	r31, r0
-    8466:	99 27       	eor	r25, r25
-    8468:	72 9f       	mul	r23, r18
-    846a:	b0 0d       	add	r27, r0
-    846c:	e1 1d       	adc	r30, r1
-    846e:	f9 1f       	adc	r31, r25
-    8470:	63 9f       	mul	r22, r19
-    8472:	b0 0d       	add	r27, r0
-    8474:	e1 1d       	adc	r30, r1
-    8476:	f9 1f       	adc	r31, r25
-    8478:	bd 01       	movw	r22, r26
-    847a:	cf 01       	movw	r24, r30
-    847c:	11 24       	eor	r1, r1
-    847e:	08 95       	ret
-
-00008480 <__udivmodhi4>:
-    8480:	aa 1b       	sub	r26, r26
-    8482:	bb 1b       	sub	r27, r27
-    8484:	51 e1       	ldi	r21, 0x11	; 17
-    8486:	07 c0       	rjmp	.+14     	; 0x8496 <__udivmodhi4_ep>
-
-00008488 <__udivmodhi4_loop>:
-    8488:	aa 1f       	adc	r26, r26
-    848a:	bb 1f       	adc	r27, r27
-    848c:	a6 17       	cp	r26, r22
-    848e:	b7 07       	cpc	r27, r23
-    8490:	10 f0       	brcs	.+4      	; 0x8496 <__udivmodhi4_ep>
-    8492:	a6 1b       	sub	r26, r22
-    8494:	b7 0b       	sbc	r27, r23
-
-00008496 <__udivmodhi4_ep>:
-    8496:	88 1f       	adc	r24, r24
-    8498:	99 1f       	adc	r25, r25
-    849a:	5a 95       	dec	r21
-    849c:	a9 f7       	brne	.-22     	; 0x8488 <__udivmodhi4_loop>
-    849e:	80 95       	com	r24
-    84a0:	90 95       	com	r25
-    84a2:	bc 01       	movw	r22, r24
-    84a4:	cd 01       	movw	r24, r26
-    84a6:	08 95       	ret
-
-000084a8 <__divmodhi4>:
-    84a8:	97 fb       	bst	r25, 7
-    84aa:	09 2e       	mov	r0, r25
-    84ac:	07 26       	eor	r0, r23
-    84ae:	0a d0       	rcall	.+20     	; 0x84c4 <__divmodhi4_neg1>
-    84b0:	77 fd       	sbrc	r23, 7
-    84b2:	04 d0       	rcall	.+8      	; 0x84bc <__divmodhi4_neg2>
-    84b4:	e5 df       	rcall	.-54     	; 0x8480 <__udivmodhi4>
-    84b6:	06 d0       	rcall	.+12     	; 0x84c4 <__divmodhi4_neg1>
-    84b8:	00 20       	and	r0, r0
-    84ba:	1a f4       	brpl	.+6      	; 0x84c2 <__divmodhi4_exit>
-
-000084bc <__divmodhi4_neg2>:
-    84bc:	70 95       	com	r23
-    84be:	61 95       	neg	r22
-    84c0:	7f 4f       	sbci	r23, 0xFF	; 255
-
-000084c2 <__divmodhi4_exit>:
-    84c2:	08 95       	ret
-
-000084c4 <__divmodhi4_neg1>:
-    84c4:	f6 f7       	brtc	.-4      	; 0x84c2 <__divmodhi4_exit>
-    84c6:	90 95       	com	r25
-    84c8:	81 95       	neg	r24
-    84ca:	9f 4f       	sbci	r25, 0xFF	; 255
-    84cc:	08 95       	ret
-
-000084ce <__udivmodsi4>:
-    84ce:	a1 e2       	ldi	r26, 0x21	; 33
-    84d0:	1a 2e       	mov	r1, r26
-    84d2:	aa 1b       	sub	r26, r26
-    84d4:	bb 1b       	sub	r27, r27
-    84d6:	fd 01       	movw	r30, r26
-    84d8:	0d c0       	rjmp	.+26     	; 0x84f4 <__udivmodsi4_ep>
-
-000084da <__udivmodsi4_loop>:
-    84da:	aa 1f       	adc	r26, r26
-    84dc:	bb 1f       	adc	r27, r27
-    84de:	ee 1f       	adc	r30, r30
-    84e0:	ff 1f       	adc	r31, r31
-    84e2:	a2 17       	cp	r26, r18
-    84e4:	b3 07       	cpc	r27, r19
-    84e6:	e4 07       	cpc	r30, r20
-    84e8:	f5 07       	cpc	r31, r21
-    84ea:	20 f0       	brcs	.+8      	; 0x84f4 <__udivmodsi4_ep>
-    84ec:	a2 1b       	sub	r26, r18
-    84ee:	b3 0b       	sbc	r27, r19
-    84f0:	e4 0b       	sbc	r30, r20
-    84f2:	f5 0b       	sbc	r31, r21
-
-000084f4 <__udivmodsi4_ep>:
-    84f4:	66 1f       	adc	r22, r22
-    84f6:	77 1f       	adc	r23, r23
-    84f8:	88 1f       	adc	r24, r24
-    84fa:	99 1f       	adc	r25, r25
-    84fc:	1a 94       	dec	r1
-    84fe:	69 f7       	brne	.-38     	; 0x84da <__udivmodsi4_loop>
-    8500:	60 95       	com	r22
-    8502:	70 95       	com	r23
-    8504:	80 95       	com	r24
-    8506:	90 95       	com	r25
-    8508:	9b 01       	movw	r18, r22
-    850a:	ac 01       	movw	r20, r24
-    850c:	bd 01       	movw	r22, r26
-    850e:	cf 01       	movw	r24, r30
-    8510:	08 95       	ret
-
-00008512 <__divmodsi4>:
-    8512:	97 fb       	bst	r25, 7
-    8514:	09 2e       	mov	r0, r25
-    8516:	05 26       	eor	r0, r21
-    8518:	0e d0       	rcall	.+28     	; 0x8536 <__divmodsi4_neg1>
-    851a:	57 fd       	sbrc	r21, 7
-    851c:	04 d0       	rcall	.+8      	; 0x8526 <__divmodsi4_neg2>
-    851e:	d7 df       	rcall	.-82     	; 0x84ce <__udivmodsi4>
-    8520:	0a d0       	rcall	.+20     	; 0x8536 <__divmodsi4_neg1>
-    8522:	00 1c       	adc	r0, r0
-    8524:	38 f4       	brcc	.+14     	; 0x8534 <__divmodsi4_exit>
-
-00008526 <__divmodsi4_neg2>:
-    8526:	50 95       	com	r21
-    8528:	40 95       	com	r20
-    852a:	30 95       	com	r19
-    852c:	21 95       	neg	r18
-    852e:	3f 4f       	sbci	r19, 0xFF	; 255
-    8530:	4f 4f       	sbci	r20, 0xFF	; 255
-    8532:	5f 4f       	sbci	r21, 0xFF	; 255
-
-00008534 <__divmodsi4_exit>:
-    8534:	08 95       	ret
-
-00008536 <__divmodsi4_neg1>:
-    8536:	f6 f7       	brtc	.-4      	; 0x8534 <__divmodsi4_exit>
-    8538:	90 95       	com	r25
-    853a:	80 95       	com	r24
-    853c:	70 95       	com	r23
-    853e:	61 95       	neg	r22
-    8540:	7f 4f       	sbci	r23, 0xFF	; 255
-    8542:	8f 4f       	sbci	r24, 0xFF	; 255
-    8544:	9f 4f       	sbci	r25, 0xFF	; 255
-    8546:	08 95       	ret
-
-00008548 <__tablejump_elpm__>:
-    8548:	07 90       	elpm	r0, Z+
-    854a:	f6 91       	elpm	r31, Z+
-    854c:	e0 2d       	mov	r30, r0
-    854e:	19 94       	eijmp
-
-00008550 <__do_global_dtors>:
-    8550:	12 e0       	ldi	r17, 0x02	; 2
-    8552:	c2 e9       	ldi	r28, 0x92	; 146
-    8554:	d2 e0       	ldi	r29, 0x02	; 2
-    8556:	00 e0       	ldi	r16, 0x00	; 0
-    8558:	06 c0       	rjmp	.+12     	; 0x8566 <__do_global_dtors+0x16>
-    855a:	22 97       	sbiw	r28, 0x02	; 2
-    855c:	01 09       	sbc	r16, r1
-    855e:	fe 01       	movw	r30, r28
-    8560:	0b bf       	out	0x3b, r16	; 59
-    8562:	0e 94 a4 42 	call	0x8548	; 0x8548 <__tablejump_elpm__>
-    8566:	c4 39       	cpi	r28, 0x94	; 148
-    8568:	d1 07       	cpc	r29, r17
-    856a:	80 e0       	ldi	r24, 0x00	; 0
-    856c:	08 07       	cpc	r16, r24
-    856e:	a9 f7       	brne	.-22     	; 0x855a <__do_global_dtors+0xa>
-    8570:	f8 94       	cli
-
-00008572 <__stop_program>:
-    8572:	ff cf       	rjmp	.-2      	; 0x8572 <__stop_program>
+000080a8 <inverse>:
+    80a8:	9b 01       	movw	r18, r22
+    80aa:	ac 01       	movw	r20, r24
+    80ac:	60 e0       	ldi	r22, 0x00	; 0
+    80ae:	70 e0       	ldi	r23, 0x00	; 0
+    80b0:	80 e8       	ldi	r24, 0x80	; 128
+    80b2:	9f e3       	ldi	r25, 0x3F	; 63
+    80b4:	20 ce       	rjmp	.-960    	; 0x7cf6 <__divsf3>
+
+000080b6 <__mulsf3>:
+    80b6:	0b d0       	rcall	.+22     	; 0x80ce <__mulsf3x>
+    80b8:	a8 cf       	rjmp	.-176    	; 0x800a <__fp_round>
+    80ba:	71 df       	rcall	.-286    	; 0x7f9e <__fp_pscA>
+    80bc:	28 f0       	brcs	.+10     	; 0x80c8 <__mulsf3+0x12>
+    80be:	76 df       	rcall	.-276    	; 0x7fac <__fp_pscB>
+    80c0:	18 f0       	brcs	.+6      	; 0x80c8 <__mulsf3+0x12>
+    80c2:	95 23       	and	r25, r21
+    80c4:	09 f0       	breq	.+2      	; 0x80c8 <__mulsf3+0x12>
+    80c6:	2c cf       	rjmp	.-424    	; 0x7f20 <__fp_inf>
+    80c8:	31 cf       	rjmp	.-414    	; 0x7f2c <__fp_nan>
+    80ca:	11 24       	eor	r1, r1
+    80cc:	e3 cf       	rjmp	.-58     	; 0x8094 <__fp_szero>
+
+000080ce <__mulsf3x>:
+    80ce:	bf df       	rcall	.-130    	; 0x804e <__fp_split3>
+    80d0:	a0 f3       	brcs	.-24     	; 0x80ba <__mulsf3+0x4>
+
+000080d2 <__mulsf3_pse>:
+    80d2:	95 9f       	mul	r25, r21
+    80d4:	d1 f3       	breq	.-12     	; 0x80ca <__mulsf3+0x14>
+    80d6:	95 0f       	add	r25, r21
+    80d8:	50 e0       	ldi	r21, 0x00	; 0
+    80da:	55 1f       	adc	r21, r21
+    80dc:	62 9f       	mul	r22, r18
+    80de:	f0 01       	movw	r30, r0
+    80e0:	72 9f       	mul	r23, r18
+    80e2:	bb 27       	eor	r27, r27
+    80e4:	f0 0d       	add	r31, r0
+    80e6:	b1 1d       	adc	r27, r1
+    80e8:	63 9f       	mul	r22, r19
+    80ea:	aa 27       	eor	r26, r26
+    80ec:	f0 0d       	add	r31, r0
+    80ee:	b1 1d       	adc	r27, r1
+    80f0:	aa 1f       	adc	r26, r26
+    80f2:	64 9f       	mul	r22, r20
+    80f4:	66 27       	eor	r22, r22
+    80f6:	b0 0d       	add	r27, r0
+    80f8:	a1 1d       	adc	r26, r1
+    80fa:	66 1f       	adc	r22, r22
+    80fc:	82 9f       	mul	r24, r18
+    80fe:	22 27       	eor	r18, r18
+    8100:	b0 0d       	add	r27, r0
+    8102:	a1 1d       	adc	r26, r1
+    8104:	62 1f       	adc	r22, r18
+    8106:	73 9f       	mul	r23, r19
+    8108:	b0 0d       	add	r27, r0
+    810a:	a1 1d       	adc	r26, r1
+    810c:	62 1f       	adc	r22, r18
+    810e:	83 9f       	mul	r24, r19
+    8110:	a0 0d       	add	r26, r0
+    8112:	61 1d       	adc	r22, r1
+    8114:	22 1f       	adc	r18, r18
+    8116:	74 9f       	mul	r23, r20
+    8118:	33 27       	eor	r19, r19
+    811a:	a0 0d       	add	r26, r0
+    811c:	61 1d       	adc	r22, r1
+    811e:	23 1f       	adc	r18, r19
+    8120:	84 9f       	mul	r24, r20
+    8122:	60 0d       	add	r22, r0
+    8124:	21 1d       	adc	r18, r1
+    8126:	82 2f       	mov	r24, r18
+    8128:	76 2f       	mov	r23, r22
+    812a:	6a 2f       	mov	r22, r26
+    812c:	11 24       	eor	r1, r1
+    812e:	9f 57       	subi	r25, 0x7F	; 127
+    8130:	50 40       	sbci	r21, 0x00	; 0
+    8132:	8a f0       	brmi	.+34     	; 0x8156 <__mulsf3_pse+0x84>
+    8134:	e1 f0       	breq	.+56     	; 0x816e <__mulsf3_pse+0x9c>
+    8136:	88 23       	and	r24, r24
+    8138:	4a f0       	brmi	.+18     	; 0x814c <__mulsf3_pse+0x7a>
+    813a:	ee 0f       	add	r30, r30
+    813c:	ff 1f       	adc	r31, r31
+    813e:	bb 1f       	adc	r27, r27
+    8140:	66 1f       	adc	r22, r22
+    8142:	77 1f       	adc	r23, r23
+    8144:	88 1f       	adc	r24, r24
+    8146:	91 50       	subi	r25, 0x01	; 1
+    8148:	50 40       	sbci	r21, 0x00	; 0
+    814a:	a9 f7       	brne	.-22     	; 0x8136 <__mulsf3_pse+0x64>
+    814c:	9e 3f       	cpi	r25, 0xFE	; 254
+    814e:	51 05       	cpc	r21, r1
+    8150:	70 f0       	brcs	.+28     	; 0x816e <__mulsf3_pse+0x9c>
+    8152:	e6 ce       	rjmp	.-564    	; 0x7f20 <__fp_inf>
+    8154:	9f cf       	rjmp	.-194    	; 0x8094 <__fp_szero>
+    8156:	5f 3f       	cpi	r21, 0xFF	; 255
+    8158:	ec f3       	brlt	.-6      	; 0x8154 <__mulsf3_pse+0x82>
+    815a:	98 3e       	cpi	r25, 0xE8	; 232
+    815c:	dc f3       	brlt	.-10     	; 0x8154 <__mulsf3_pse+0x82>
+    815e:	86 95       	lsr	r24
+    8160:	77 95       	ror	r23
+    8162:	67 95       	ror	r22
+    8164:	b7 95       	ror	r27
+    8166:	f7 95       	ror	r31
+    8168:	e7 95       	ror	r30
+    816a:	9f 5f       	subi	r25, 0xFF	; 255
+    816c:	c1 f7       	brne	.-16     	; 0x815e <__mulsf3_pse+0x8c>
+    816e:	fe 2b       	or	r31, r30
+    8170:	88 0f       	add	r24, r24
+    8172:	91 1d       	adc	r25, r1
+    8174:	96 95       	lsr	r25
+    8176:	87 95       	ror	r24
+    8178:	97 f9       	bld	r25, 7
+    817a:	08 95       	ret
+
+0000817c <sin>:
+    817c:	9f 93       	push	r25
+    817e:	1e df       	rcall	.-452    	; 0x7fbc <__fp_rempio2>
+    8180:	0f 90       	pop	r0
+    8182:	07 fc       	sbrc	r0, 7
+    8184:	ee 5f       	subi	r30, 0xFE	; 254
+    8186:	52 cf       	rjmp	.-348    	; 0x802c <__fp_sinus>
+    8188:	11 f4       	brne	.+4      	; 0x818e <sin+0x12>
+    818a:	0e f4       	brtc	.+2      	; 0x818e <sin+0x12>
+    818c:	cf ce       	rjmp	.-610    	; 0x7f2c <__fp_nan>
+    818e:	41 c0       	rjmp	.+130    	; 0x8212 <__fp_mpack>
+
+00008190 <sqrt>:
+    8190:	66 df       	rcall	.-308    	; 0x805e <__fp_splitA>
+    8192:	d0 f3       	brcs	.-12     	; 0x8188 <sin+0xc>
+    8194:	99 23       	and	r25, r25
+    8196:	d9 f3       	breq	.-10     	; 0x818e <sin+0x12>
+    8198:	ce f3       	brts	.-14     	; 0x818c <sin+0x10>
+    819a:	9f 57       	subi	r25, 0x7F	; 127
+    819c:	55 0b       	sbc	r21, r21
+    819e:	87 ff       	sbrs	r24, 7
+    81a0:	46 d0       	rcall	.+140    	; 0x822e <__fp_norm2>
+    81a2:	00 24       	eor	r0, r0
+    81a4:	a0 e6       	ldi	r26, 0x60	; 96
+    81a6:	40 ea       	ldi	r20, 0xA0	; 160
+    81a8:	90 01       	movw	r18, r0
+    81aa:	80 58       	subi	r24, 0x80	; 128
+    81ac:	56 95       	lsr	r21
+    81ae:	97 95       	ror	r25
+    81b0:	28 f4       	brcc	.+10     	; 0x81bc <sqrt+0x2c>
+    81b2:	80 5c       	subi	r24, 0xC0	; 192
+    81b4:	66 0f       	add	r22, r22
+    81b6:	77 1f       	adc	r23, r23
+    81b8:	88 1f       	adc	r24, r24
+    81ba:	20 f0       	brcs	.+8      	; 0x81c4 <sqrt+0x34>
+    81bc:	26 17       	cp	r18, r22
+    81be:	37 07       	cpc	r19, r23
+    81c0:	48 07       	cpc	r20, r24
+    81c2:	30 f4       	brcc	.+12     	; 0x81d0 <sqrt+0x40>
+    81c4:	62 1b       	sub	r22, r18
+    81c6:	73 0b       	sbc	r23, r19
+    81c8:	84 0b       	sbc	r24, r20
+    81ca:	20 29       	or	r18, r0
+    81cc:	31 29       	or	r19, r1
+    81ce:	4a 2b       	or	r20, r26
+    81d0:	a6 95       	lsr	r26
+    81d2:	17 94       	ror	r1
+    81d4:	07 94       	ror	r0
+    81d6:	20 25       	eor	r18, r0
+    81d8:	31 25       	eor	r19, r1
+    81da:	4a 27       	eor	r20, r26
+    81dc:	58 f7       	brcc	.-42     	; 0x81b4 <sqrt+0x24>
+    81de:	66 0f       	add	r22, r22
+    81e0:	77 1f       	adc	r23, r23
+    81e2:	88 1f       	adc	r24, r24
+    81e4:	20 f0       	brcs	.+8      	; 0x81ee <sqrt+0x5e>
+    81e6:	26 17       	cp	r18, r22
+    81e8:	37 07       	cpc	r19, r23
+    81ea:	48 07       	cpc	r20, r24
+    81ec:	30 f4       	brcc	.+12     	; 0x81fa <sqrt+0x6a>
+    81ee:	62 0b       	sbc	r22, r18
+    81f0:	73 0b       	sbc	r23, r19
+    81f2:	84 0b       	sbc	r24, r20
+    81f4:	20 0d       	add	r18, r0
+    81f6:	31 1d       	adc	r19, r1
+    81f8:	41 1d       	adc	r20, r1
+    81fa:	a0 95       	com	r26
+    81fc:	81 f7       	brne	.-32     	; 0x81de <sqrt+0x4e>
+    81fe:	b9 01       	movw	r22, r18
+    8200:	84 2f       	mov	r24, r20
+    8202:	91 58       	subi	r25, 0x81	; 129
+    8204:	88 0f       	add	r24, r24
+    8206:	96 95       	lsr	r25
+    8208:	87 95       	ror	r24
+    820a:	08 95       	ret
+
+0000820c <square>:
+    820c:	9b 01       	movw	r18, r22
+    820e:	ac 01       	movw	r20, r24
+    8210:	52 cf       	rjmp	.-348    	; 0x80b6 <__mulsf3>
+
+00008212 <__fp_mpack>:
+    8212:	9f 3f       	cpi	r25, 0xFF	; 255
+    8214:	31 f0       	breq	.+12     	; 0x8222 <__fp_mpack_finite+0xc>
+
+00008216 <__fp_mpack_finite>:
+    8216:	91 50       	subi	r25, 0x01	; 1
+    8218:	20 f4       	brcc	.+8      	; 0x8222 <__fp_mpack_finite+0xc>
+    821a:	87 95       	ror	r24
+    821c:	77 95       	ror	r23
+    821e:	67 95       	ror	r22
+    8220:	b7 95       	ror	r27
+    8222:	88 0f       	add	r24, r24
+    8224:	91 1d       	adc	r25, r1
+    8226:	96 95       	lsr	r25
+    8228:	87 95       	ror	r24
+    822a:	97 f9       	bld	r25, 7
+    822c:	08 95       	ret
+
+0000822e <__fp_norm2>:
+    822e:	91 50       	subi	r25, 0x01	; 1
+    8230:	50 40       	sbci	r21, 0x00	; 0
+    8232:	66 0f       	add	r22, r22
+    8234:	77 1f       	adc	r23, r23
+    8236:	88 1f       	adc	r24, r24
+    8238:	d2 f7       	brpl	.-12     	; 0x822e <__fp_norm2>
+    823a:	08 95       	ret
+
+0000823c <__mulsi3>:
+    823c:	62 9f       	mul	r22, r18
+    823e:	d0 01       	movw	r26, r0
+    8240:	73 9f       	mul	r23, r19
+    8242:	f0 01       	movw	r30, r0
+    8244:	82 9f       	mul	r24, r18
+    8246:	e0 0d       	add	r30, r0
+    8248:	f1 1d       	adc	r31, r1
+    824a:	64 9f       	mul	r22, r20
+    824c:	e0 0d       	add	r30, r0
+    824e:	f1 1d       	adc	r31, r1
+    8250:	92 9f       	mul	r25, r18
+    8252:	f0 0d       	add	r31, r0
+    8254:	83 9f       	mul	r24, r19
+    8256:	f0 0d       	add	r31, r0
+    8258:	74 9f       	mul	r23, r20
+    825a:	f0 0d       	add	r31, r0
+    825c:	65 9f       	mul	r22, r21
+    825e:	f0 0d       	add	r31, r0
+    8260:	99 27       	eor	r25, r25
+    8262:	72 9f       	mul	r23, r18
+    8264:	b0 0d       	add	r27, r0
+    8266:	e1 1d       	adc	r30, r1
+    8268:	f9 1f       	adc	r31, r25
+    826a:	63 9f       	mul	r22, r19
+    826c:	b0 0d       	add	r27, r0
+    826e:	e1 1d       	adc	r30, r1
+    8270:	f9 1f       	adc	r31, r25
+    8272:	bd 01       	movw	r22, r26
+    8274:	cf 01       	movw	r24, r30
+    8276:	11 24       	eor	r1, r1
+    8278:	08 95       	ret
+
+0000827a <__udivmodhi4>:
+    827a:	aa 1b       	sub	r26, r26
+    827c:	bb 1b       	sub	r27, r27
+    827e:	51 e1       	ldi	r21, 0x11	; 17
+    8280:	07 c0       	rjmp	.+14     	; 0x8290 <__udivmodhi4_ep>
+
+00008282 <__udivmodhi4_loop>:
+    8282:	aa 1f       	adc	r26, r26
+    8284:	bb 1f       	adc	r27, r27
+    8286:	a6 17       	cp	r26, r22
+    8288:	b7 07       	cpc	r27, r23
+    828a:	10 f0       	brcs	.+4      	; 0x8290 <__udivmodhi4_ep>
+    828c:	a6 1b       	sub	r26, r22
+    828e:	b7 0b       	sbc	r27, r23
+
+00008290 <__udivmodhi4_ep>:
+    8290:	88 1f       	adc	r24, r24
+    8292:	99 1f       	adc	r25, r25
+    8294:	5a 95       	dec	r21
+    8296:	a9 f7       	brne	.-22     	; 0x8282 <__udivmodhi4_loop>
+    8298:	80 95       	com	r24
+    829a:	90 95       	com	r25
+    829c:	bc 01       	movw	r22, r24
+    829e:	cd 01       	movw	r24, r26
+    82a0:	08 95       	ret
+
+000082a2 <__divmodhi4>:
+    82a2:	97 fb       	bst	r25, 7
+    82a4:	09 2e       	mov	r0, r25
+    82a6:	07 26       	eor	r0, r23
+    82a8:	0a d0       	rcall	.+20     	; 0x82be <__divmodhi4_neg1>
+    82aa:	77 fd       	sbrc	r23, 7
+    82ac:	04 d0       	rcall	.+8      	; 0x82b6 <__divmodhi4_neg2>
+    82ae:	e5 df       	rcall	.-54     	; 0x827a <__udivmodhi4>
+    82b0:	06 d0       	rcall	.+12     	; 0x82be <__divmodhi4_neg1>
+    82b2:	00 20       	and	r0, r0
+    82b4:	1a f4       	brpl	.+6      	; 0x82bc <__divmodhi4_exit>
+
+000082b6 <__divmodhi4_neg2>:
+    82b6:	70 95       	com	r23
+    82b8:	61 95       	neg	r22
+    82ba:	7f 4f       	sbci	r23, 0xFF	; 255
+
+000082bc <__divmodhi4_exit>:
+    82bc:	08 95       	ret
+
+000082be <__divmodhi4_neg1>:
+    82be:	f6 f7       	brtc	.-4      	; 0x82bc <__divmodhi4_exit>
+    82c0:	90 95       	com	r25
+    82c2:	81 95       	neg	r24
+    82c4:	9f 4f       	sbci	r25, 0xFF	; 255
+    82c6:	08 95       	ret
+
+000082c8 <__udivmodsi4>:
+    82c8:	a1 e2       	ldi	r26, 0x21	; 33
+    82ca:	1a 2e       	mov	r1, r26
+    82cc:	aa 1b       	sub	r26, r26
+    82ce:	bb 1b       	sub	r27, r27
+    82d0:	fd 01       	movw	r30, r26
+    82d2:	0d c0       	rjmp	.+26     	; 0x82ee <__udivmodsi4_ep>
+
+000082d4 <__udivmodsi4_loop>:
+    82d4:	aa 1f       	adc	r26, r26
+    82d6:	bb 1f       	adc	r27, r27
+    82d8:	ee 1f       	adc	r30, r30
+    82da:	ff 1f       	adc	r31, r31
+    82dc:	a2 17       	cp	r26, r18
+    82de:	b3 07       	cpc	r27, r19
+    82e0:	e4 07       	cpc	r30, r20
+    82e2:	f5 07       	cpc	r31, r21
+    82e4:	20 f0       	brcs	.+8      	; 0x82ee <__udivmodsi4_ep>
+    82e6:	a2 1b       	sub	r26, r18
+    82e8:	b3 0b       	sbc	r27, r19
+    82ea:	e4 0b       	sbc	r30, r20
+    82ec:	f5 0b       	sbc	r31, r21
+
+000082ee <__udivmodsi4_ep>:
+    82ee:	66 1f       	adc	r22, r22
+    82f0:	77 1f       	adc	r23, r23
+    82f2:	88 1f       	adc	r24, r24
+    82f4:	99 1f       	adc	r25, r25
+    82f6:	1a 94       	dec	r1
+    82f8:	69 f7       	brne	.-38     	; 0x82d4 <__udivmodsi4_loop>
+    82fa:	60 95       	com	r22
+    82fc:	70 95       	com	r23
+    82fe:	80 95       	com	r24
+    8300:	90 95       	com	r25
+    8302:	9b 01       	movw	r18, r22
+    8304:	ac 01       	movw	r20, r24
+    8306:	bd 01       	movw	r22, r26
+    8308:	cf 01       	movw	r24, r30
+    830a:	08 95       	ret
+
+0000830c <__divmodsi4>:
+    830c:	97 fb       	bst	r25, 7
+    830e:	09 2e       	mov	r0, r25
+    8310:	05 26       	eor	r0, r21
+    8312:	0e d0       	rcall	.+28     	; 0x8330 <__divmodsi4_neg1>
+    8314:	57 fd       	sbrc	r21, 7
+    8316:	04 d0       	rcall	.+8      	; 0x8320 <__divmodsi4_neg2>
+    8318:	d7 df       	rcall	.-82     	; 0x82c8 <__udivmodsi4>
+    831a:	0a d0       	rcall	.+20     	; 0x8330 <__divmodsi4_neg1>
+    831c:	00 1c       	adc	r0, r0
+    831e:	38 f4       	brcc	.+14     	; 0x832e <__divmodsi4_exit>
+
+00008320 <__divmodsi4_neg2>:
+    8320:	50 95       	com	r21
+    8322:	40 95       	com	r20
+    8324:	30 95       	com	r19
+    8326:	21 95       	neg	r18
+    8328:	3f 4f       	sbci	r19, 0xFF	; 255
+    832a:	4f 4f       	sbci	r20, 0xFF	; 255
+    832c:	5f 4f       	sbci	r21, 0xFF	; 255
+
+0000832e <__divmodsi4_exit>:
+    832e:	08 95       	ret
+
+00008330 <__divmodsi4_neg1>:
+    8330:	f6 f7       	brtc	.-4      	; 0x832e <__divmodsi4_exit>
+    8332:	90 95       	com	r25
+    8334:	80 95       	com	r24
+    8336:	70 95       	com	r23
+    8338:	61 95       	neg	r22
+    833a:	7f 4f       	sbci	r23, 0xFF	; 255
+    833c:	8f 4f       	sbci	r24, 0xFF	; 255
+    833e:	9f 4f       	sbci	r25, 0xFF	; 255
+    8340:	08 95       	ret
+
+00008342 <__tablejump_elpm__>:
+    8342:	07 90       	elpm	r0, Z+
+    8344:	f6 91       	elpm	r31, Z+
+    8346:	e0 2d       	mov	r30, r0
+    8348:	19 94       	eijmp
+
+0000834a <__do_global_dtors>:
+    834a:	12 e0       	ldi	r17, 0x02	; 2
+    834c:	c2 e9       	ldi	r28, 0x92	; 146
+    834e:	d2 e0       	ldi	r29, 0x02	; 2
+    8350:	00 e0       	ldi	r16, 0x00	; 0
+    8352:	06 c0       	rjmp	.+12     	; 0x8360 <__do_global_dtors+0x16>
+    8354:	22 97       	sbiw	r28, 0x02	; 2
+    8356:	01 09       	sbc	r16, r1
+    8358:	fe 01       	movw	r30, r28
+    835a:	0b bf       	out	0x3b, r16	; 59
+    835c:	0e 94 a1 41 	call	0x8342	; 0x8342 <__tablejump_elpm__>
+    8360:	c4 39       	cpi	r28, 0x94	; 148
+    8362:	d1 07       	cpc	r29, r17
+    8364:	80 e0       	ldi	r24, 0x00	; 0
+    8366:	08 07       	cpc	r16, r24
+    8368:	a9 f7       	brne	.-22     	; 0x8354 <__do_global_dtors+0xa>
+    836a:	f8 94       	cli
+
+0000836c <__stop_program>:
+    836c:	ff cf       	rjmp	.-2      	; 0x836c <__stop_program>
diff --git a/firmware/ROS_mega/Debug/ROS_mega.map b/firmware/ROS_mega/Debug/ROS_mega.map
index ad449c6..66491e0 100755
--- a/firmware/ROS_mega/Debug/ROS_mega.map
+++ b/firmware/ROS_mega/Debug/ROS_mega.map
@@ -557,6 +557,8 @@ Discarded input sections
                 0x0000000000000000       0x10 ./src/lib/devices/StrongDriveOutput.o
  .text          0x0000000000000000        0x0 ./src/Main.o
  .bss           0x0000000000000000        0x0 ./src/Main.o
+ .text._ZN3IMU9printdataEv
+                0x0000000000000000       0xc2 ./src/Main.o
  .text._ZN3IMU12convertToDecEf
                 0x0000000000000000       0x12 ./src/Main.o
  .bss._ZN3IMU7timer24E
@@ -580,9 +582,12 @@ Discarded input sections
  .rodata._ZTV6Stream
                 0x0000000000000000       0x10 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(HardwareSerial.o)
  .text          0x0000000000000000        0x0 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
+ .data          0x0000000000000000        0x2 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
  .bss           0x0000000000000000        0x0 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
  .text._ZN5Print5printERK6String
                 0x0000000000000000       0x54 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
+ .text._ZN5Print5printEmi
+                0x0000000000000000       0x1e /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
  .text._ZN5Print5printEji
                 0x0000000000000000        0xe /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
  .text._ZN5Print5printEhi
@@ -599,10 +604,12 @@ Discarded input sections
                 0x0000000000000000       0x20 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
  .text._ZN5Print7printlnERK6String
                 0x0000000000000000       0x16 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
- .text._ZN5Print7printlnEli
-                0x0000000000000000       0x16 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
  .text._ZN5Print7printlnEci
                 0x0000000000000000       0x20 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
+ .text._ZN5Print10printFloatEdh
+                0x0000000000000000      0x154 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
+ .text._ZN5Print5printEdi
+                0x0000000000000000        0x6 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
  .text._ZN5Print7printlnEdi
                 0x0000000000000000       0x16 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
  .rodata._ZTV5Print
@@ -1202,7 +1209,7 @@ LOAD /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a
 .rela.plt
  *(.rela.plt)
 
-.text           0x0000000000000000     0x8574
+.text           0x0000000000000000     0x836e
  *(.vectors)
  .vectors       0x0000000000000000       0xe4 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/crtm2560.o
                 0x0000000000000000                __vectors
@@ -1411,12 +1418,12 @@ LOAD /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a
  .text._ZN8RoboClaw8DutyM1M2Ehjj
                 0x0000000000000dc0       0x54 ./src/lib/motors/RoboClaw.o
                 0x0000000000000dc0                _ZN8RoboClaw8DutyM1M2Ehjj
- .text._ZN8RoboClaw7SpeedM1Ehm
+ .text._ZN8RoboClaw7SpeedM1Ehl
                 0x0000000000000e14       0x54 ./src/lib/motors/RoboClaw.o
-                0x0000000000000e14                _ZN8RoboClaw7SpeedM1Ehm
- .text._ZN8RoboClaw7SpeedM2Ehm
+                0x0000000000000e14                _ZN8RoboClaw7SpeedM1Ehl
+ .text._ZN8RoboClaw7SpeedM2Ehl
                 0x0000000000000e68       0x54 ./src/lib/motors/RoboClaw.o
-                0x0000000000000e68                _ZN8RoboClaw7SpeedM2Ehm
+                0x0000000000000e68                _ZN8RoboClaw7SpeedM2Ehl
  .text._ZN8RoboClaw8ReadByteEm
                 0x0000000000000ebc       0x68 ./src/lib/motors/RoboClaw.o
                 0x0000000000000ebc                _ZN8RoboClaw8ReadByteEm
@@ -1656,455 +1663,446 @@ LOAD /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a
                 0x000000000000327c       0x50 ./src/Main.o
                 0x000000000000327c                _Z7servocbRKN8std_msgs15UInt8MultiArrayE
  .text._Z7drivecbRKN5rover6MotorsE
-                0x00000000000032cc       0xd0 ./src/Main.o
+                0x00000000000032cc       0xd2 ./src/Main.o
                 0x00000000000032cc                _Z7drivecbRKN5rover6MotorsE
  .text._ZN3ros9Publisher7publishEPKNS_3MsgE
-                0x000000000000339c       0x22 ./src/Main.o
-                0x000000000000339c                _ZN3ros9Publisher7publishEPKNS_3MsgE
+                0x000000000000339e       0x22 ./src/Main.o
+                0x000000000000339e                _ZN3ros9Publisher7publishEPKNS_3MsgE
  .text._ZN15ArduinoHardware4initEv
-                0x00000000000033be       0x14 ./src/Main.o
-                0x00000000000033be                _ZN15ArduinoHardware4initEv
+                0x00000000000033c0       0x14 ./src/Main.o
+                0x00000000000033c0                _ZN15ArduinoHardware4initEv
  .text._ZN3IMU15Compass_HeadingEv
-                0x00000000000033d2      0x348 ./src/Main.o
-                0x00000000000033d2                _ZN3IMU15Compass_HeadingEv
+                0x00000000000033d4      0x348 ./src/Main.o
+                0x00000000000033d4                _ZN3IMU15Compass_HeadingEv
  .text._ZN3IMU12Euler_anglesEv
-                0x000000000000371a       0x90 ./src/Main.o
-                0x000000000000371a                _ZN3IMU12Euler_anglesEv
+                0x000000000000371c       0x90 ./src/Main.o
+                0x000000000000371c                _ZN3IMU12Euler_anglesEv
  .text._ZN3IMU7initI2CEv
-                0x00000000000037aa        0xa ./src/Main.o
-                0x00000000000037aa                _ZN3IMU7initI2CEv
+                0x00000000000037ac        0xa ./src/Main.o
+                0x00000000000037ac                _ZN3IMU7initI2CEv
  .text._ZN3IMU8initGyroEv
-                0x00000000000037b4       0x22 ./src/Main.o
-                0x00000000000037b4                _ZN3IMU8initGyroEv
+                0x00000000000037b6       0x22 ./src/Main.o
+                0x00000000000037b6                _ZN3IMU8initGyroEv
  .text._ZN3IMU8readGyroEv
-                0x00000000000037d6       0xf2 ./src/Main.o
-                0x00000000000037d6                _ZN3IMU8readGyroEv
+                0x00000000000037d8       0xf2 ./src/Main.o
+                0x00000000000037d8                _ZN3IMU8readGyroEv
  .text._ZN3IMU9initAccelEv
-                0x00000000000038c8       0x22 ./src/Main.o
-                0x00000000000038c8                _ZN3IMU9initAccelEv
+                0x00000000000038ca       0x22 ./src/Main.o
+                0x00000000000038ca                _ZN3IMU9initAccelEv
  .text._ZN3IMU9readAccelEv
-                0x00000000000038ea       0xf2 ./src/Main.o
-                0x00000000000038ea                _ZN3IMU9readAccelEv
+                0x00000000000038ec       0xf2 ./src/Main.o
+                0x00000000000038ec                _ZN3IMU9readAccelEv
  .text._ZN3IMU11initCompassEv
-                0x00000000000039dc       0x22 ./src/Main.o
-                0x00000000000039dc                _ZN3IMU11initCompassEv
+                0x00000000000039de       0x22 ./src/Main.o
+                0x00000000000039de                _ZN3IMU11initCompassEv
  .text._ZN3IMU7initIMUEv
-                0x00000000000039fe      0x146 ./src/Main.o
-                0x00000000000039fe                _ZN3IMU7initIMUEv
+                0x0000000000003a00      0x146 ./src/Main.o
+                0x0000000000003a00                _ZN3IMU7initIMUEv
  .text._ZN3IMU11readCompassEv
-                0x0000000000003b44       0xa6 ./src/Main.o
-                0x0000000000003b44                _ZN3IMU11readCompassEv
- .text._ZN3IMU9printdataEv
-                0x0000000000003bea       0xc2 ./src/Main.o
-                0x0000000000003bea                _ZN3IMU9printdataEv
+                0x0000000000003b46       0xa6 ./src/Main.o
+                0x0000000000003b46                _ZN3IMU11readCompassEv
  .text._ZN3IMU16vectorDotProductEPfS0_
-                0x0000000000003cac       0x86 ./src/Main.o
-                0x0000000000003cac                _ZN3IMU16vectorDotProductEPfS0_
+                0x0000000000003bec       0x86 ./src/Main.o
+                0x0000000000003bec                _ZN3IMU16vectorDotProductEPfS0_
  .text._ZN3IMU18vectorCrossProductEPfS0_S0_
-                0x0000000000003d32      0x102 ./src/Main.o
-                0x0000000000003d32                _ZN3IMU18vectorCrossProductEPfS0_S0_
+                0x0000000000003c72      0x102 ./src/Main.o
+                0x0000000000003c72                _ZN3IMU18vectorCrossProductEPfS0_S0_
  .text._ZN3IMU11vectorScaleEPfS0_f
-                0x0000000000003e34       0x74 ./src/Main.o
-                0x0000000000003e34                _ZN3IMU11vectorScaleEPfS0_f
+                0x0000000000003d74       0x74 ./src/Main.o
+                0x0000000000003d74                _ZN3IMU11vectorScaleEPfS0_f
  .text._ZN3IMU9vectorAddEPfS0_S0_
-                0x0000000000003ea8       0x62 ./src/Main.o
-                0x0000000000003ea8                _ZN3IMU9vectorAddEPfS0_S0_
+                0x0000000000003de8       0x62 ./src/Main.o
+                0x0000000000003de8                _ZN3IMU9vectorAddEPfS0_S0_
  .text._ZN3IMU16Drift_correctionEv
-                0x0000000000003f0a      0x324 ./src/Main.o
-                0x0000000000003f0a                _ZN3IMU16Drift_correctionEv
+                0x0000000000003e4a      0x324 ./src/Main.o
+                0x0000000000003e4a                _ZN3IMU16Drift_correctionEv
  .text._ZN3IMU9NormalizeEv
-                0x000000000000422e      0x172 ./src/Main.o
-                0x000000000000422e                _ZN3IMU9NormalizeEv
+                0x000000000000416e      0x172 ./src/Main.o
+                0x000000000000416e                _ZN3IMU9NormalizeEv
  .text._ZN3IMU14matrixMultiplyEPA3_fS1_S1_
-                0x00000000000043a0      0x134 ./src/Main.o
-                0x00000000000043a0                _ZN3IMU14matrixMultiplyEPA3_fS1_S1_
+                0x00000000000042e0      0x134 ./src/Main.o
+                0x00000000000042e0                _ZN3IMU14matrixMultiplyEPA3_fS1_S1_
  .text._ZN3IMU13Matrix_updateEv
-                0x00000000000044d4      0x366 ./src/Main.o
-                0x00000000000044d4                _ZN3IMU13Matrix_updateEv
+                0x0000000000004414      0x366 ./src/Main.o
+                0x0000000000004414                _ZN3IMU13Matrix_updateEv
  .text._ZN3IMU9updateIMUEv
-                0x000000000000483a      0x112 ./src/Main.o
-                0x000000000000483a                _ZN3IMU9updateIMUEv
+                0x000000000000477a      0x112 ./src/Main.o
+                0x000000000000477a                _ZN3IMU9updateIMUEv
  .text._ZN12control_dataC1Ev
-                0x000000000000494c       0x20 ./src/Main.o
-                0x000000000000494c                _ZN12control_dataC1Ev
+                0x000000000000488c       0x20 ./src/Main.o
+                0x000000000000488c                _ZN12control_dataC1Ev
  .text._Z41__static_initialization_and_destruction_0ii.clone.11
-                0x000000000000496c      0x2da ./src/Main.o
+                0x00000000000048ac      0x2da ./src/Main.o
  .text._ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv
-                0x0000000000004c46       0xcc ./src/Main.o
-                0x0000000000004c46                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv
+                0x0000000000004b86       0xcc ./src/Main.o
+                0x0000000000004b86                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE3nowEv
  .text._Z7publishv
-                0x0000000000004d12      0x41e ./src/Main.o
-                0x0000000000004d12                _Z7publishv
+                0x0000000000004c52      0x41e ./src/Main.o
+                0x0000000000004c52                _Z7publishv
  .text._ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE
-                0x0000000000005130       0x4e ./src/Main.o
-                0x0000000000005130                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE
+                0x0000000000005070       0x4e ./src/Main.o
+                0x0000000000005070                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9advertiseERNS_9PublisherE
  .text._ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover7EnabledEEEbRNS_10SubscriberIT_EE
-                0x000000000000517e       0x42 ./src/Main.o
-                0x000000000000517e                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover7EnabledEEEbRNS_10SubscriberIT_EE
+                0x00000000000050be       0x42 ./src/Main.o
+                0x00000000000050be                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover7EnabledEEEbRNS_10SubscriberIT_EE
  .text._ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover6MotorsEEEbRNS_10SubscriberIT_EE
-                0x00000000000051c0       0x42 ./src/Main.o
-                0x00000000000051c0                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover6MotorsEEEbRNS_10SubscriberIT_EE
+                0x0000000000005100       0x42 ./src/Main.o
+                0x0000000000005100                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN5rover6MotorsEEEbRNS_10SubscriberIT_EE
  .text._ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN8std_msgs15UInt8MultiArrayEEEbRNS_10SubscriberIT_EE
-                0x0000000000005202       0x42 ./src/Main.o
-                0x0000000000005202                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN8std_msgs15UInt8MultiArrayEEEbRNS_10SubscriberIT_EE
+                0x0000000000005142       0x42 ./src/Main.o
+                0x0000000000005142                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE9subscribeIN8std_msgs15UInt8MultiArrayEEEbRNS_10SubscriberIT_EE
  .text._ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15requestSyncTimeEv
-                0x0000000000005244       0x70 ./src/Main.o
-                0x0000000000005244                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15requestSyncTimeEv
+                0x0000000000005184       0x70 ./src/Main.o
+                0x0000000000005184                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15requestSyncTimeEv
  .text._ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv
-                0x00000000000052b4      0x1da ./src/Main.o
-                0x00000000000052b4                _ZN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EE15negotiateTopicsEv
+                0x00000000000051f4      0x1da ./src/Main.o
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+                0x000000000000705c       0x34 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Servo.o)
+                0x000000000000705c                _ZN5ServoC2Ev
+                0x000000000000705c                _ZN5ServoC1Ev
  .text._ZN5Servo17writeMicrosecondsEi
-                0x0000000000007296       0x8a /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Servo.o)
-                0x0000000000007296                _ZN5Servo17writeMicrosecondsEi
+                0x0000000000007090       0x8a /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Servo.o)
+                0x0000000000007090                _ZN5Servo17writeMicrosecondsEi
  .text._ZN5Servo5writeEi
-                0x0000000000007320       0xc8 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Servo.o)
-                0x0000000000007320                _ZN5Servo5writeEi
+                0x000000000000711a       0xc8 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Servo.o)
+                0x000000000000711a                _ZN5Servo5writeEi
  .text._ZN5Servo16readMicrosecondsEv
-                0x00000000000073e8       0x3e /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Servo.o)
-                0x00000000000073e8                _ZN5Servo16readMicrosecondsEv
+                0x00000000000071e2       0x3e /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Servo.o)
+                0x00000000000071e2                _ZN5Servo16readMicrosecondsEv
  .text._ZN5Servo4readEv
-                0x0000000000007426       0xb2 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Servo.o)
-                0x0000000000007426                _ZN5Servo4readEv
+                0x0000000000007220       0xb2 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Servo.o)
+                0x0000000000007220                _ZN5Servo4readEv
  .text.twi_init
-                0x00000000000074d8       0x26 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
-                0x00000000000074d8                twi_init
+                0x00000000000072d2       0x26 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
+                0x00000000000072d2                twi_init
  .text.twi_readFrom
-                0x00000000000074fe       0x6c /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
-                0x00000000000074fe                twi_readFrom
+                0x00000000000072f8       0x6c /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
+                0x00000000000072f8                twi_readFrom
  .text.twi_writeTo
-                0x000000000000756a       0x80 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
-                0x000000000000756a                twi_writeTo
+                0x0000000000007364       0x80 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
+                0x0000000000007364                twi_writeTo
  .text.twi_transmit
-                0x00000000000075ea       0x34 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
-                0x00000000000075ea                twi_transmit
+                0x00000000000073e4       0x34 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
+                0x00000000000073e4                twi_transmit
  .text.twi_reply
-                0x000000000000761e       0x10 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
-                0x000000000000761e                twi_reply
+                0x0000000000007418       0x10 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
+                0x0000000000007418                twi_reply
  .text.twi_stop
-                0x000000000000762e       0x14 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
-                0x000000000000762e                twi_stop
+                0x0000000000007428       0x14 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
+                0x0000000000007428                twi_stop
  .text.twi_releaseBus
-                0x0000000000007642        0xc /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
-                0x0000000000007642                twi_releaseBus
+                0x000000000000743c        0xc /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
+                0x000000000000743c                twi_releaseBus
  .text.__vector_39
-                0x000000000000764e      0x2b4 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
-                0x000000000000764e                __vector_39
+                0x0000000000007448      0x2b4 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(twi.o)
+                0x0000000000007448                __vector_39
  .text.avr-libc
-                0x0000000000007902      0x266 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(malloc.o)
-                0x0000000000007902                malloc
-                0x0000000000007a36                free
+                0x00000000000076fc      0x266 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(malloc.o)
+                0x00000000000076fc                malloc
+                0x0000000000007830                free
  .text.avr-libc
-                0x0000000000007b68      0x1b2 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(realloc.o)
-                0x0000000000007b68                realloc
+                0x0000000000007962      0x1b2 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(realloc.o)
+                0x0000000000007962                realloc
  .text.avr-libc
-                0x0000000000007d1a        0x6 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(exit.o)
-                0x0000000000007d1a                exit
+                0x0000000000007b14        0x6 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(exit.o)
+                0x0000000000007b14                exit
  .text.avr-libc
-                0x0000000000007d20       0x12 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(memcpy.o)
-                0x0000000000007d20                memcpy
+                0x0000000000007b1a       0x12 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(memcpy.o)
+                0x0000000000007b1a                memcpy
  .text.avr-libc.fplib
-                0x0000000000007d32        0xa /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(addsf3.o)
-                0x0000000000007d32                __subsf3
-                0x0000000000007d34                __addsf3
+                0x0000000000007b2c        0xa /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(addsf3.o)
+                0x0000000000007b2c                __subsf3
+                0x0000000000007b2e                __addsf3
  .text.avr-libc.fplib
-                0x0000000000007d3c       0xc0 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(addsf3x.o)
-                0x0000000000007d56                __addsf3x
+                0x0000000000007b36       0xc0 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(addsf3x.o)
+                0x0000000000007b50                __addsf3x
  .text.avr-libc.fplib
-                0x0000000000007dfc       0x2e /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(asin.o)
-                0x0000000000007dfc                asin
+                0x0000000000007bf6       0x2e /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(asin.o)
+                0x0000000000007bf6                asin
  .text.avr-libc.fplib
-                0x0000000000007e2a       0x74 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(atan2.o)
-                0x0000000000007e48                atan2
+                0x0000000000007c24       0x74 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(atan2.o)
+                0x0000000000007c42                atan2
  .text.avr-libc.fplib
-                0x0000000000007e9e       0x50 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(atan.o)
-                0x0000000000007e9e                atan
+                0x0000000000007c98       0x50 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(atan.o)
+                0x0000000000007c98                atan
  .text.avr-libc.fplib
-                0x0000000000007eee        0x8 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(cmpsf2.o)
-                0x0000000000007eee                __lesf2
-                0x0000000000007eee                __nesf2
-                0x0000000000007eee                __eqsf2
-                0x0000000000007eee                __cmpsf2
-                0x0000000000007eee                __ltsf2
+                0x0000000000007ce8        0x8 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(cmpsf2.o)
+                0x0000000000007ce8                __lesf2
+                0x0000000000007ce8                __nesf2
+                0x0000000000007ce8                __eqsf2
+                0x0000000000007ce8                __cmpsf2
+                0x0000000000007ce8                __ltsf2
  .text.avr-libc.fplib
-                0x0000000000007ef6        0x6 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(cos.o)
-                0x0000000000007ef6                cos
+                0x0000000000007cf0        0x6 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(cos.o)
+                0x0000000000007cf0                cos
  .text.avr-libc.fplib
-                0x0000000000007efc        0x4 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(divsf3.o)
-                0x0000000000007efc                __divsf3
+                0x0000000000007cf6        0x4 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(divsf3.o)
+                0x0000000000007cf6                __divsf3
  .text.avr-libc.fplib
-                0x0000000000007f00       0xcc /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(divsf3x.o)
-                0x0000000000007f16                __divsf3x
-                0x0000000000007f1a                __divsf3_pse
+                0x0000000000007cfa       0xcc /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(divsf3x.o)
+                0x0000000000007d10                __divsf3x
+                0x0000000000007d14                __divsf3_pse
  .text.avr-libc.fplib
-                0x0000000000007fcc        0xa /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fixsfsi.o)
-                0x0000000000007fcc                __fixsfsi
+                0x0000000000007dc6        0xa /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fixsfsi.o)
+                0x0000000000007dc6                __fixsfsi
  .text.avr-libc.fplib
-                0x0000000000007fd6       0x58 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fixunssfsi.o)
-                0x0000000000007fd6                __fixunssfsi
+                0x0000000000007dd0       0x58 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fixunssfsi.o)
+                0x0000000000007dd0                __fixunssfsi
  .text.avr-libc.fplib
-                0x000000000000802e       0x7a /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(floatsisf.o)
-                0x000000000000802e                __floatunsisf
-                0x0000000000008032                __floatsisf
+                0x0000000000007e28       0x7a /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(floatsisf.o)
+                0x0000000000007e28                __floatunsisf
+                0x0000000000007e2c                __floatsisf
  .text.avr-libc.fplib
-                0x00000000000080a8       0x36 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_arccos.o)
-                0x00000000000080a8                __fp_arccos
+                0x0000000000007ea2       0x36 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_arccos.o)
+                0x0000000000007ea2                __fp_arccos
  .text.avr-libc.fplib
-                0x00000000000080de       0x48 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_cmp.o)
-                0x00000000000080de                __fp_cmp
+                0x0000000000007ed8       0x48 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_cmp.o)
+                0x0000000000007ed8                __fp_cmp
  .text.avr-libc.fplib
-                0x0000000000008126        0xc /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_inf.o)
-                0x0000000000008126                __fp_inf
+                0x0000000000007f20        0xc /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_inf.o)
+                0x0000000000007f20                __fp_inf
  .text.avr-libc.fplib
-                0x0000000000008132        0x6 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_nan.o)
-                0x0000000000008132                __fp_nan
+                0x0000000000007f2c        0x6 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_nan.o)
+                0x0000000000007f2c                __fp_nan
  .text.avr-libc.fplib
-                0x0000000000008138       0x4a /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_powser.o)
-                0x0000000000008138                __fp_powser
+                0x0000000000007f32       0x4a /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_powser.o)
+                0x0000000000007f32                __fp_powser
  .text.avr-libc.fplib
-                0x0000000000008182       0x22 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_powsodd.o)
-                0x0000000000008182                __fp_powsodd
+                0x0000000000007f7c       0x22 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_powsodd.o)
+                0x0000000000007f7c                __fp_powsodd
  .text.avr-libc.fplib
-                0x00000000000081a4        0xe /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_pscA.o)
-                0x00000000000081a4                __fp_pscA
+                0x0000000000007f9e        0xe /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_pscA.o)
+                0x0000000000007f9e                __fp_pscA
  .text.avr-libc.fplib
-                0x00000000000081b2        0xe /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_pscB.o)
-                0x00000000000081b2                __fp_pscB
+                0x0000000000007fac        0xe /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_pscB.o)
+                0x0000000000007fac                __fp_pscB
  .text.avr-libc.fplib
-                0x00000000000081c0       0x50 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_rempio2.o)
-                0x00000000000081c2                __fp_rempio2
+                0x0000000000007fba       0x50 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_rempio2.o)
+                0x0000000000007fbc                __fp_rempio2
  .text.avr-libc.fplib
-                0x0000000000008210       0x22 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_round.o)
-                0x0000000000008210                __fp_round
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+                0x000000000000800a                __fp_round
  .text.avr-libc.fplib
-                0x0000000000008232       0x22 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_sinus.o)
-                0x0000000000008232                __fp_sinus
+                0x000000000000802c       0x22 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_sinus.o)
+                0x000000000000802c                __fp_sinus
  .text.avr-libc.fplib
-                0x0000000000008254       0x44 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_split3.o)
-                0x0000000000008254                __fp_split3
-                0x0000000000008264                __fp_splitA
+                0x000000000000804e       0x44 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_split3.o)
+                0x000000000000804e                __fp_split3
+                0x000000000000805e                __fp_splitA
  .text.avr-libc.fplib
-                0x0000000000008298        0xe /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_zero.o)
-                0x0000000000008298                __fp_zero
-                0x000000000000829a                __fp_szero
+                0x0000000000008092        0xe /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_zero.o)
+                0x0000000000008092                __fp_zero
+                0x0000000000008094                __fp_szero
  .text.avr-libc.fplib
-                0x00000000000082a6        0x8 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(gesf2.o)
-                0x00000000000082a6                __gtsf2
-                0x00000000000082a6                __gesf2
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+                0x00000000000080a0                __gtsf2
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  .text.avr-libc.fplib
-                0x00000000000082ae        0xe /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(inverse.o)
-                0x00000000000082ae                inverse
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+                0x00000000000080a8                inverse
  .text.avr-libc.fplib
-                0x00000000000082bc        0x4 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(mulsf3.o)
-                0x00000000000082bc                __mulsf3
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+                0x00000000000080b6                __mulsf3
  .text.avr-libc.fplib
-                0x00000000000082c0       0xc2 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(mulsf3x.o)
-                0x00000000000082d4                __mulsf3x
-                0x00000000000082d8                __mulsf3_pse
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+                0x00000000000080ce                __mulsf3x
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  .text.avr-libc.fplib
-                0x0000000000008382        0xc /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(sin.o)
-                0x0000000000008382                sin
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+                0x000000000000817c                sin
  .text.avr-libc.fplib
-                0x000000000000838e       0x84 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(sqrt.o)
-                0x0000000000008396                sqrt
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+                0x0000000000008190                sqrt
  .text.avr-libc.fplib
-                0x0000000000008412        0x6 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(square.o)
-                0x0000000000008412                square
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  .text.avr-libc.fplib
-                0x0000000000008418       0x1c /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_mpack.o)
-                0x0000000000008418                __fp_mpack
-                0x000000000000841c                __fp_mpack_finite
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  .text.avr-libc.fplib
-                0x0000000000008434        0xe /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_norm2.o)
-                0x0000000000008434                __fp_norm2
- .text.libgcc   0x0000000000008442       0x3e /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_mulsi3.o)
-                0x0000000000008442                __mulsi3
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-                0x0000000000008480                __udivmodhi4
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-                0x00000000000084a8                __divmodhi4
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-                0x00000000000084ce                __udivmodsi4
- .text.libgcc   0x0000000000008512       0x36 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_divmodsi4.o)
-                0x0000000000008512                __divmodsi4
- .text.libgcc   0x0000000000008548        0x8 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_tablejump_elpm.o)
-                0x0000000000008548                __tablejump_elpm__
-                0x0000000000008550                . = ALIGN (0x2)
+                0x000000000000822e        0xe /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fp_norm2.o)
+                0x000000000000822e                __fp_norm2
+ .text.libgcc   0x000000000000823c       0x3e /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_mulsi3.o)
+                0x000000000000823c                __mulsi3
+ .text.libgcc   0x000000000000827a       0x28 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_udivmodhi4.o)
+                0x000000000000827a                __udivmodhi4
+ .text.libgcc   0x00000000000082a2       0x26 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_divmodhi4.o)
+                0x00000000000082a2                __divmodhi4
+                0x00000000000082a2                _div
+ .text.libgcc   0x00000000000082c8       0x44 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_udivmodsi4.o)
+                0x00000000000082c8                __udivmodsi4
+ .text.libgcc   0x000000000000830c       0x36 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_divmodsi4.o)
+                0x000000000000830c                __divmodsi4
+ .text.libgcc   0x0000000000008342        0x8 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_tablejump_elpm.o)
+                0x0000000000008342                __tablejump_elpm__
+                0x000000000000834a                . = ALIGN (0x2)
  *(.fini9)
- .fini9         0x0000000000008550        0x0 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_exit.o)
-                0x0000000000008550                _exit
+ .fini9         0x000000000000834a        0x0 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_exit.o)
+                0x000000000000834a                _exit
  *(.fini9)
  *(.fini8)
  *(.fini8)
  *(.fini7)
  *(.fini7)
  *(.fini6)
- .fini6         0x0000000000008550       0x20 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_dtors.o)
-                0x0000000000008550                __do_global_dtors
+ .fini6         0x000000000000834a       0x20 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_dtors.o)
+                0x000000000000834a                __do_global_dtors
  *(.fini6)
  *(.fini5)
  *(.fini5)
@@ -2117,98 +2115,96 @@ LOAD /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a
  *(.fini1)
  *(.fini1)
  *(.fini0)
- .fini0         0x0000000000008570        0x4 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_exit.o)
+ .fini0         0x000000000000836a        0x4 /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a(_exit.o)
  *(.fini0)
-                0x0000000000008574                _etext = .
+                0x000000000000836e                _etext = .
 
-.data           0x0000000000800200      0x4a8 load address 0x0000000000008574
+.data           0x0000000000800200      0x4a8 load address 0x000000000000836e
                 0x0000000000800200                PROVIDE (__data_start, .)
  *(.data)
- .data          0x0000000000800200      0x339 ./src/Main.o
- .data          0x0000000000800539        0x2 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
- .data          0x000000000080053b        0x6 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(malloc.o)
-                0x000000000080053b                __malloc_margin
-                0x000000000080053d                __malloc_heap_start
-                0x000000000080053f                __malloc_heap_end
+ .data          0x0000000000800200      0x33c ./src/Main.o
+ .data          0x000000000080053c        0x6 /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(malloc.o)
+                0x000000000080053c                __malloc_margin
+                0x000000000080053e                __malloc_heap_start
+                0x0000000000800540                __malloc_heap_end
  *(.data*)
  .data._ZN3IMU11SENSOR_SIGNE
-                0x0000000000800541       0x12 ./src/Main.o
-                0x0000000000800541                _ZN3IMU11SENSOR_SIGNE
+                0x0000000000800542       0x12 ./src/Main.o
+                0x0000000000800542                _ZN3IMU11SENSOR_SIGNE
  .data._ZN3IMU4G_DtE
-                0x0000000000800553        0x4 ./src/Main.o
-                0x0000000000800553                _ZN3IMU4G_DtE
+                0x0000000000800554        0x4 ./src/Main.o
+                0x0000000000800554                _ZN3IMU4G_DtE
  .data._ZN3IMU10DCM_MatrixE
-                0x0000000000800557       0x24 ./src/Main.o
-                0x0000000000800557                _ZN3IMU10DCM_MatrixE
+                0x0000000000800558       0x24 ./src/Main.o
+                0x0000000000800558                _ZN3IMU10DCM_MatrixE
  .data._ZN3IMU13Update_MatrixE
-                0x000000000080057b       0x24 ./src/Main.o
-                0x000000000080057b                _ZN3IMU13Update_MatrixE
- .data.frameid  0x000000000080059f        0xf ./src/Main.o
-                0x000000000080059f                frameid
+                0x000000000080057c       0x24 ./src/Main.o
+                0x000000000080057c                _ZN3IMU13Update_MatrixE
+ .data.frameid  0x00000000008005a0        0xf ./src/Main.o
+                0x00000000008005a0                frameid
  .data.analog_reference
-                0x00000000008005ae        0x1 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(wiring_analog.o)
-                0x00000000008005ae                analog_reference
+                0x00000000008005af        0x1 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(wiring_analog.o)
+                0x00000000008005af                analog_reference
  *(.rodata)
  *(.rodata*)
  .rodata._ZTVN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EEE
-                0x00000000008005af        0xa ./src/Main.o
-                0x00000000008005af                _ZTVN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EEE
+                0x00000000008005b0        0xa ./src/Main.o
+                0x00000000008005b0                _ZTVN3ros11NodeHandle_I15ArduinoHardwareLi25ELi25ELi512ELi512EEE
  .rodata._ZTVN14rosserial_msgs9TopicInfoE
-                0x00000000008005b9        0xc ./src/Main.o
-                0x00000000008005b9                _ZTVN14rosserial_msgs9TopicInfoE
+                0x00000000008005ba        0xc ./src/Main.o
+                0x00000000008005ba                _ZTVN14rosserial_msgs9TopicInfoE
  .rodata._ZTVN8std_msgs4TimeE
-                0x00000000008005c5        0xc ./src/Main.o
-                0x00000000008005c5                _ZTVN8std_msgs4TimeE
+                0x00000000008005c6        0xc ./src/Main.o
+                0x00000000008005c6                _ZTVN8std_msgs4TimeE
  .rodata._ZTVN14rosserial_msgs3LogE
-                0x00000000008005d1        0xc ./src/Main.o
-                0x00000000008005d1                _ZTVN14rosserial_msgs3LogE
+                0x00000000008005d2        0xc ./src/Main.o
+                0x00000000008005d2                _ZTVN14rosserial_msgs3LogE
  .rodata._ZTVN14rosserial_msgs20RequestParamResponseE
-                0x00000000008005dd        0xc ./src/Main.o
-                0x00000000008005dd                _ZTVN14rosserial_msgs20RequestParamResponseE
+                0x00000000008005de        0xc ./src/Main.o
+                0x00000000008005de                _ZTVN14rosserial_msgs20RequestParamResponseE
  .rodata._ZN14rosserial_msgsL12REQUESTPARAME
-                0x00000000008005e9       0x1c ./src/Main.o
+                0x00000000008005ea       0x1c ./src/Main.o
  .rodata._ZTVN5rover7EnabledE
-                0x0000000000800605        0xc ./src/Main.o
-                0x0000000000800605                _ZTVN5rover7EnabledE
+                0x0000000000800606        0xc ./src/Main.o
+                0x0000000000800606                _ZTVN5rover7EnabledE
  .rodata._ZTVN5rover7EncoderE
-                0x0000000000800611        0xc ./src/Main.o
-                0x0000000000800611                _ZTVN5rover7EncoderE
+                0x0000000000800612        0xc ./src/Main.o
+                0x0000000000800612                _ZTVN5rover7EncoderE
  .rodata._ZTVN8std_msgs6HeaderE
-                0x000000000080061d        0xc ./src/Main.o
-                0x000000000080061d                _ZTVN8std_msgs6HeaderE
+                0x000000000080061e        0xc ./src/Main.o
+                0x000000000080061e                _ZTVN8std_msgs6HeaderE
  .rodata._ZTVN5rover7BatteryE
-                0x0000000000800629        0xc ./src/Main.o
-                0x0000000000800629                _ZTVN5rover7BatteryE
+                0x000000000080062a        0xc ./src/Main.o
+                0x000000000080062a                _ZTVN5rover7BatteryE
  .rodata._ZTVN5rover12CondensedIMUE
-                0x0000000000800635        0xc ./src/Main.o
-                0x0000000000800635                _ZTVN5rover12CondensedIMUE
+                0x0000000000800636        0xc ./src/Main.o
+                0x0000000000800636                _ZTVN5rover12CondensedIMUE
  .rodata._ZTVN8std_msgs15UInt8MultiArrayE
-                0x0000000000800641        0xc ./src/Main.o
-                0x0000000000800641                _ZTVN8std_msgs15UInt8MultiArrayE
+                0x0000000000800642        0xc ./src/Main.o
+                0x0000000000800642                _ZTVN8std_msgs15UInt8MultiArrayE
  .rodata._ZTVN8std_msgs16MultiArrayLayoutE
-                0x000000000080064d        0xc ./src/Main.o
-                0x000000000080064d                _ZTVN8std_msgs16MultiArrayLayoutE
+                0x000000000080064e        0xc ./src/Main.o
+                0x000000000080064e                _ZTVN8std_msgs16MultiArrayLayoutE
  .rodata._ZTVN8std_msgs19MultiArrayDimensionE
-                0x0000000000800659        0xc ./src/Main.o
-                0x0000000000800659                _ZTVN8std_msgs19MultiArrayDimensionE
+                0x000000000080065a        0xc ./src/Main.o
+                0x000000000080065a                _ZTVN8std_msgs19MultiArrayDimensionE
  .rodata._ZTVN3ros10SubscriberIN5rover6MotorsEEE
-                0x0000000000800665        0xc ./src/Main.o
-                0x0000000000800665                _ZTVN3ros10SubscriberIN5rover6MotorsEEE
+                0x0000000000800666        0xc ./src/Main.o
+                0x0000000000800666                _ZTVN3ros10SubscriberIN5rover6MotorsEEE
  .rodata._ZTVN5rover6MotorsE
-                0x0000000000800671        0xc ./src/Main.o
-                0x0000000000800671                _ZTVN5rover6MotorsE
+                0x0000000000800672        0xc ./src/Main.o
+                0x0000000000800672                _ZTVN5rover6MotorsE
  .rodata._ZTVN3ros10SubscriberIN5rover7EnabledEEE
-                0x000000000080067d        0xc ./src/Main.o
-                0x000000000080067d                _ZTVN3ros10SubscriberIN5rover7EnabledEEE
+                0x000000000080067e        0xc ./src/Main.o
+                0x000000000080067e                _ZTVN3ros10SubscriberIN5rover7EnabledEEE
  .rodata._ZTVN3ros10SubscriberIN8std_msgs15UInt8MultiArrayEEE
-                0x0000000000800689        0xc ./src/Main.o
-                0x0000000000800689                _ZTVN3ros10SubscriberIN8std_msgs15UInt8MultiArrayEEE
+                0x000000000080068a        0xc ./src/Main.o
+                0x000000000080068a                _ZTVN3ros10SubscriberIN8std_msgs15UInt8MultiArrayEEE
  .rodata._ZTV14HardwareSerial
-                0x0000000000800695       0x12 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(HardwareSerial.o)
-                0x0000000000800695                _ZTV14HardwareSerial
+                0x0000000000800696       0x12 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(HardwareSerial.o)
+                0x0000000000800696                _ZTV14HardwareSerial
  *(.gnu.linkonce.d*)
                 0x00000000008006a8                . = ALIGN (0x2)
- *fill*         0x00000000008006a7        0x1 00
                 0x00000000008006a8                _edata = .
                 0x00000000008006a8                PROVIDE (__data_end, .)
 
@@ -2473,8 +2469,8 @@ LOAD /usr/lib/gcc/avr/4.5.3/avr6/libgcc.a
                 0x00000000008011b1                __brkval
                 0x00000000008011b3                __flp
                 0x00000000008011b5                PROVIDE (__bss_end, .)
-                0x0000000000008574                __data_load_start = LOADADDR (.data)
-                0x0000000000008a1c                __data_load_end = (__data_load_start + SIZEOF (.data))
+                0x000000000000836e                __data_load_start = LOADADDR (.data)
+                0x0000000000008816                __data_load_end = (__data_load_start + SIZEOF (.data))
 
 .noinit         0x00000000008011b5        0x0
                 0x00000000008011b5                PROVIDE (__noinit_start, .)
@@ -2891,6 +2887,7 @@ Print::print(double, int)                         /home/rbtying/robot/firmware/A
                                                   ./src/Main.o
 Print::print(int, int)                            /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
 Print::print(long, int)                           /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
+                                                  ./src/Main.o
 Print::print(unsigned char, int)                  /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
 Print::print(unsigned int, int)                   /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
 Print::print(unsigned long, int)                  /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
@@ -2906,6 +2903,7 @@ Print::println(double, int)                       /home/rbtying/robot/firmware/A
 Print::println(int, int)                          /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
                                                   ./src/Main.o
 Print::println(long, int)                         /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
+                                                  ./src/Main.o
 Print::println(unsigned char, int)                /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
 Print::println(unsigned int, int)                 /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
 Print::println(unsigned long, int)                /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
@@ -2979,10 +2977,10 @@ RoboClaw::SpeedAccelM2(unsigned char, unsigned long, unsigned long) ./src/lib/mo
 RoboClaw::SpeedDistanceM1(unsigned char, unsigned long, unsigned long, unsigned char) ./src/lib/motors/RoboClaw.o
 RoboClaw::SpeedDistanceM1M2(unsigned char, unsigned long, unsigned long, unsigned long, unsigned long, unsigned char) ./src/lib/motors/RoboClaw.o
 RoboClaw::SpeedDistanceM2(unsigned char, unsigned long, unsigned long, unsigned char) ./src/lib/motors/RoboClaw.o
-RoboClaw::SpeedM1(unsigned char, unsigned long)   ./src/lib/motors/RoboClaw.o
+RoboClaw::SpeedM1(unsigned char, long)            ./src/lib/motors/RoboClaw.o
                                                   ./src/Main.o
 RoboClaw::SpeedM1M2(unsigned char, unsigned long, unsigned long) ./src/lib/motors/RoboClaw.o
-RoboClaw::SpeedM2(unsigned char, unsigned long)   ./src/lib/motors/RoboClaw.o
+RoboClaw::SpeedM2(unsigned char, long)            ./src/lib/motors/RoboClaw.o
                                                   ./src/Main.o
 RoboClaw::TurnLeftMixed(unsigned char, unsigned char) ./src/lib/motors/RoboClaw.o
 RoboClaw::TurnRightMixed(unsigned char, unsigned char) ./src/lib/motors/RoboClaw.o
@@ -3269,7 +3267,6 @@ __fixsfsi                                         /usr/lib/gcc/avr/4.5.3/../../.
 __fixunssfsi                                      /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fixunssfsi.o)
                                                   /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(fixsfsi.o)
                                                   /home/rbtying/robot/firmware/Arduino-2560/Debug/libArduino.a(Print.o)
-                                                  ./src/Main.o
                                                   ./src/lib/motors/Sabertooth.o
 __floatsisf                                       /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(floatsisf.o)
                                                   /usr/lib/gcc/avr/4.5.3/../../../avr/lib/avr6/libc.a(log.o)
diff --git a/firmware/ROS_mega/Debug/src/Main.o b/firmware/ROS_mega/Debug/src/Main.o
index d8964fe..a027929 100644
Binary files a/firmware/ROS_mega/Debug/src/Main.o and b/firmware/ROS_mega/Debug/src/Main.o differ
diff --git a/firmware/ROS_mega/Debug/src/lib/motors/RoboClaw.o b/firmware/ROS_mega/Debug/src/lib/motors/RoboClaw.o
index 3be0409..fce5af3 100644
Binary files a/firmware/ROS_mega/Debug/src/lib/motors/RoboClaw.o and b/firmware/ROS_mega/Debug/src/lib/motors/RoboClaw.o differ
diff --git a/firmware/ROS_mega/src/Main.cc b/firmware/ROS_mega/src/Main.cc
index 3086de1..e85c1db 100755
--- a/firmware/ROS_mega/src/Main.cc
+++ b/firmware/ROS_mega/src/Main.cc
@@ -67,10 +67,13 @@ uint32_t nextCommTime;
 bool publishSettingsDump = false;
 
 void drivecb(const rover::Motors& msg) {
-	uint32_t left = (uint32_t)(msg.left / ctrl.left.qp_to_m);
-	uint32_t right = (uint32_t)(msg.right / ctrl.right.qp_to_m);
-	m.SpeedM1(RB_ADDRESS, (left != 0) ? left : 1);
-	m.SpeedM2(RB_ADDRESS, (right != 0) ? right : 1);
+	int32_t l = (int32_t)(msg.left / ctrl.left.qp_to_m);
+	int32_t r = (int32_t)(msg.right / ctrl.right.qp_to_m);
+	Serial3.print(l);
+	Serial3.print(", ");
+	Serial3.println(r);
+	m.SpeedM1(RB_ADDRESS, l);
+	m.SpeedM2(RB_ADDRESS, r);
 }
 ros::Subscriber<rover::Motors> drivesub("drive", &drivecb);
 
@@ -178,6 +181,7 @@ int main() {
 
 	pinMode(13, OUTPUT);
 
+	m.DutyM1M2(RB_ADDRESS, 0, 0);
 	m.SetMinVoltageLogicBattery(RB_ADDRESS, 0x00);
 	m.SetMinVoltageMainBattery(RB_ADDRESS, 0x00);
 	m.SetM1Constants(RB_ADDRESS, ctrl.left.d, ctrl.left.p, ctrl.left.i,
@@ -189,13 +193,12 @@ int main() {
 		cTime = millis();
 
 		if (IMU::updateIMU()) {
-			IMU::printdata();
+			//			IMU::printdata();
 		}
 
 		if (ctrl.enabled) {
 			if (!motorRelay.get()) {
 				motorRelay.on();
-				m.DutyM1M2(RB_ADDRESS, 0, 0);
 				m.SetMinVoltageLogicBattery(RB_ADDRESS, 0x00);
 				m.SetMinVoltageMainBattery(RB_ADDRESS, 0x00);
 				m.SetM1Constants(RB_ADDRESS, ctrl.left.d, ctrl.left.p,
@@ -205,6 +208,7 @@ int main() {
 			}
 		} else {
 			motorRelay.off();
+			m.DutyM1M2(RB_ADDRESS, 0, 0);
 		}
 
 		if (nexTime <= cTime && ctrl.enabled) {
@@ -227,6 +231,7 @@ int main() {
 
 		if (!nh.connected()) {
 			ctrl.enabled = false;
+			m.DutyM1M2(RB_ADDRESS, 0, 0);
 		}
 
 		nh.spinOnce();
diff --git a/firmware/ROS_mega/src/lib/motors/RoboClaw.cpp b/firmware/ROS_mega/src/lib/motors/RoboClaw.cpp
index 8af4615..9145a56 100644
--- a/firmware/ROS_mega/src/lib/motors/RoboClaw.cpp
+++ b/firmware/ROS_mega/src/lib/motors/RoboClaw.cpp
@@ -238,11 +238,11 @@ void RoboClaw::DutyM1M2(uint8_t address, uint16_t duty1, uint16_t duty2) {
 	write_n(6, address, MIXEDDUTY, SetWORDval(duty1), SetWORDval(duty2));
 }
 
-void RoboClaw::SpeedM1(uint8_t address, uint32_t speed) {
+void RoboClaw::SpeedM1(uint8_t address, int32_t speed) {
 	write_n(6, address, M1SPEED, SetDWORDval(speed));
 }
 
-void RoboClaw::SpeedM2(uint8_t address, uint32_t speed) {
+void RoboClaw::SpeedM2(uint8_t address, int32_t speed) {
 	write_n(6, address, M2SPEED, SetDWORDval(speed));
 }
 
diff --git a/firmware/ROS_mega/src/lib/motors/RoboClaw.h b/firmware/ROS_mega/src/lib/motors/RoboClaw.h
index 8fa9c7f..178bd7a 100644
--- a/firmware/ROS_mega/src/lib/motors/RoboClaw.h
+++ b/firmware/ROS_mega/src/lib/motors/RoboClaw.h
@@ -112,8 +112,8 @@ class RoboClaw {
 	void DutyM1(uint8_t address, uint16_t duty);
 	void DutyM2(uint8_t address, uint16_t duty);
 	void DutyM1M2(uint8_t address, uint16_t duty1, uint16_t duty2);
-	void SpeedM1(uint8_t address, uint32_t speed);
-	void SpeedM2(uint8_t address, uint32_t speed);
+	void SpeedM1(uint8_t address, int32_t speed);
+	void SpeedM2(uint8_t address, int32_t speed);
 	void SpeedM1M2(uint8_t address, uint32_t speed1, uint32_t speed2);
 	void SpeedAccelM1(uint8_t address, uint32_t accel, uint32_t speed);
 	void SpeedAccelM2(uint8_t address, uint32_t accel, uint32_t speed);
diff --git a/rover/bin/rover_node b/rover/bin/rover_node
index b109487..f3703bf 100755
Binary files a/rover/bin/rover_node and b/rover/bin/rover_node differ
diff --git a/rover/build/CMakeFiles/rover_node.dir/CXX.includecache b/rover/build/CMakeFiles/rover_node.dir/CXX.includecache
index acc74c7..8479075 100644
--- a/rover/build/CMakeFiles/rover_node.dir/CXX.includecache
+++ b/rover/build/CMakeFiles/rover_node.dir/CXX.includecache
@@ -29,7 +29,7 @@ rover/Encoder.h
 -
 rover/Settings.h
 -
-rover/Gyro.h
+rover/CondensedIMU.h
 -
 rover/Motors.h
 -
@@ -64,7 +64,7 @@ ros/assert.h
 std_msgs/Header.h
 ../msg_gen/cpp/include/rover/std_msgs/Header.h
 
-../msg_gen/cpp/include/rover/Enabled.h
+../msg_gen/cpp/include/rover/CondensedIMU.h
 string
 -
 vector
@@ -85,8 +85,10 @@ ros/macros.h
 ../msg_gen/cpp/include/rover/ros/macros.h
 ros/assert.h
 ../msg_gen/cpp/include/rover/ros/assert.h
+std_msgs/Header.h
+../msg_gen/cpp/include/rover/std_msgs/Header.h
 
-../msg_gen/cpp/include/rover/Encoder.h
+../msg_gen/cpp/include/rover/Enabled.h
 string
 -
 vector
@@ -107,10 +109,8 @@ ros/macros.h
 ../msg_gen/cpp/include/rover/ros/macros.h
 ros/assert.h
 ../msg_gen/cpp/include/rover/ros/assert.h
-std_msgs/Header.h
-../msg_gen/cpp/include/rover/std_msgs/Header.h
 
-../msg_gen/cpp/include/rover/Gyro.h
+../msg_gen/cpp/include/rover/Encoder.h
 string
 -
 vector
diff --git a/rover/build/CMakeFiles/rover_node.dir/depend.internal b/rover/build/CMakeFiles/rover_node.dir/depend.internal
index 86fdc6e..d2faf35 100644
--- a/rover/build/CMakeFiles/rover_node.dir/depend.internal
+++ b/rover/build/CMakeFiles/rover_node.dir/depend.internal
@@ -5,9 +5,9 @@ CMakeFiles/rover_node.dir/src/rover_main.o
  ../include/util.h
  ../include/wrapper.h
  ../msg_gen/cpp/include/rover/Battery.h
+ ../msg_gen/cpp/include/rover/CondensedIMU.h
  ../msg_gen/cpp/include/rover/Enabled.h
  ../msg_gen/cpp/include/rover/Encoder.h
- ../msg_gen/cpp/include/rover/Gyro.h
  ../msg_gen/cpp/include/rover/Motors.h
  ../msg_gen/cpp/include/rover/Settings.h
  /home/rbtying/robot/rover/src/rover_main.cpp
@@ -104,9 +104,9 @@ CMakeFiles/rover_node.dir/src/wrapper.o
  ../include/util.h
  ../include/wrapper.h
  ../msg_gen/cpp/include/rover/Battery.h
+ ../msg_gen/cpp/include/rover/CondensedIMU.h
  ../msg_gen/cpp/include/rover/Enabled.h
  ../msg_gen/cpp/include/rover/Encoder.h
- ../msg_gen/cpp/include/rover/Gyro.h
  ../msg_gen/cpp/include/rover/Motors.h
  ../msg_gen/cpp/include/rover/Settings.h
  /home/rbtying/robot/rover/src/wrapper.cpp
diff --git a/rover/build/CMakeFiles/rover_node.dir/depend.make b/rover/build/CMakeFiles/rover_node.dir/depend.make
index 99ce9ac..68bbab4 100644
--- a/rover/build/CMakeFiles/rover_node.dir/depend.make
+++ b/rover/build/CMakeFiles/rover_node.dir/depend.make
@@ -4,9 +4,9 @@
 CMakeFiles/rover_node.dir/src/rover_main.o: ../include/util.h
 CMakeFiles/rover_node.dir/src/rover_main.o: ../include/wrapper.h
 CMakeFiles/rover_node.dir/src/rover_main.o: ../msg_gen/cpp/include/rover/Battery.h
+CMakeFiles/rover_node.dir/src/rover_main.o: ../msg_gen/cpp/include/rover/CondensedIMU.h
 CMakeFiles/rover_node.dir/src/rover_main.o: ../msg_gen/cpp/include/rover/Enabled.h
 CMakeFiles/rover_node.dir/src/rover_main.o: ../msg_gen/cpp/include/rover/Encoder.h
-CMakeFiles/rover_node.dir/src/rover_main.o: ../msg_gen/cpp/include/rover/Gyro.h
 CMakeFiles/rover_node.dir/src/rover_main.o: ../msg_gen/cpp/include/rover/Motors.h
 CMakeFiles/rover_node.dir/src/rover_main.o: ../msg_gen/cpp/include/rover/Settings.h
 CMakeFiles/rover_node.dir/src/rover_main.o: ../src/rover_main.cpp
@@ -103,9 +103,9 @@ CMakeFiles/rover_node.dir/src/rover_main.o: /opt/ros/electric/stacks/ros_comm/ut
 CMakeFiles/rover_node.dir/src/wrapper.o: ../include/util.h
 CMakeFiles/rover_node.dir/src/wrapper.o: ../include/wrapper.h
 CMakeFiles/rover_node.dir/src/wrapper.o: ../msg_gen/cpp/include/rover/Battery.h
+CMakeFiles/rover_node.dir/src/wrapper.o: ../msg_gen/cpp/include/rover/CondensedIMU.h
 CMakeFiles/rover_node.dir/src/wrapper.o: ../msg_gen/cpp/include/rover/Enabled.h
 CMakeFiles/rover_node.dir/src/wrapper.o: ../msg_gen/cpp/include/rover/Encoder.h
-CMakeFiles/rover_node.dir/src/wrapper.o: ../msg_gen/cpp/include/rover/Gyro.h
 CMakeFiles/rover_node.dir/src/wrapper.o: ../msg_gen/cpp/include/rover/Motors.h
 CMakeFiles/rover_node.dir/src/wrapper.o: ../msg_gen/cpp/include/rover/Settings.h
 CMakeFiles/rover_node.dir/src/wrapper.o: ../src/wrapper.cpp
diff --git a/rover/build/CMakeFiles/rover_node.dir/src/rover_main.o b/rover/build/CMakeFiles/rover_node.dir/src/rover_main.o
index 300830c..f61259e 100644
Binary files a/rover/build/CMakeFiles/rover_node.dir/src/rover_main.o and b/rover/build/CMakeFiles/rover_node.dir/src/rover_main.o differ
diff --git a/rover/build/CMakeFiles/rover_node.dir/src/wrapper.o b/rover/build/CMakeFiles/rover_node.dir/src/wrapper.o
index 013522e..262e0b7 100644
Binary files a/rover/build/CMakeFiles/rover_node.dir/src/wrapper.o and b/rover/build/CMakeFiles/rover_node.dir/src/wrapper.o differ
diff --git a/rover/include/wrapper.h b/rover/include/wrapper.h
index abf1eac..189da4a 100644
--- a/rover/include/wrapper.h
+++ b/rover/include/wrapper.h
@@ -18,7 +18,7 @@
 #include <rover/Battery.h>			    // battery
 #include <rover/Encoder.h>			    // encoders
 #include <rover/Settings.h>             // settings
-#include <rover/Gyro.h>                 // gyro
+#include <rover/CondensedIMU.h>			// imu
 #include <rover/Motors.h>				// motors
 #include <rover/Enabled.h>              // enablemessage
 //#include "servomapping.h"
@@ -34,7 +34,7 @@ class Wrapper {
 	void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_vel);
 	void battCallback(const rover::Battery::ConstPtr& bat);
 	void encCallback(const rover::Encoder::ConstPtr& enc);
-	void gyrCallback(const rover::Gyro::ConstPtr& gyr);
+	void imuCallback(const rover::CondensedIMU::ConstPtr& gyr);
 	void servoCallback(const std_msgs::UInt8MultiArray::ConstPtr& serv);
 	void setSettings(double lp, double li, double ld, double lc, double rp,
 			double ri, double rd, double rc);
@@ -44,7 +44,6 @@ class Wrapper {
 	double m_minBatVoltage;
 
 	rover::Encoder::ConstPtr m_p_enc_msg;
-	rover::Gyro::ConstPtr m_p_gyr_msg;
 
 	double m_odom_x;
 	double m_odom_y;
@@ -53,10 +52,6 @@ class Wrapper {
 	double m_vel_y;
 	double m_vel_yaw;
 
-	double m_yaw_gyro_rate;
-	double m_yaw_gyro_value;
-	double m_yaw_gyro_correction_factor;
-
 	bool m_publish_tf;
 
 	std::string m_odom_frame_id;
@@ -65,7 +60,6 @@ class Wrapper {
 	ros::Publisher m_odom_pub;
 	ros::Publisher m_imu_pub;
 	ros::Publisher m_motors_pub;
-	ros::Publisher m_settings_pub;
 	ros::Publisher m_servos_pub;
 	ros::Publisher m_joint_pub;
 	ros::Publisher m_enable_pub;
@@ -75,7 +69,7 @@ class Wrapper {
 	ros::Subscriber m_cmd_vel_sub;
 	ros::Subscriber m_batt_sub;
 	ros::Subscriber m_enc_sub;
-	ros::Subscriber m_gyro_sub;
+	ros::Subscriber m_imu_sub;
 	ros::Subscriber m_servos_sub;
 };
 
diff --git a/rover/launch/drive.launch b/rover/launch/drive.launch
index be7bbee..fcc5403 100755
--- a/rover/launch/drive.launch
+++ b/rover/launch/drive.launch
@@ -7,42 +7,32 @@
     <node pkg="rover" name="roverBot" type="rover_node">
         <param name="axleLength" value="0.26" type="double" />
         <param name="maxSpeed" value="0.75" type="double" />
-        <param name="left/proportional" value="0.6" type="double" />
-        <param name="left/integral" value="0.2" type="double" />
-        <param name="left/derivative" value="0.05" type="double" />
-        <param name="right/proportional" value="0.6" type="double" />
-        <param name="right/integral" value="0.2" type="double" />
-        <param name="right/derivative" value="0.05" type="double" />
-        <param name="left/conversion_factor" value="0.00004" type="double" />
-        <param name="right/conversion_factor" value="0.00004" type="double" />
-        <param name="gyro_correction" value="1.0" type="double" />
         <param name="odom_frame_id" value="odom" />
         <param name="publish_tf" value="false" />
 
         <remap from="roverBot/odom" to="/odom" />
-        <remap from="roverBot/imu" to="/imu" />
+        <remap from="roverBot/imu/raw" to="/imu/raw" />
+        <remap from="roverBot/imu/data" to="/imu/data" />
         <remap from="roverBot/enable" to="/enable" />
         <remap from="roverBot/drive" to="/drive" />
-        <remap from="roverBot/settings" to="/settings" />
         <remap from="roverBot/servos" to="/servos" />
         <remap from="roverBot/servos_curr" to="/servos_curr" />
         <remap from="roverBot/joint_states" to="/joint_states" />
         <remap from="roverBot/cmd_vel" to="/cmd_vel" />
         <remap from="roverBot/battery/motor" to="/battery/motor" />
         <remap from="roverBot/encoders" to="/encoders" />
-        <remap from="roverBot/yaw/gyro" to="/yaw/gyro" />
     </node>
 
     <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
         <param name="output_frame" value="odom"/>
         <param name="sensor_timeout" value="1.0" />
-        <param name="odom_used" value="false" />
-        <param name="imu_used" value="false" />
+        <param name="odom_used" value="true" />
+        <param name="imu_used" value="true" />
         <param name="vo_used" value="false" />
         <param name="self_diagnose" value="true" />
         <param name="publish_tf" value="true" />
 
-        <remap from="imu_data" to="imu" />
+        <remap from="imu_data" to="imu/data" />
     </node>
 
 </launch>
diff --git a/rover/src/wrapper.cpp b/rover/src/wrapper.cpp
index d8e090e..04a5d46 100755
--- a/rover/src/wrapper.cpp
+++ b/rover/src/wrapper.cpp
@@ -10,10 +10,9 @@ Wrapper::~Wrapper() {
 Wrapper::Wrapper() :
 	m_n("~") {
 	m_odom_pub = m_n.advertise<nav_msgs::Odometry> ("odom", 1);
-	m_imu_pub = m_n.advertise<sensor_msgs::Imu> ("imu", 1);
+	m_imu_pub = m_n.advertise<sensor_msgs::Imu> ("imu/data", 1);
 	m_enable_pub = m_n.advertise<rover::Enabled> ("enable", 1, true);
 	m_motors_pub = m_n.advertise<rover::Motors> ("drive", 1);
-	m_settings_pub = m_n.advertise<rover::Settings> ("settings", 1, true);
 	m_servos_pub = m_n.advertise<std_msgs::UInt8MultiArray> ("servos", 1);
 	m_joint_pub = m_n.advertise<sensor_msgs::JointState> ("joint_states", 1);
 
@@ -23,38 +22,22 @@ Wrapper::Wrapper() :
 			&Wrapper::battCallback, this);
 	m_enc_sub = m_n.subscribe<rover::Encoder> ("encoders", 10,
 			&Wrapper::encCallback, this);
-	m_gyro_sub = m_n.subscribe<rover::Gyro> ("yaw/gyro", 10,
-			&Wrapper::gyrCallback, this);
+	m_imu_sub = m_n.subscribe<rover::CondensedIMU> ("imu/raw", 10,
+			&Wrapper::imuCallback, this);
 	m_servos_sub = m_n.subscribe<std_msgs::UInt8MultiArray> ("servos_curr", 10,
 			&Wrapper::servoCallback, this);
 
-	double lP, lI, lD, rP, rI, rD, le, re;
-
 	// parameters
 	m_n.param<double> ("axleLength", m_axlelength, 0.10);
 	m_n.param<double> ("maxSpeed", m_maxvel, 0.75);
 
 	m_n.param<double> ("motor_battery_threshold", m_minBatVoltage, 8.5);
 
-	m_n.param<double> ("left/proportional", lP, 0.3);
-	m_n.param<double> ("left/integral", lI, 0.05);
-	m_n.param<double> ("left/derivative", lD, 0);
-
-	m_n.param<double> ("right/proportional", rP, 0.3);
-	m_n.param<double> ("right/integral", rI, 0.05);
-	m_n.param<double> ("right/derivative", rD, 0);
-
-	m_n.param<double> ("left/conversion_factor", le, 0.00004);
-	m_n.param<double> ("right/conversion_factor", re, 0.00004);
-
 	m_n.param<std::string> ("odom_frame_id", m_odom_frame_id, "odom");
 	m_n.param<bool> ("publish_tf", m_publish_tf, true);
-	m_n.param<double> ("gyro_correction", m_yaw_gyro_correction_factor, 1.0);
 
 	//	usleep(5e6);
 
-	setSettings(lP, lI, lD, le, rP, rI, rD, re);
-
 	rover::Enabled msg;
 	msg.motorsEnabled = true;
 	m_enable_pub.publish(msg);
@@ -66,20 +49,6 @@ Wrapper::Wrapper() :
 	m_servos_pub.publish(servomsg);
 }
 
-void Wrapper::setSettings(double lp, double li, double ld, double lc,
-		double rp, double ri, double rd, double rc) {
-	rover::Settings m;
-	m.left_proportional = lp;
-	m.left_integral = li;
-	m.left_derivative = ld;
-	m.left_conversion_factor = lc;
-	m.right_proportional = rp;
-	m.right_integral = ri;
-	m.right_derivative = rd;
-	m.right_conversion_factor = rc;
-	m_settings_pub.publish(m);
-}
-
 void Wrapper::cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_vel) {
 	rover::Motors m;
 	m.left = cmd_vel->linear.x - m_axlelength * cmd_vel->angular.z;
@@ -94,45 +63,38 @@ void Wrapper::battCallback(const rover::Battery::ConstPtr& bat) {
 	}
 }
 
-void Wrapper::gyrCallback(const rover::Gyro::ConstPtr& gyr) {
-	if (m_p_gyr_msg != NULL) {
-		double dt = (gyr->header.stamp - m_p_gyr_msg->header.stamp).toSec();
-
-		m_yaw_gyro_rate = gyr->rate * m_yaw_gyro_correction_factor;
-		m_yaw_gyro_value += dt * m_yaw_gyro_rate;
-
-		// create a quaternion for the gyro
-		geometry_msgs::Quaternion imu_quat = tf::createQuaternionMsgFromYaw(
-				m_yaw_gyro_value);
-
-		// create a sensor msg for the gyro
-		sensor_msgs::Imu imu_msg;
-		imu_msg.header.stamp = ros::Time::now();
-		imu_msg.header.frame_id = "base_footprint";
-
-		imu_msg.orientation = imu_quat;
-		imu_msg.orientation_covariance[0] = 1e6;
-		imu_msg.orientation_covariance[4] = 1e6;
-		imu_msg.orientation_covariance[8] = 1e-6;
-
-		imu_msg.angular_velocity.x = 0.0;
-		imu_msg.angular_velocity.y = 0.0;
-		imu_msg.angular_velocity.z = m_yaw_gyro_rate;
-		imu_msg.angular_velocity_covariance[0] = 1e6;
-		imu_msg.angular_velocity_covariance[4] = 1e6;
-		imu_msg.angular_velocity_covariance[8] = 1e-6;
-
-		imu_msg.linear_acceleration.x = 0.0;
-		imu_msg.linear_acceleration.y = 0.0;
-		imu_msg.linear_acceleration.z = 0.0;
-		imu_msg.linear_acceleration_covariance[0] = -1; // no accelerometers, so just set covariance to -1
-
-		// send the message
-		m_imu_pub.publish(imu_msg);
-	}
-
-	// save this message
-	m_p_gyr_msg = gyr;
+void Wrapper::imuCallback(const rover::CondensedIMU::ConstPtr& imu) {
+	// create a quaternion for the gyro
+	geometry_msgs::Quaternion imu_quat =
+			tf::createQuaternionMsgFromRollPitchYaw(imu->roll, imu->pitch,
+					imu->yaw);
+
+	// create a sensor msg for the gyro
+	sensor_msgs::Imu imu_msg;
+	imu_msg.header.stamp = ros::Time::now();
+	imu_msg.header.frame_id = "base_footprint";
+
+	imu_msg.orientation = imu_quat;
+	imu_msg.orientation_covariance[0] = 1e6;
+	imu_msg.orientation_covariance[4] = 1e6;
+	imu_msg.orientation_covariance[8] = 1e-6;
+
+	imu_msg.angular_velocity.x = imu->gyro_x;
+	imu_msg.angular_velocity.y = imu->gyro_y;
+	imu_msg.angular_velocity.z = -imu->gyro_z;
+	imu_msg.angular_velocity_covariance[0] = 1e6;
+	imu_msg.angular_velocity_covariance[4] = 1e6;
+	imu_msg.angular_velocity_covariance[8] = 1e-6;
+
+	imu_msg.linear_acceleration.x = imu->accel_x;
+	imu_msg.linear_acceleration.y = imu->accel_y;
+	imu_msg.linear_acceleration.z = imu->accel_z;
+	imu_msg.linear_acceleration_covariance[0] = 1e6;
+	imu_msg.linear_acceleration_covariance[4] = 1e6;
+	imu_msg.linear_acceleration_covariance[8] = 1e-6;
+
+	// send the message
+	m_imu_pub.publish(imu_msg);
 }
 
 void Wrapper::servoCallback(const std_msgs::UInt8MultiArray::ConstPtr& serv) {