ok so i had to rewire my breadboard i was mistaken how each input works, i guess the forward and reverse pins of each motor need a pwm signal, this means i need two timers one for each motor, then i need to be able to control 4 seperate pins. im assuming if im using the timer on pins 10, 11 i can shut pin 11 off right?
the next question is, is there any reason to use phase correct over fast pwm? like i said i need to be able to convert this to work with an 8mhz setup easily. what is the fastest frequency with the best resalution i can generate at 8mhz on a 168? See this is why i was hoping for a library im gratefull for the code i just dont know enough about the atmegas to understand how this all works beyond coppy an pasting your code and fiddling with the timers