int a=180;
int b=0;
int c=0;
void setup()
{
  
  pinMode(9, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(7, OUTPUT);
  pinMode(8, OUTPUT);
  pinMode(44,OUTPUT);
  pinMode(45,OUTPUT);
  pinMode(46,OUTPUT);
  /* TCCR5A = _BV(COM5A1) | _BV(WGM50);
TCCR5B = _BV(WGM52) | _BV(CS52) | _BV(CS50); // Prescaler = 1024
OCR5A = 156; // 20 millisecond period
OCR2B = 8;
  TCCR2A = _BV(COM2A1) | _BV(COM2B1) | _BV(WGM21) | _BV(WGM20);
  TCCR2B = _BV(CS22);
  //TCCR2B |= (1 << CS12) | (1 << CS10);
  //TCCR2B = 0x05;
  OCR2A = 156;
  OCR2B = 8;
 */
  //TCCR5B = 0;
 //TCCR5A = 0;

  // Set the clock prescale to 1
  //TCCR4B |= (1<<CS10);
  //TCCR5B = 0b11000101;
//TCCR5B = _BV(WGM52) | _BV(CS52) | _BV(CS50);
  // Set TOP to 3999.  
  // Frequency is 16 MHz / (prescale * (TOP+1)) == 4 kHz.
  //ICR5 = 310;         

  // Start at 50% Duty Cycle
  //OCR5A = 8;

  // Set mode to 14: FastPWM using ICR for TOP
  //TCCR5A |= 1<<WGM41| (1<<COM5A1);
 //TCCR5B |= (1<<WGM42| (1<<WGM43)) ;
          
  // Select non-inverting FastPWM  (higher numbers give higher duty cycle)
 //TCCR5A |= (1<<COM5A1); 
TCCR5B = 0;
  TCCR5A = 0;

  // Set the clock prescale to 1
  //TCCR4B |= (1<<CS10);
  TCCR5B = 0b11000101;
//TCCR5B = _BV(WGM52) | _BV(CS52) | _BV(CS50);
  // Set TOP to 3999.  
  // Frequency is 16 MHz / (prescale * (TOP+1)) == 4 kHz.
  ICR5 = 310;         

  // Start at 50% Duty Cycle
  OCR5A = 8;

  // Set mode to 14: FastPWM using ICR for TOP
  TCCR5A |= 1<<WGM41;
  TCCR5B |= (1<<WGM42| (1<<WGM43)) ;
          
  // Select non-inverting FastPWM  (higher numbers give higher duty cycle)
  TCCR5A |= (1<<COM4A1); 



  
  TCCR4B = 0;
  TCCR4A = 0;
  TCCR4B = 0b11000101;
  ICR4 = 310;         
  OCR4A = 8;
  TCCR4A |= 1<<WGM41;
  TCCR4B |= (1<<WGM42| (1<<WGM43)) ;
  TCCR4A |= (1<<COM4A1); 
  TIMSK4 |= (1<<OCIE4A);
sei();

 
  Serial.begin(9600);
}
 
void loop()
{
  //for(int i=0;i<1;i=i+1){
 /* OCR4A =10;
  //delay(250);
  //Serial.println(OCR4A);
  //OCR4A=20;
  //}
  delay(100);
  //for(int i=0;i<1;i=i+1){
  OCR4A =22;
  //delay(250);
  //Serial.println(OCR4A);
  //OCR4A=20;
 // }
delay(100);
//TCCR5B |= 0b00000000;
//TCCR5B |= (1<<CS50)| (1<<CS51)| (1<<CS52);
  //TCCR5B = 0b11000101;
  */
  Serial.print("Counter Ticks = "); 
  Serial.println(c);//TCNT5
  
  }
ISR(TIMER4_COMPA_vect) {
 c=c+1;
 b=b+1;
 if(c>20){
   OCR4A =38;
   OCR5A =30;
  c=0;
 }
 if(b>40){
 OCR4A = 8;
 OCR5A = 12;
 b=0;
 c=0;
 }
 
}