uint8_t cyc_time;
uint16_t micr1;
uint8_t debor0;
uint8_t deband1;
uint8_t inmem[6];
uint8_t debregs[6];



void setup() {
  // put your setup code here, to run once:

DDRB=63; 
DDRD=0; 
Serial.begin(9600);

}

void loop() {
  // put your main code here, to run repeatedly:
  cyc_time += 10;
   uint16_t micr0=micros();

//debounce
for(uint8_t i=4;i>=0;i--){
  debregs[i+1]=debregs[i]; 
}
debregs[0]=PIND;
debregs[0]=debregs[0] >> 2;

debor0=0;
deband1=255;
for(uint8_t i=0;i<6;i++){
debor0 |= debregs[i];
deband1 &= debregs[i];
}

for(uint8_t i=0;i<6;i++){
if(debor0 &1==0){inmem[i]=0;}
if(deband1 &1==1){inmem[i]=1;}
debor0 = debor0 >> 1;
deband1 = deband1 >> 1; 
}
 //------------- wait for the end of the cycle ----------------
  uint8_t i = 0;
  while (i == 0)
  {
    if ( ((uint8_t)millis() == cyc_time) )	{
      i = 1;
    }
    if ( ((uint8_t)millis() == cyc_time + 1) )	{
      i = 1;
    }
  }
  //------------------------------------------------------------

}