#define PWM_CYCLE

int target_r_speed,target_l_speed;
int target_forward_velocity;
int forward_acceleration;
int target_angle_velocity;
int r_pulse,l_pulse;

void set_motor_speed(){
	int r_diff=R_COUNT-DEF_COUNT;
	int l_diff=DEF_COUNT-L_COUNT;
	int r_speed=pulse_to_distance(r_diff);
	int l_speed=l_diff=pulse_to_distance(l_diff);
	int r_speed_buf=r_speed-target_r_speed;
	int l_speed_buf=l_speed-target_l_speed;
	if(r_speed_buf > )
}

void set_pwm_pulse(){
	r_pulse=r_speed
}