Final version of currentControl, current_control_final, uploaded. Takes 8 bit signed reference over TWI
avr-gcc -mmcu=atmega16 -g -Wall -o current_control_final current_control_final.c avr-objcopy -Osrec current_control_final current_control_final.sr uisp -dprog=stk200 --erase --upload if=current_control_final.sr