[echos]

here is some rather straight forward code, simular to previous years stuff.

 unsigned int counter;
 
 if(autonmous_code)
 	{
 	if(counter <= 20)
 		{
 		pwm01 = pwm02 = 255;
 		}
 
 	  else if(counter >= 21 && counter <= 100 && counter != 99)
 		{
 		pwm01 = 255;
 		pwm02 = (pwm01 -= 254);
 		}
 	  else
 		{
 		die(void);
 		}
 
 	counter++;
 	}