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int pinRead = 7;        // reading pin of pulse lenth
unsigned long duration; // reading pulse lenths from qudrature encoder
int pwm1;               // pwm duty cycle from 0 to 100
int pwm2;

void setup()
{
  Serial.begin(9600);
  pinMode(pinRead, INPUT);

  pinMode(9, OUTPUT);           // output of PWM
  pinMode(10, OUTPUT);          // output of PWM
  TCCR1A = _BV(COM1A1) | _BV(COM1B1) ; // phase and frequency correct mode. NON-inverted mode
  // TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(COM1A0) | _BV(COM1B0) ;
  //phase/frequency correct mode. SELECT THIS FOR INVERTED OUTPUTS.
  TCCR1B = _BV(WGM13) | _BV(CS11);
// Select mode 8 and select divide by 8 on main clock.

}
void loop()
{
  ICR1 = 100;    // 10kHz mode
  duration = pulseIn(pinRead, HIGH);  // read lenths of pulses usualyy duration from 600ms to 32ms
                                      // than shorte duration than faster moving machine is feeding
  Serial.println(duration);           // print value from pin 7 pulse lenths
  
    if (duration>500 or duration == 0 )    // if reading to long no signal out     
    {
        pwm1 =0;
     }
    if (duration<=500 and duration >=370)
    {
        pwm1 = 90 - duration/5.01;
    }
    if (duration<370 and duration >=100)
    {
        pwm1 = 80 - duration/5.01;
    }
    else
    {
        pwm1 = 70 - duration/10;
    }


  Serial.print("pwm:");
  Serial.println(pwm1);

  OCR1B = int(pwm1);    // output pin 9 pulese
  OCR1A = int(pwm1);    // output pin 10 pulses

}