I have developed a library of C++ code which I have tested on an ATMega8 running at either 1MHz or 8MHz. Currently this supports the following kinds of object:

1. Input pins
2. Output pins
3. LEDs
4. Timer
5. Analogue to Digital (ADC) input
6. Servos running either off an output pin or via an output pin with PWM (pulse width modulation)

NB There is no UART functionality at the moment - but the classes above provide enough functionality to implement the $50 Robot Tutorial in C++. I will be extending the library to include classes for handling sonar, Sharp InfraRed, and H-Bridge control.

Attached is a ZIP file containing the source code for the classes for you to download. The second ZIP file contains some test code to perform the same functionality as the $50 Robot.