Compiling errors for Hercules 4wd remote car project

As very much a beginner in Arduino programming I have the following errors when trying to compile the following sketch ( taken off your wiki page ) for driving the motors on the Seed Skeletonbot 4wd Hercules platform. The processor is ATmega 328P which I have set up in the Tools section. Arduino: 1.8.5 (Windows 10), Board: “Arduino Duemilanove or Diecimila, ATmega328P” Can you help with where the problem is in the code concerning these error messages. Thanking you.

C:\Users\roder\Documents\Arduino\libraries\motodriver_4wd\pwm_lvc.cpp:74:1: error: stray ‘\251’ in program

© 2018 GitHub, Inc.

^

C:\Users\roder\Documents\Arduino\libraries\motodriver_4wd\pwm_lvc.cpp:74:3: error: expected unqualified-id before numeric constant

© 2018 GitHub, Inc.

^

exit status 1
Error compiling for board Arduino Duemilanove or Diecimila.

This report would have more information with
“Show verbose output during compilation”
option enabled in File -> Preferences.

The code for pwm_lvc.cpp is as below

#include “pwm_lvc.h”

void pwm_lvc::init()
{
TCCR1A = 0; // clear control register A
TCCR1B = _BV(WGM13); // set mode 8: phase and frequency correct pwm, stop the timer
}

void pwm_lvc::setFreq(long freq) // AR modified for atomic access
{

long cycles = (F_CPU / 2000000) * (1000000/freq); // the counter runs backwards after TOP, interrupt is at BOTTOM so divide microseconds by 2
if(cycles < TIMER1COUNT) clockSelectBits = _BV(CS10); // no prescale, full xtal
else if((cycles >>= 3) < TIMER1COUNT) clockSelectBits = _BV(CS11); // prescale by /8
else if((cycles >>= 3) < TIMER1COUNT) clockSelectBits = _BV(CS11) | _BV(CS10); // prescale by /64
else if((cycles >>= 2) < TIMER1COUNT) clockSelectBits = _BV(CS12); // prescale by /256
else if((cycles >>= 2) < TIMER1COUNT) clockSelectBits = _BV(CS12) | _BV(CS10); // prescale by /1024
else cycles = TIMER1COUNT - 1, clockSelectBits = _BV(CS12) | _BV(CS10); // request was out of bounds, set as maximum

char tmp = SREG;
cli(); // Disable interrupts for 16 bit register access
ICR1 = pwmPeriod = cycles; // ICR1 is TOP in p & f correct setPwm mode
SREG = tmp;
TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
TCCR1B |= clockSelectBits; // reset clock select register, and starts the clock
}

// duty, 0-100
void pwm_lvc::setPwmDuty(char pin, int duty)
{
if(duty >100)duty = 100;
if(duty < 0) duty = 0;
unsigned long dutyCycle = pwmPeriod*10;
dutyCycle *= duty;
dutyCycle >>= 10;
char tmp = SREG;
cli();
if(pin == 1 || pin == 9) OCR1A = dutyCycle;
else if(pin == 2 || pin == 10) OCR1B = dutyCycle;
SREG = tmp;
}

// setPwm, pin: 9, 10
void pwm_lvc::setPwm(char pin, int duty, long freq) // expects duty cycle to be 10 bit (1024)
{
if((pin != 9 && pin != 10) || freq <= 0)return ; // error parament

setFreq(freq);

if(pin == 9) {
DDRB |= _BV(PORTB1); // sets data direction register for setPwm output pin
TCCR1A |= _BV(COM1A1); // activates the output pin
}
else
{
DDRB |= _BV(PORTB2);
TCCR1A |= _BV(COM1B1);
}
setPwmDuty(pin, duty);

}

void pwm_lvc::disablePwm(char pin)
{
if(pin == 1 || pin == 9) TCCR1A &= ~_BV(COM1A1); // clear the bit that enables setPwm on PB1
else if(pin == 2 || pin == 10) TCCR1A &= ~_BV(COM1B1); // clear the bit that enables setPwm on PB2
}

pwm_lvc PWM; // preinstatiate

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© 2018 GitHub, Inc.

Regards Rod =