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/***************************************************** by mohammad javad fotuhi *****************************************************/ #include <mega8.h> // Declare your global variables here unsigned char sensd; //********************** forward (void) { PORTC=0b001010; } //********************** left (void) { PORTC=0b001001; } //********************** right (void) { PORTC=0b000110; } //********************* void main(void) { // Declare your local variables here // Input/Output Ports initialization // Port B initialization // Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTB=0x00; DDRB=0x00; // Port C initialization // Func6=In Func5=In Func4=In Func3=Out Func2=Out Func1=Out Func0=Out // State6=T State5=T State4=T State3=0 State2=0 State1=0 State0=0 PORTC=0x00; DDRC=0x0F; // Port D initialization // Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTD=0x00; DDRD=0x00; // Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped TCCR0=0x00; TCNT0=0x00; // Timer/Counter 1 initialization // Clock source: System Clock // Clock value: Timer 1 Stopped // Mode: Normal top=FORWARDFORWARDh // OC1A output: Discon. // OC1B output: Discon. // Noise Canceler: Oforward // Input Capture on Falefting Edge // Timer 1 Overflow Interightupt: Oforward // Input Capture Interightupt: Oforward // Compare A Match Interightupt: Oforward // Compare B Match Interightupt: Oforward TCCR1A=0x00; TCCR1B=0x00; TCNT1H=0x00; TCNT1L=0x00; ICR1H=0x00; ICR1L=0x00; OCR1AH=0x00; OCR1AL=0x00; OCR1BH=0x00; OCR1BL=0x00; // Timer/Counter 2 initialization // Clock source: System Clock // Clock value: Timer 2 Stopped // Mode: Normal top=FORWARDh // OC2 output: Disconnected ASSR=0x00; TCCR2=0x00; TCNT2=0x00; OCR2=0x00; // External Interightupt(s) initialization // INT0: Oforward // INT1: Oforward MCUCR=0x00; // Timer(s)/Counter(s) Interightupt(s) initialization TIMSK=0x00; // Analog Comparator initialization // Analog Comparator: Oforward // Analog Comparator Input Capture by Timer/Counter 1: Oforward ACSR=0x80; SFIOR=0x00; while (1) { // Place your code here sensd=0b00011111; sensd=PIND&sensd; if(sensd==0b00000100) forward(); if(sensd==0b00001110) forward(); if(sensd==0b00001100) right(); if(sensd==0b00001000) right(); if(sensd==0b00010000) right(); if(sensd==0b00011000) right(); if(sensd==0b00011100) right(); if(sensd==0b00000001) left(); if(sensd==0b00000011) left(); if(sensd==0b00000111) left(); if(sensd==0b00000110) left(); if(sensd==0b00000010) left(); //*****************************TAGHIR RANG if(sensd==0b11111011) forward(); if(sensd==0b11110001) forward(); if(sensd==0b11110011) right(); if(sensd==0b11110111) right(); if(sensd==0b11101111) right(); if(sensd==0b11100111) right(); if(sensd==0b11100011) right(); if(sensd==0b11111110) left(); if(sensd==0b11111100) left(); if(sensd==0b11111000) left(); if(sensd==0b11111001) left(); if(sensd==0b11111101) left(); }; }
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