Edge Avoider program for Atmega8 mini

// Project name : Edge Avoider for Atmega8 mini
/ Designed By :Mechanical guys
/*
___________________________________________________
Connection settings of Kit
PWM LED-------------->PB1
RIGHT MOTOR(+)------->PB1
RIGHT MOTOR(-)------->PB2
LEFT MOTOR(-)-------->PB3
LEFT MOTOR(+)-------->PB4
BUZZER--------------->PB0
LDR------------------>PC5
BOOTLOADER Condition Check-----PC2(if 0 bootler section else program execution
section of Flash memory)
RESET----------------->PC6
Crystal Ossilator----PB6 and PB7
left sensor---------->PC0
right sensor--------->PC3
Temprature sensor------>PC1
sound sensor------------>PC2
*********DTMF sensor connection********

DTMF D0---->PC0
DTMF D1---->PC1
DTMF D2---->PC2
DTMF D3---->PC3
VB=Battery Supply
VCC=regulated 5V+
Gnd=ground(0V)
VR1=Contrast of LCD
*/

#include
#include

void wait(float sec, int freq) //wait function to create time delay
{
for(int i=0;i<(int)(46*sec);i++)
_delay_loop_2(0);
}


void main()
{
DDRC=0b0000000; //set PORTC as input port
DDRB=0b00011110; //PB1, PB2, PB3, PB4 as output port
int ls=1, rs=1; // define & initialize ls, rs integer as 1 to
// acquire the left sensor status in ls and right sensor
// status in rs
while(1) // create infinite loop
{
ls=(PINC&0b0000001); //acquire only left sensor status connected at PC0
rs=(PINC&0b0001000); // acquire only right sensor status connected at PC3

if((ls==0b0000000)&(rs==0b0000000)) //check sensor status for both sensor OFF
{
PORTB=0b00001100; //move back
wait(1.5, 12); //keep on moving back for 0.5 sec
PORTB=0b00010000;
wait(0.4, 12); //keep on turning right for 0.5 sec
ls=1; //set sensor status on
rs=8; //set sensor status on
}

if((ls==0b0000001)&(rs==0b0000000)) //check sensor status for left sensor=ON and
// right sensor=OFF
{
PORTB=0b00001100; //move back
wait(1.5, 12); //keep on moving back for 0.5 sec
PORTB=0b00010000; //turn right
wait(0.4, 12); //keep on turning right for 0.5 sec
ls=1; //set sensor status on
rs=8; //set sensor status on
}

if((ls==0b0000000)&(rs==0b0001000)) //check sensor status for left sensor=OFF and
// right sensor=ON
{
PORTB=0b00001100; //move back
wait(1.5, 12); //keep on moving back for 0.5 sec
PORTB=0b00000010; //turn left
wait(0.4, 12); //keep on turning left for 0.5 sec
ls=1; //set sensor status on
rs=8; //set sensor status on
}
if((ls==0b0000001)&(rs==0b0001000)) //check sensor status for both sensor ON
{
PORTB=0b00010010; //move forward
ls=1; //set sensor status on
rs=8; //set sensor status on
}
}
}