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/gist:7890269
Created Dec 10, 2013

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#define F_CPU 16000000UL //Set the frequency of the microcontroller to 16 mhz. If the frequency is different, the corresponding value should be set
#include <avr/io.h>
#include <util/delay.h>
#define USART_BAUDRATE 9600 //Rate of data transfer
#define BAUD_PRESCALE (((F_CPU / (USART_BAUDRATE * 16UL))) - 1)
void main() {
DDRB = 0xff;
char data;
UCSRB |= (1 << RXEN) | (1 << TXEN); // Turn on the transmission and reception circuitry
UCSRC |= (1 << URSEL) | (1 << UCSZ0) | (1 << UCSZ1); // Use 8-bit character sizes
UBRRL = BAUD_PRESCALE; // Load lower 8-bits of the baud rate value into the low byte of the UBRR register
UBRRH = (BAUD_PRESCALE >> 8); // Load upper 8-bits of the baud rate value into the high byte of the UBRR register
for (;;) { // Loop forever
while ((UCSRA & (1 << RXC)) == 0) {}; // Do nothing until data have been received and is ready to be read from UDR
data = UDR; // Fetch the received byte value into the variable "ByteReceived"
if(data=='w')//forward condition
PORTB=0b00000101; // Both wheels rotate in forward direction and bot is moved forward
else if(data=='s')//Backward condition
PORTB=0b00001010;
else if(data=='a')//Left condition
PORTB=0b00001001;
else if(data=='d')//Right condition
PORTB=0b00000110;
else//Default condition
PORTB=0b00001111;
}
}
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