Ved Soman 24 June 2015

/*	This project is written by Ved Soman
	Program of Black Line Following Robot 
	using ATMega8 microntroller robotic kit

	====== For further details about our robotics training
	====== visit our website at: www.vsa.edu.in
*/

#define F_CPU 12000000UL
#include <avr/io.h>
#include <util/delay.h>

int main()
{
DDRB=0b00011110;
DDRC=0b0000000;
DDRD=0b00010000; // output pin for buzzer
int s;
// user defined functions
void Forward()
	{
		PORTB=0b00010010;
	}

void Backward()
	{
		PORTB=0b00001100;
	}

void Stop()
	{
		PORTB=0b0000000;
	}

void SoftLeft()
	{
		PORTB=0b00000010;
	}

void SoftRight()
	{
		PORTB=0b00010000;
	}

void PowerRight()
	{
		PORTB=0b00010100;
	}

void PowerLeft()
	{
		PORTB=0b00001010;
	}

	while(1)
	{
	s=PINC&0b0001001;

	if(s==9) // both sensors are on white
	{
		Forward();
	}
	else if (s==8) // LS is on white, RS is on black
	{
	
		SoftRight();
			PORTD=0b00010000;
		_delay_ms(60);
		PORTD=0b00000000;
	}

	else if(s==1) // LS is on black, RS is on white
	{
		SoftLeft();
			PORTD=0b00010000;
		_delay_ms(60);
		PORTD=0b00000000;
	}

	else // both sensors are on black 
/* You can see that how effectively he used the 'else' condition here. */
	{
		Stop();
	}
}
}