A part of the Source Code for the Previous LFR

The 8 sensors are connected the port 0 .The numbers 160 n 255 are a constant

which u take this has been explained un my previous post so jst take a look.





while (1){



#ifdef debug

if(rep<255) prev="PINA;" i="0;i<8;i++)">>i)&0x01);

rep=0;

}

#endif



if(PINA!=255){

      rotpow=255;

     ldev=rdev=0;

                      

     if(PINA.3==0)

     rdev=1;

     if(PINA.2==0)

     rdev=2;

     if(PINA.1==0)

     rdev=3;

     if(PINA.0==0)

     rdev=4;

       

     if(PINA.4==0)

     ldev=1;

     if(PINA.5==0)

     ldev=2;

     if(PINA.6==0)

     ldev=3;

     if(PINA.7==0)

     ldev=4;

   

     if(rdev>ldev)

     move(R,0,195+12*rdev);

     if(rdev<160) rotpow="160;}">HMAX)

     {move(CW,0,rotpow);}

     else

     {move(CCW,0,rotpow);}

     }        

};

}



void move (unsigned char dir,unsigned char delay,unsigned char power) {

PORTC=dir;

if(dir==L || dir==R) {

     hcount=(hcount+1)%MAX;

     history[hcount]=dir;

     }

LSPEED=RSPEED=255;//power;

//delay_ms(delay);

}



This is taken from priyank patels LFR code .