/*
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                                           versie 1.20 (race) 
											 
 ____  _    _  _____            ____   ____ _______ 
|  _ \| |  | |/ ____|          |  _ \ / __ \__   __|
| |_) | |  | | |  __   ______  | |_) | |  | | | | |  
|  _ <| |  | | | |_ | |______| |  _ <| |  | | | | |  
| |_) | |__| | |__| |          | |_) | |__| | | | |  
|____/ \____/ \_____|          |____/ \____/  |_| |  
                                                  | 
                                                \ | /
                HOGESCHOOL VAN AMSTERDAM        -(+)-
                                                / 0 \

Functie: programma  
           1        Volg lijn  van punt A tot punt B
		   2        Schakel IR , botssensoren en led aan.  
		   3        Stop  bij Punt C  
                          
Code: AVR studio 4

Auteur: Paul Mooij 		

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*/



#include <avr/io.h>
#include <avr/delay.h>  // vertraging

unsigned int i=0;       // dekeleratie teller 


int main(void) {       // start van't programma 
  
  
  DDRB = 0x09;      //0x08 motor  
  DDRD = 0xfA;     // PORTD uitgang motor 
  
  
 


  while(1) {                                    // oneindige lus   
/******************************************  Start  ****************************************************/
  PORTB = 0x08;
  PORTD = 0x80;

  if (PINA & 0x01 && PINA & 0x04) {i++;}       // teller 

/**************************************** PUNT A -> B ***************************************************/
  while (i ==1) {                             
  PORTB = 0x08;

   if (PINA & 0x01 && PINA & 0x04){  PORTD = 0x80; }          // rij rechtdoor

  
   else if(PINA & 0x01|| PINA & 0x04) {       // bocht 
    PORTD = 0xB0;                             // stop 
   _delay_loop_2(0xff00);                     // vertraging 
    while (PINA & 0x01 && PINA & ~0x04) {PORTD = 0xA0;}  // links

	while ( PINA & 0x04 && PINA & ~0x01) {PORTD = 0x90;} // rechts 

}                 
   
   else { i++;}                                // teller 
   
/*************************************** PUNT B -> C ****************************************************/                                    
}
while ( i ==2 ){                                // PUNT B -> C IR <aan>  objectie < aan>         



PORTD = 0x80; 

while (PINA & 0x04 || PINA & 0x01) {                            // doe dit als lijn laag is
  PORTB = 0x09;                                                 // Led aan 
 

   if (PIND & 0x01 || PIND & 0x04) {
   
   PORTD = 0xB0;

   _delay_loop_2(0xffff);                                      // vertraging bots 
   if (PIND & 0x04) {PORTD = 0x90;}
   else {
   PORTD = 0x30;                                               // botssensor  1 
   PORTB = 0x01;                                               // botssensor  2 
   
   _delay_loop_2(0xffff);}
   
   
    }                         

   else{

   if (PINC & 0x01 && PINC & 0x04)                          // zoek IR    
   {PORTD = 0xA0;}
                                                            // 360 zoek naar IR 
   
   else if (PINC & 0x04) {PORTD = 0x90;
  
   
   }                  // IR motor rechts

   else if(PINC & 0x01 ) {PORTD = 0xA0;
  
   }                   // IR motor links  

   else {
   
   
   PORTD = 0x80;
  
   
   }                                  // motor rechtdoor
         
   if (PINA & ~0x04 && PINA & ~0x01 ){i =4;}         // teller  
   
  
   }
                                  
}
   

/***************************************  Finish ********************************************************/
} 
while (i ==4) { PORTD = 0xB0; }                           // Stop 
  
 }
}