#include <Mega32.

h>
#include <stdio.h>
#define stop 0
#define straight 3
#define left_turn 1
#define right_turn 2
#define middle 4
#define left 5
#define right 6
#define move 7
#define begin {
#define end }
int sensor_timer, go_timer, turn_timer;
int Ain, midRd, leftRd, rightRd; //raw A to D number
char car_state, sensor_state;
bit sensor, go, turn;
void main(void);
void initialize(void);
void sensor_check(void);
void move_car(void);
//------------------------------------------------------------------
interrupt [TIM2_OVF] void timer2_ovf(void)
begin
TCNT2 = 6;
sensor_timer ++;
if (turn)
turn_timer++;
end
//------------------------------------------------------------------
void main(void)
begin
initialize();
#asm
sei
#endasm
while(1)
begin
sensor_check();
end
end

//------------------------------------------------------------------
void sensor_check(void)
begin
switch (sensor_state)
begin
case move:
move_car();
sensor_timer = 0;
sensor_state = right;
break;
 case right:
if (sensor_timer >= 2)
begin
//get the sample
Ain = ADCH;
ADMUX = 0b01100001; //Read Port A1
//start another conversion
ADCSR.6=1;
rightRd = Ain;
sensor_state = left;
end
else sensor_state = right;
break;
case left:
if (sensor_timer >= 4)
begin
//get the sample
Ain = ADCH;
ADMUX = 0b01100000; //Read Port A0
//start another conversion
ADCSR.6=1;
leftRd = Ain;
sensor_state = middle;
end
else sensor_state = left;
break;
case middle:
if (sensor_timer >= 6)
begin
// get the sample
Ain = ADCH;
ADMUX = 0b01100010; //Read Port A2
// start another conversion
ADCSR.6=1;
midRd = Ain;
sensor_state = move;
end
else sensor_state = middle;
break;
end
end

//------------------------------------------------------------------
void move_car(void)
begin
//printf("%d\n\r",midRd);
switch (car_state)
begin
case stop:
// Car is not over a path
if (midRd>80 && leftRd>80 && rightRd>80)
begin
TCCR0 = 0b00000000;
PORTB.3 = 0;
//Stops steering motor
PORTA.3 = 0;
 PORTA.4 = 0;
PORTA.5 = 0;
PORTA.6 = 0;
end
else
begin
TCCR0 = 0b01101100; //Enable PWM mode PRESCALER 64
OCR0 = 128;
car_state = straight;
end
break;
case straight:
if (midRd>80 && leftRd>80 && rightRd>80)
begin
TCCR0 = 0b00000000;
PORTB.3 = 0;
//Stops steering motor
PORTA.3 = 0;
PORTA.4 = 0;
PORTA.5 = 0;
PORTA.6 = 0;
car_state = stop;
end
else if (leftRd<40 && rightRd>80)
begin
//Turn off other transistors
PORTA.5 = 0;
PORTA.6 = 0;
//Power steering motor left
PORTA.3 = 1;
PORTA.4 = 1;
car_state =left_turn;
turn = 1;
end
else if (rightRd<40 && leftRd>80)
begin
//Turns off other transistors
PORTA.3 = 0;
PORTA.4 = 0;
//Power steering motor right
PORTA.6 = 1;
PORTA.5 = 1;
car_state = right_turn;
turn = 1;
end
break;
case left_turn:
if (turn_timer >= 1500)
begin
// Car is not over a path
if (midRd>80 && leftRd>80 && rightRd>80)
begin
//Turn off all motors
TCCR0 = 0b00000000;
PORTB.3 = 0;
 PORTA.3 = 0;
PORTA.4 = 0;
PORTA.5 = 0;
PORTA.6 = 0;
car_state = stop;
end
turn_timer = 0;
end
//If middle sensor is not over the path
if (midRd>80 && leftRd<40 && rightRd>80)
begin
//Power steering motor left
PORTA.3 = 1;
PORTA.4 = 1;
PORTA.5 = 0;
PORTA.6 = 0;
end
//Car has readjusted itself to course - ie it has turned left
else if (midRd<40 && leftRd>80 && rightRd>80)
begin
//Left Brake
PORTA.5 = 0;
PORTA.4 = 0;
PORTA.3 = 1;
PORTA.6 = 1;
car_state = stop;
end
//If the car overshoots to the left
else if (rightRd<40 && leftRd>80)
begin
//Left Brake
PORTA.5 = 0;
PORTA.4 = 0;
PORTA.3 = 1;
PORTA.6 = 1;
car_state = right_turn;
end
break;
case right_turn:

if (turn_timer >= 1500)

begin
if (midRd>80 && leftRd>80 && rightRd>80)
begin
//Turn off all motors
TCCR0 = 0b00000000;
PORTB.3 = 0;
PORTA.3 = 0;
PORTA.4 = 0;
PORTA.5 = 0;
PORTA.6 = 0;
car_state = stop;
end
turn_timer = 0;
end
 //If middle sensor is not over the path
if (midRd>80 && rightRd<40 && leftRd>80)
begin
//Power steering motor right
PORTA.6 = 1;
PORTA.5 = 1;
PORTA.4 = 0;
PORTA.3 = 0;
end
//Car has readjusted itself to course - ie it has turned right
else if (midRd<40 && leftRd>80 && rightRd>80)
begin
//Right Brake
PORTA.5 = 0;
PORTA.4 = 0;
PORTA.3 = 1;
PORTA.6 = 1;
car_state = stop;
end
//If the car overshoots to the right
else if (leftRd<40 && rightRd>80)
begin
//Right Brake
PORTA.5 = 0;
PORTA.4 = 0;
PORTA.3 = 1;
PORTA.6 = 1;
car_state = left_turn;
end
break;
end
end

//------------------------------------------------------------------
void initialize(void)
begin
DDRA = 0b11111000; //Makes PortA0 - A2 inputs, A3 - A7 outputs
DDRB.3 = 1; //Makes PortB0 output
TCCR2 = 0b00000011; //Normal Mode with Prescaler of 64
TIMSK = 0b01000000; //Enable Timer 0 interrupt
sensor_timer = 0;
car_state = stop;
sensor_state = right;
PORTA.4 = 0; //No power to motor circuitry
PORTA.5 = 0;
PORTA.6 = 0;
PORTA.7 = 0;
go_timer = 0;
ADMUX = 0b01100010;
ADCSR = 0b11000111; //ADC running with prescaler of 128 so 8 usec pe
r reading
end