Edge Dection Robot Using IR(analog)

The following video show the edge detection robot implemented using ATmega16 and two Analog IR sensors. The Robot uses two geared motor and one caster wheel at the front for the movement. The robot uses Ablab ATK-500 AVR trainer board. Motor driver is use to drive motor.

The code is shown below.

//PORTC is used for LED

//PORTD is used for motor driver

//PORTA for ADC channel input

#include<avr/io.h>
#include<util/delay.h>
#include"adc.h"
void main()
{
PORTD=0xff;
PORTC=0xff;

adc_init();
unsigned int x,y;
while(1)
{
x=read_adc_channel(0);
y=read_adc_channel(1);

if(x>150&&y<150)
{
PORTC=0xf0;
;
PORTD=0x09;//Left turn
}
else if(x<150&&y>150)
{
PORTC=0x0f;
PORTD=0x06;//Right TUrn
}
// for both sensor outside the table
else if(x>150&&y>150)
{
PORTD=0x09;
_delay_ms(3000);
PORTC=0b11000011;
}
else if(x<150&&y<150)
{
PORTD=0x05;//Forward Motion
PORTC=0b00111100;
}


}
}