#include int main(void) { DDRB=0b11111111 //PORTB as output port connected to motors; DDRC=0b0000000 //PORTC Input port connected to sensors; int left_sensor=0, right_sensor=0 ; while(1) { left_sensor=PINC&0b00000001; right_sensor=PINC&0b00001000 ; if((left_sensor==0b0000000) & (right_sensor==0b0000000)) //if both sensors "off" { PORTB=0b00000000 // stop; } if((left_sensor==0b00000001) & (right_sensor==0b00001000)) //if both sensors "on" { PORTB=0b00010010 // move forward; } if((left_sensor==0b0000000)&(right_sensor==0b0001000)) { PORTB=0b00000010 // turn left; } if((left_sensor==0b00000001)&(right_sensor==0b0000000)) { PORTB=0b00010000 // turn right; } } }