line following robot - LFR using ADC sensors - Code vision AVR

Here is Simple code for line following robot (2 sensors and can be more)  using ADC feature of Atmega chips circuit will be post soon


/*****************************************************
This program was produced by the
CodeWizardAVR V2.03.5 Evaluation
Automatic Program Generator
© Copyright 1998-2008 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com

Project :
Version :
Date    : 9/18/2012
Author  : www.onlineTPS.com, for evaluation and non-commercial use only
Company : Total project Solutions
Comments: Sample Program for ADC (Line following  Robot-LFR)


Chip type           : ATmega8L Ame can be Done with ATMEGA16A /32A
Program type        : Application
Clock frequency     : 1.000000 MHz
Memory model        : Small
External RAM size   : 0
Data Stack size     : 256
*****************************************************/

#include
#define LS read_adc(0) // Sensor #1 Left
#define RS read_adc(1) // Sensor #2 Right
// Here we have shown two sensors you can use 6 analog sensor like (TPS-00541) 6 IR LED/Photodiode Analog Sensors Array- www.onlineTPS.com
// Please note that Enable1 and Enable2 are forcely connected to +5V (1) you can also do with programing
#define LMR PORTC.2 //In1 of L298
#define LMB PORTC.3 //In2 of L298
#define RMR PORTC.4 //In3 of L298
#define RMB PORTC.5 //In4 of L298
#include

#define ADC_VREF_TYPE 0x40

// Read the AD conversion result
unsigned int read_adc(unsigned char adc_input)
{
ADMUX=adc_input | (ADC_VREF_TYPE & 0xff);
// Delay needed for the stabilization of the ADC input voltage
delay_us(10);
// Start the AD conversion
ADCSRA|=0x40;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
return ADCW;
}

// Declare your global variables here

void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization
// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTB=0x00;
DDRB=0x00;

// Port C initialization
// Func6=In Func5=Out Func4=Out Func3=Out Func2=Out Func1=In Func0=In
// State6=T State5=0 State4=0 State3=0 State2=0 State1=T State0=T
PORTC=0x00;
DDRC=0x3C;

// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTD=0x00;
DDRD=0x00;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
TCCR0=0x00;
TCNT0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer 1 Stopped
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
MCUCR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;

// ADC initialization
// ADC Clock frequency: 7.813 kHz
// ADC Voltage Reference: AVCC pin
ADMUX=ADC_VREF_TYPE & 0xff;
ADCSRA=0x87;

while (1)
      {
      // Set your ADC
       if ( LS <= 32 && RS <=32)
      {
      LMR = 0;
      LMB = 0;
      RMR = 0;
      RMR = 0;
      }
      else if ( LS <= 32 && RS >=32)
      {
      LMR = 1;
      LMB = 0;
      RMR = 0;
      RMR = 0;
      }
      else if ( LS >= 32 && RS <=32)
      {
      LMR = 0;
      LMB = 0;
      RMR = 1;
      RMR = 0;
      }
      else if ( LS >= 32 && RS >=32)
      {
      LMR = 1;
      LMB = 0;
      RMR = 1;
      RMR = 0;
      }
      };
}


Thanks
www.onlineTPS.com