int main () { mcu_initialization(); while(1) { if(ir(1,950,SENSE)==TRUE&&ir(2,950,SENSE)==TRUE&&ir(3,950,SENSE)==TRUE&&ir(4,950,SENSE)==TRUE&&ir(5,0,NONE)==TRUE) { dc_motor(LEFT_MOTOR_1,FORWARD_DIRECTION,10); dc_motor(RIGHT_MOTOR_1,FORWARD_DIRECTION,10); } if(ir(1,950,SENSE)==TRUE&&ir(2,0,NONE)==TRUE&&ir(3,950,SENSE)==TRUE&&ir(4,950,SENSE)==TRUE) { dc_motor(LEFT_MOTOR_1,FORWARD_DIRECTION,8); dc_motor(RIGHT_MOTOR_1,FORWARD_DIRECTION,10); } if(ir(1,950,SENSE)==TRUE&&ir(2,950,SENSE)==TRUE&&ir(3,0,NONE)==TRUE&&ir(4,950,SENSE)==TRUE) { dc_motor(LEFT_MOTOR_1,FORWARD_DIRECTION,10); dc_motor(RIGHT_MOTOR_1,FORWARD_DIRECTION,8); } if(ir(1,950,SENSE)==TRUE&&ir(2,950,SENSE)==TRUE&&ir(3,950,SENSE)==TRUE&&ir(4,0,NONE)==TRUE) { dc_motor(LEFT_MOTOR_1,FORWARD_DIRECTION,10); dc_motor(RIGHT_MOTOR_1,BACKWARD_DIRECTION,2); } if(ir(1,0,NONE)==TRUE&&ir(2,950,SENSE)==TRUE&&ir(3,950,SENSE)==TRUE&&ir(4,950,SENSE)==TRUE) { dc_motor(LEFT_MOTOR_1,BACKWARD_DIRECTION,2); dc_motor(RIGHT_MOTOR_1,FORWARD_DIRECTION,10); } } return 0; }