#include <avr/io.h>
int dsteps;
int asteps;
int direction;
int distance[50];
int angle[50];
int sense[50];
void orient_cw();
void orient_acw();
void navigate();
void delay();
void embed_path();
int path_no;
main()
{
	DDRA=0XFF;               /* Setting the data direction registers to designate the port as input/output*/
	DDRB=0XFF;
	DDRC=0X00;
	PORTC=0XFF;
	PORTB=0XFF;
	
	
	unsigned int temp=0;
	int i=0;
	embed_path();
	while(1)
	{
		temp = PINC;
		if (temp==0XFE)
		{
				for (i=0;i<path_no;i++ )
				{
						dsteps=distance[i];
						asteps=angle[i];
						direction=sense[i];
						if (direction==0) /*calling the function to orient the navigator in the accurate direction*/
							{
								orient_cw();
							}
						else 
							{
								orient_acw();
							}
						navigate();		/* calling the function for the  forward navigation*/	
				}
		}

	}
}
void navigate()
{
	int j;
	for(j=0;j<dsteps;j++) 
				{
					PORTA=0X20;  /* assuming that left motor is connected to port A and right motor to port B
									and c/w rotation of left and ac/w rotation of right motor ensures forward 
									movement*/
					PORTB=0X04;
					
					delay();

					PORTA=0X08;

					PORTB=0X10;

					delay();

					PORTA=0X10;

					PORTB=0X08;

					delay();

					PORTA=0X04;

					PORTB=0X20;

					delay();   // confirm the use of this last delay call ????
				}	

}
void orient_cw()
{

int j;
				for(j=0;j<asteps;j++) 
				{
					PORTA=0X20;
					PORTB=0X20;

					delay();

					PORTA=0X08;
					PORTB=0X08;

					delay();

					PORTA=0X10;
					PORTB=0X10;
 
					delay();

					PORTA=0X04;
					PORTB=0X04;

					delay();
				}	

}
void orient_acw()
{
	
		int j=0;
			for(j=0;j<asteps;j++)
			{
					PORTA=0X04;  
					PORTB=0X04;

					delay();

					PORTA=0X10;  
					PORTB=0X10;

					delay();

					PORTA=0X08;
					PORTB=0X08;

					delay();

					PORTA=0X20;
					PORTB=0X20;

					delay();
			
			}
		
}
void delay()
{
	int p,q;
	for(p=0;p<2500;p++)
	for(q=0;q<1000;q++);
}
void embed_path()
{
 /* the code from here on is developed automatically by the Matlab program attached along with this file*/