우선 적외선센서, 초음파센서, 모터드라이버, 서보모터 2개사용합니다 
TRUE 값과 FALSE 값에서 문제가 있는거같은데 자꾸 lvalue required as left operand of assignment 오류가 뜹니다.
그리고 전체적으로 코드 잘못된부분을 한번 봐주셨으면합니다!
 
#include <avr/io.h>
#include <avr/interrupt.h>
#define  F_CPU 16000000UL
#include <util/delay.h>
#define  CDS_VALUE 800
#define  MAX 200
#define  MID 210
#define  MIN 220
#define  STOP 255
#define  FALSE 0
#define  TRUE 1
#define  STRAIGHT 2
#define  LEFTTURN 3
#define  RIGHTTURN 4
unsigned int Timer_Cnt, TravelTime, Timer_Cnt2;
unsigned int Distance = 0;
unsigned char digit[] = {0x3f, 0x06, 0x5b, 0x4f, 0x66, 0x6d, 0x7d, 0x07, 0x7f, 0x6f};
unsigned char fnd_sel[] = {0x01, 0x02, 0x04, 0x08};
 
void EINT_init()
{
	ADMUX = 0x00;
	ADCSRA = 0x87;
	DDRE &= 0b11001111;
	EICRB = 0b00001010;
	EIMSK = 0b00110000;
}	
void Timer0_init()
{
	TCNT0 = 0;
	TCCR0 = 0b00000111;
	TCNT1 = 0;
	TCCR1A = 0xF1;
	TCCR1B = 0x0C;
	OCR1A = 255;
	OCR1B = 255;
	TCNT2 = 0;
	TCCR2 = 0x06;
	TIMSK = 0x41;
}
void PORT_init()
{
	DDRA = 0xff;
	DDRB = 0x00;
	PORTB = 0x00;
	TCCR2 = 0x7B;
	TCCR1A = 0x7B;
	DDRF = 0b01110000;
	DDRE = 0b11001111;
	DDRC = 0xff;
	DDRG = 0xff;
}
unsigned char Measure_IR_Sensors()
{
	return (PINF >> 1) & 0x07; //0b00001110
}
void IR_Sensor_Flag()
{
	unsigned char IRvalue;
	DDRA = 0xff;
	DDRF = 0x00;
	
	IRvalue = (PINF >> 1) &0x07;
	if(IRvalue = 0b00000101)
	STRAIGHT;
	else if (IRvalue == 0b00000110)
	LEFTTURN;
	else if (IRvalue == 0b000000011)
	RIGHTTURN;
	Timer_Cnt2 ++;
}
void Distance_Measure_Flag()
{
	if ( (PINF & 0x10) == 0x00)
	{
		PORTF = 0x40;
		_delay_us(11);
		PORTF = 0x00;
		while ( (PINF & 0x80) == 0x00);
		TCNT0 = 0;
		while ( (PINF & 0x80) == 0x80);
		TravelTime = TCNT0;
	}
}
unsigned char Measure_Distance()
{
	return ((PINF & 0b11000000) == 0b11000000); //0b11000000
}
void display_fnd(unsigned int count)
{
 
	int i, fnd[4];
	fnd[3] = (count/1000)%10;
	fnd[2] = (count/100)%10;
	fnd[1] = (count/10)%10;
	fnd[0] = count%10;
	for (i=0; i<4; i++)
	{
		PORTC = digit[fnd[i]];
		PORTG = fnd_sel[i];
		_delay_ms(2);
	}
}
void Left_Motor(unsigned char speed)
{
	OCR1A = speed;
	TCNT1 = 0;
}
void Right_Motor(unsigned char speed)
{
	OCR1B = speed;
	TCNT1 = 0;
}
void Move (unsigned char direction, unsigned char speed)
{
	switch (direction)
	{
		case STRAIGHT:
		Left_Motor(speed);
		Right_Motor(speed);
		break;
		case LEFTTURN:
		Left_Motor(STOP);
		Right_Motor(speed);
		break;
		case RIGHTTURN:
		Left_Motor(speed);
		Right_Motor(STOP);
		break;
		case STOP:
		Left_Motor(STOP);
		Right_Motor(STOP);
		default:
		Left_Motor(STOP);
		Right_Motor(STOP);
		break;
	}
}
void Control_Motors(unsigned int object_dist, unsigned char IR_value)
{ unsigned char speed;
	if (object_dist < 10)
	speed = STOP;
	else if (object_dist < 20)
	speed = STOP-10;
	else
	speed = MID;
	switch (IR_value)
	{
		case 0b00000101:
		Move(STRAIGHT, speed);
		break;
		case 0b00000111:
		Move(STRAIGHT, STOP);
		break;
		case 0b00000110:
		Move(RIGHTTURN, speed);
		break;
		case 0b00000100:
		Move(RIGHTTURN, speed);
		break;
		case 0b00000011:
		Move(LEFTTURN, speed);
		case 0b00000001:
		Move(LEFTTURN, speed);
		break;
		default:
		Move(STOP, STOP);
	}
}
ISR(TIMER0_OVF_vect)
{
	cli();
	TCNT0 = 0x00;
	Timer_Cnt ++;
	sei();
}
ISR(TIMER2_OVF_vect)
{
	cli();
	TCNT2 = 100;
	IR_Sensor_Flag = TRUE;
	if(Timer_Cnt2 == 20)
	{
		Timer_Cnt2 = 0;
	Distance_Measure_Flag = TRUE;
	}
	else
	Timer_Cnt2++;
	sei();
}
int main()
{ 
	unsigned int Distance = 0;
	unsigned char IR_Sensor_Value = 0x07;
	PORT_init() ;
	Timer0_init();
	EINT_init();
	sei();
	while (1)
	{
		if ( Distance_Measure_Flag == TRUE) {
			Measure_Distance();
			Distance_Measure_Flag = FALSE;
		}
		if (IR_Sensor_Flag == TRUE)
		{
			IR_Sensor_Value = Measure_IR_Sensors();
			PORTA = (PORTA & 0xF8) | IR_Sensor_Value;
			IR_Sensor_Flag = FALSE;
		}
		Control_Motors(Distance, IR_Sensor_Value);
		display_fnd(Distance);
	}
}