코드비전을 사용해서 라인트레이서 제작중입니다.
 
모터가 돌아가지 않고 적외선센서3개 달건데 소스좀봐주세요..
 
 
 
#include <mega128.h>
#include <delay.h>
 
 
#define Trigger_ON PORTA|=1        //초음파 트리거 PAO output Trigge>
#define Trigger_OFF PORTA&=1
#define Echo1 (PINA&0x02)        //초음파 에코 PA1 input Echo
#define Echo2 (PINA&0x04)        //초음파 에코 PA2 input Echo
#define Echo3 (PINA&0x08)        //초음파 에코 PA3 input Echo
 
int cho1;
int cho2;
int cho3;                //A0 트리거 , 초음파1 오른쪽, 초음파2 정면 초음파 3번이 왼쪽
unsigned int count;
 
unsigned char right = 0;
unsigned char forward = 0;
unsigned char left = 0;
 
unsigned int getEcho1(void)
{
unsigned int range1;
 
Trigger_ON; delay_us(10); Trigger_OFF; //10us
TCNT1=0x00;count=0;
while(Echo1==0x00);
TCNT1=0x00;
TCCR1B=0x03;
while(Echo1)
    range1=TCNT1*8/116;        //the range in ON
    if(range1<20)
    {right=1;}
    if(range1>20)
    {right=0;}
    delay_ms(50);
 
    return range1;
}
 
unsigned int getEcho2(void)        //에코는 나오는 신호
{
unsigned int range2;
Trigger_ON; delay_us(10); Trigger_OFF;   
TCCR1B=0x00;
//TCCR1B=0x02;
while(Echo2)
 
range2=TCNT1*8/116;   
if(range2<15)
{forward=1;}
if(range2>=15)
{forward=0;}
delay_ms(50);
return range2;
}
 
unsigned int getEcho3(void)
{
unsigned int range3;
Trigger_ON; delay_us(10); Trigger_OFF;    
TCCR1B=0x00;
//TCCR1B=0x02;
while(Echo3)
 
range3=TCNT1*8/116;        //this range in CM
if(range3<20)
{left=1;}
if(range3>=20)
{left=0;}
delay_ms(50);
return range3;
}
 
//========================================================================================//
//PORTB는 모터
void DC_MotorRifht(){
DDRB=0xff;
PORTB=(1<<PORTB0)|(0<<PORTB1)|(0<<PORTB2)|(1<<PORTB3);
}
 
void DC_Motorleft(){
DDRB=0xff;
PORTB=(0<<PORTB0)|(1<<PORTB1)|(1<<PORTB2)|(0<<PORTB3);
}
 
void DC_MotorGo(){
DDRB=0xff;
PORTB=(1<<PORTB0)|(0<<PORTB1)|(1<<PORTB2)|(0<<PORTB3);
}
 
void DC_MotorStop(){
DDRB=0xff;
PORTB=(0<<PORTB0)|(0<<PORTB1)|(0<<PORTB2)|(0<<PORTB3);
}
 
void DC_MotorBack(){
DDRB=0xff;
PORTB=(0<<PORTB0)|(1<<PORTB1)|(0<<PORTB2)|(1<<PORTB3);
}
 
//=====================================================================================//
 
void main(void)
{
DDRA=0x01;
 
PORTA=0x00;
delay_ms(100);
//ICR3=100;
 
while(1)
{
/*
DC_MotorGO();
DC_MotorLeft();
DC
 
*/
 
if(right==1 && forward==1 && left ==1){}
if(right==1 && forward==1 && left ==0){}
if(right==1 && forward==0 && left ==1){}
if(right==1 && forward==0 && left ==0){} 
if(right==0 && forward==1 && left ==1){}
if(right==0 && forward==1 && left ==0){}
if(right==0 && forward==0 && left ==1){}
if(right==0 && forward==0 && left ==0){}  
}}