help its urgent

[subhechha]

can anyone please help me out from how to initiate(mostly upon writing part) a line follower program....though i got several codes on line follower yet unable to start up in avr studio4....in short i request someone to mail me a full compiled code so that it can be made as reference to set up myself a newly develope program....i have atmega 16...using 5 pair IR led-ldr sensors...two 12v 175 rpm dc motor.....plz plz i need help at most by this week.....

[billhowl]

We need to know more details on how your IRs are connected? and your motors? to which Pins? best you can show us your schematic diagram of your line follower.
Here is the sample source code from this site
http://circuitdiagram.net/atmega16-line-follower-robot.html

Code: [Select]

/*****************************************************
Project : Line Follower
Version :
Date : 2/19/2006
Author : Priyank
Company : Home
Comments:
Chip type : ATmega16
Program type : Application
Clock frequency : 7.372800 MHz
Memory model : Small
External SRAM size : 0
Data Stack size : 256
*****************************************************/
//#define debug 1
#include <mega16.h>
#include <delay.h>
#ifdef debug
#include <stdio.h>
#endif
#define FWD 0xAA
#define REV 0x55
#define R 0x22
#define L 0x88
#define CW 0x99
#define CCW 0x66
#define STOP 0x00
#define B 0xFF
#define RSPEED OCR1AL
#define LSPEED OCR1BL
#define SPEED0 255
#define SPEED1 0
#define SPEED2 0
#define SPEED3 0
#define MAX 3
#define HMAX 1
void move (unsigned char dir,unsigned char delay,unsigned char power);
unsigned char i,rdev,ldev,ip,delay,dir,power,dirl,history[MAX],hcount=0,rotpow;
#ifdef debug
unsigned char rep=0,prev=0;
#endif
void main(void)
{
// Input/Output Ports initialization
// Port A 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
PORTA=0x00;
DDRA=0x00;
// 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
// 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
PORTC=0x00;
DDRC=0xFF;
// Port D initialization
// Func7=In Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=0 State4=0 State3=T State2=T State1=T State0=T
PORTD=0x00;
DDRD=0x30;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 921.600 kHz
// Mode: Fast PWM top=00FFh
// OC1A output: Non-Inv.
// OC1B output: Non-Inv.
// Noise Canceler: Off
// Input Capture on Falling Edge
TCCR1A=0xA1;
TCCR1B=0x0A;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0xFF;
OCR1BH=0x00;
OCR1BL=0xFF;
// 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
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;
#ifdef debug
// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART Mode: Asynchronous
// USART Baud rate: 57600
UCSRA=0x00;
UCSRB=0x18;
UCSRC=0x86;
UBRRH=0x00;
UBRRL=0x07;
#endif
// 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;
while (1){
#ifdef debug
if(rep<255)
rep++;
if(prev!=PINA) {
prev=PINA;
printf("%u\r",rep);
for(i=0;i<8;i++)
printf("%u\t",(prev>>i)&0x01);
rep=0;
}
#endif
if(PINA!=255){
rotpow=255;
ldev=rdev=0;
if(PINA.3==0)
rdev=1;
if(PINA.2==0)
rdev=2;
if(PINA.1==0)
rdev=3;
Line Follower
Page 14 of 17
if(PINA.0==0)
rdev=4;
if(PINA.4==0)
ldev=1;
if(PINA.5==0)
ldev=2;
if(PINA.6==0)
ldev=3;
if(PINA.7==0)
ldev=4;
if(rdev>ldev)
move(R,0,195+12*rdev);
if(rdev<ldev)
move(L,0,195+12*ldev);
if(rdev==ldev)
move(FWD,0,200);
}
else {
for(i=0,dirl=0;i<MAX;i++) {
if(history[i]==L)
{dirl++;}
}
if(rotpow<160) {rotpow=160;}
if(rotpow<255) {rotpow++;}
if(dirl>HMAX)
{move(CW,0,rotpow);}
else
{move(CCW,0,rotpow);}
}
};
}
void move (unsigned char dir,unsigned char delay,unsigned char power)
{
PORTC=dir;
if(dir==L || dir==R) {
hcount=(hcount+1)%MAX;
history[hcount]=dir;
}
LSPEED=RSPEED=255;//power;
//delay_ms(delay);
}


[subhechha]

thank u very much for considering my problem..however there is declaration of USART..what is the exact use of it.. can the same USART b made into use for wireless transmission and reception of data through rf module from one bot to another during the time of execution of both the bot.