meri i vurti

#define F_CPU 1000000UL
#include <avr/io.h>
#include <avr/interrupt.h>
#include "LCD4b.h"
#include <unit/delay.h>
#include <math.h>

int distance;
int count;
int count1;
int measure[2];
void Measure();

    int main(void)
    {


    TCCR1A |= 1<<WGM11 | 1<<COM1A1 ;
    TCCR1B |= 1<<WGM13 | 1<<WGM12 | 1<<CS10;
    ICR1 = 19999;

    DDRB = 0xff;
    PORTB= 0x00;



        while (1)
        {

        Measure();

        if(count == 1)
            {
            count1=1;
            OCR1A =900;
            _delay_ms(500);
            Measure();
            _delay_ms(500);



            count1=2;
            OCR1A =1900;
            _delay_ms(500);
            Measure();
            _delay_ms(500);

            OCR1A =1400;
            _delay_ms(500);


            count ++;

                if(measure[0] > measure[1])
                    {
                    PORTB=1 <<PB6;
                    _delay_ms(1000);
                    }
                else
                    {
                    PORTB=1 <<PB7;
                    _delay_ms(1000);
                    }
            count1=0;
            }



        }
    }






ISR(ADC_vect)
{
int  theLowADC = ADCL;
int  theTenBitResults = ADCH<<8 | theLowADC;

float volts = ((theTenBitResults)*0.0048828125) ;
int distance = (volts*2.54/0.0098);

if(distance <20)
{
count=1;
}

    switch(count1)
        {
            case 1:
            measure[0]=distance;
                break;
            case 2 :
            measure[1]=distance;
                break;

        }

}



void Measure()

        {



            ADCSRA |= 1<<ADPS2;
            ADMUX |= 0b00000101;
            ADCSRA |= 1<<ADIE;
            ADCSRA |= 1<<ADEN;
            sei();
            ADCSRA |= 1<<ADSC;


        }