CodeRobot

#include <avr/io.h>
#include <util/delay.h>

const int trigPin = 13;
const int echoPin = 12;

int main (void){
    delay  (5000);
    DDRD = B00111100;
    DDRD = DDRD |B00111100;
    unsigned char sensor_pino_6;
    unsigned char sensor_pino_7;
    unsigned long duracao = 0;
    float distancia;
    DDRB = B11101111;
    Serial.begin(9600);

    while (1) {
        sensor_pino_6 = (PIND & 64)>> 6;
        sensor_pino_7 = (PIND & 128)>> 7;
        PORTB = 0B00000000;
        delayMicroseconds(2);
        PORTB = 0B00100000;
        delayMicroseconds(10);
        PORTB = 0B00000000;
        duracao = 0;
        while (!(PINB & 16)>> 4);
        while ((PINB & 16)>> 4)   {
             duracao++;
        }

        if (duracao > 0){
            distancia= duracao * 0.00945;
        }

        if (sensor_pino_6 == 0 && sensor_pino_7 == 0 && distancia < 45){
            PORTD = B00100100;
        }

        else if (sensor_pino_6 == 1 ) {
            if (distancia < 45) {
                PORTD = B00000000;
            }
            else {
                PORTD = B00100100;
            }
            else if (sensor_pino_7) {
                if (distancia < 45) {
                    PORTD = B00100100;
                }
                else {
                    PORTD = B00011000;
                }
            }
            else {
                analogWrite (9, 80);
                analogWrite(10, 80);
                PORTD = B00101000;
            }
        }
    }
}