#include <avr/io.h>

#define gr 200
#define led PD4

int R_s1_adc = 0;
int R_s2_adc = 0;
int R_s3_adc = 0;
int R_s4_adc = 0;
int L_s5_adc = 0;
int L_s6_adc = 0;
int L_s7_adc = 0;
int L_s8_adc = 0;

int main(void) {
	DDRD |= (1 << led);
	DDRC = 0b00000000;  //cały port to wejście

	ADMUX |= (1 << REFS0); //tryb
	ADCSRA |= (1 << ADPS1) | (1 << ADPS0); //prescaler 128
	ADCSRA |= (1 << ADEN); //ENABLE

	ADCSRA |= 1 << ADSC; //single conversion

	while (1)
	{
		wykrywanie(68);
		if (R_s1_adc > gr) {
			PORTD |= (1 << led);
		}
		else {
			PORTD |= (0 << led);
		}
	}
}

int wykrywanie(int8_t x)
{
	uint8_t theLow = ADCL;
	uint16_t wynik = ADCH << 8 | theLow;

	switch (x)
	{
	case 0b01000000:
		L_s8_adc = wynik;
		ADMUX = 0b01000001;
		break;
	case 0b01000001:
		L_s7_adc = wynik;
		ADMUX = 0b01000010;
		break;
	case 0b01000010:
		R_s4_adc = wynik;
		ADMUX = 0b01000011;
		break;
	case 0b01000011:
		R_s3_adc = wynik;
		ADMUX = 0b01000100;
		break;
	case 0b01000100:
		ADCSRA |= (1 << ADSC);
		while (ADCSRA & (1 << ADSC));
		R_s1_adc = ADCW;
		break;
	case 0b01000101:
		R_s2_adc = wynik;
		ADMUX = 0b01000110;
		break;
	case 0b01000110:
		L_s5_adc = wynik;
		ADMUX = 0x0b01000111;
		break;
	case 0b01000111:
		L_s6_adc = wynik;
		ADMUX = 0b01000000;
		break;
	default:
		//Default code
		break;
	}

}