Sensors Board C Code

Explanation

This code uses the O.A.R. Sensor Board. When the sensor detects a black line the processor sets the output port (PORTD) high. When the sensor detects black PORTD it asserted low.

#include <inttypes.h> 
#include <avr/pgmspace.h> 
 
int main(void){ 
 
        DDRD = 0xf0;                        // Configuration of port D
                                                        // f = output, 0 = input 
 
        PORTD |= (1<<0);                 // Set pull-up resistor
 
        while (1){         
                                                    // Read PORTD pin 0
                if( !(PIND & 0x01) | 0x00 ){ 
                                                            // If sensor sees black 
                        PORTD = 0xF0;          //Set high nibble of PORTD high
                } 
                else{                                 // If sensor sees white
                        PORTD = 0x00;          //Set low nibble of PORTD low
                } 
        } 
}                                                          // END main