مشکل این برنامه ربات مسیر یاب 6 سنسوره که با c نوشته شده است چیه؟

[md3848]

پایه D خروجی و پایه B ورودی میباشد.


#include <mega16.h>
#include <delay.h>

void forward(void){ PORTD==0b00000101; OCR1A=900; OCR1B=900; }
void left(void){ PORTD==0b00001001; OCR1A=200; OCR1B=800; delay_ms(500); }
void right(void){ PORTD==0b00000110; OCR1A=800; OCR1B=200; delay_ms(500); }

void main(void)
{
PORTB=0x00;
DDRB=0x00;

PORTD=0x00;
DDRD=0xFF;


TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;
MCUCR=0x00;
MCUCSR=0x00;
TIMSK=0x00;
ACSR=0x80;
SFIOR=0x00;


while (1)
{
if(PINB==0b00000011 || PINB==0b00000010 || PINB==0b00001111 || PINB==0b00110011 || PINB==0b00001011 || PINB==0b00101011 || PINB==0b00000011 || PINB==0b00000111 || PINB==0b00010011 || PINB==0b00111111)
{
forward();
};

if(PINB==0b00000110 || PINB==0b00010010)
{
left();
};

if(PINB==0b00001010 || PINB==0b00100010)
{
right();
};
};
}