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

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();

            };

      };

}