'Define what microcontroller we are using #chip mega328p,16 'Define connected pins #DEFINE sensor1 PORTC.0 'Arduino analog pin 0 #DEFINE sensor2 PORTC.2 'Arduino analog pin 2 #DEFINE sensor3 PORTC.1 'Arduino analog pin 1 #DEFINE lmotor PORTB.2 'Arduino digital pin 10 #DEFINE rmotor PORTB.3 'Arduino digital pin 11 'dir - sets pin direction - input/output dir sensor1 in 'Set Arduino analog pin 0 as input dir sensor2 in dir sensor3 in dir lmotor out 'Set Arduino digital pin 10 as output dir rmotor out 'Open main loop start: 'Add variables state1 = 0 state2 = 0 state3 = 0 'Read sensor states If sensor1 = 1 Then state1 = 1 If sensor2 = 1 Then state2 = 1 If sensor3 = 1 Then state3 = 1 'Decide where to go If state1 = 1 & state2 = 1 & state3 = 1 Then DriveForward If state1 = 1 & state2 = 1 & state3 = 0 Then DriveLeft If state2 = 1 & state3 = 1 & state1 = 0 Then DriveRight If state1 = 1 & state2 = 0 & state3 = 0 Then DriveLeft If state3 = 1 & state2 = 0 & state1 = 0 Then DriveRight If state2 = 1 & state1 = 0 & state3 = 0 Then DriveForward If state1 = 0 & state2 = 0 & state3 = 0 Then If last = 0 Then DriveLeft If last = 1 Then DriveRight End If 'Go to the beginning of loop GoTo start 'Define moves Sub DriveForward lmotor = 1 rmotor = 1 End Sub Sub DriveLeft rmotor = 1 lmotor = 0 last = 0 End Sub Sub DriveRight lmotor = 1 rmotor = 0 last = 1 End Sub