#include <pic.h>
#include "my include.h"
#include "MyADC.h"
#include "delay.h"
#include "motor_control.h"
//#define _XTAL_FREQ 4000000
__CONFIG( XT & WDTDIS & PWRTDIS & BORDIS & UNPROTECT );
void main(void){
unsigned long left_ldr_val, right_ldr_val, i;
TRISA|=0x0f;
ANSEL0=0x3;
ANSEL1=0;
// ADCON0=0;
CM2CON0=0;
OPA1CON=0;
INIT_MOTO();
MOTO_PWM();
ADC_INIT();
while(TRUE){
left_ldr_val= READ_ADC(0)&0x03FF;
//DelayUs(10);
left_ldr_val=1024-left_ldr_val;
DelayUs(10);
right_ldr_val= READ_ADC(1)&0x03FF;
//DelayUs(10);
right_ldr_val=1024-right_ldr_val;
DelayUs(10);
//for(i=0; i<0x0200; i++)
while(left_ldr_val>right_ldr_val){
GO_LEFT();
}
while(left_ldr_val<right_ldr_val){
GO_RIGHT();
}
DelayUs(10);
}
}