Problems with coding autonomous mobile robot

[robot032]

Autonomous Mobile Robot

hi, i want to make autonomous mobile robot will send signal from atmega16 uc to servo motor according to signal coming from infrared sensor, if sensor detect obstacle the Robot will send signal to servo motors to avoid obstacle ,Robot in same time will send signal to computer via RF module to drawing path

while (1)
      {
      // Place your code here
      int forward=0x00;
      int left_P=0x01;
      int left=0x02;
      int Right=0x03; 
      int back=0x04;
      bit x;
      unsigned int counter;
      if (TIFR==0x01)
          counter++;

      while(read_adc(0x00) < 127)     //if the sensor not detect object-----------------------------
         {
         //printf("Forward");
         PORTC=0x05;                  //go forward
         }
         x=0;
      while(read_adc(0x00) >= 127)    //if the sensor detect object---------------------------------
         { 
         /*if  the main sensor read object .so, go to two Edge Sensor 
              -----------------------------------------------------
              left sensor  |   Right sensor  |  state
              -----------------------------------------------------
                  0        |         0       |  go left(priroty)
                  0        |         1       |  go left 90 degree 
                  1        |         0       |  go Right 90 degree
                  1        |         1       |  go left 180 degree  
                  
                  in all previous cases the main sensor value is 1 .
                  */
                  
         //----------------------------------------------------------
         if (PINB==0x00)               //if both edge sensor not
         {
         
         if(x==0)
         {
         TCCR0=0x03;                  //start timer
         PORTC=0x09;                  //go to left
         }                 
         delay_ms(1);
         counter++;                   //if the over flow occur the 'countr' variable increase by 1
         x=1;
         //printf("%x",left_P);
         if (counter>5000)            //if access to 5000 overflow means the robot rotate to left
         {
         PORTC=0x00;                  //stop
         TCCR0=0x00;                  //then stop timer
         counter=0;                   //zeros the variable counter
         }
         }
         
        //------------------------------------------------------------- 
        if (PINB==0x01)
         {
         
         if(x==0)
         {
         TCCR0=0x03;                  //start timer
         PORTC=0x09;                  //go to left
         }                 

         delay_ms(1);
         counter++;                   //if the over flow occur the 'countr' variable increase by 1
         x=1;
         //printf("%x",left);
         if (counter>5000)            //if access to 5000 overflow means the robot rotate to left
         {
         PORTC=0x00;                  //stop
         TCCR0=0x00;                  //then stop timer
         counter=0;                   //zeros the variable counter
         }

         }  
         
         //-------------------------------------------------------------
          if (PINB==0x02)
         {
         
         if(x==0)
         {
         TCCR0=0x03;                  //start timer
         PORTC=0x06;                  //go to Right
         }                 

         delay_ms(1);
         counter++;                   //if the over flow occur the 'countr' variable increase by 1
         x=1;
         //printf("%x",Right);
         if (counter>5000)            //if access to 5000 overflow means the robot rotate to left
         {
         PORTC=0x00;                  //stop
         TCCR0=0x00;                  //then stop timer
         counter=0;                   //zeros the variable counter
         }

         }
          
         //-------------------------------------------------------------
         if (PINB==0x03)              //if the two Edge  sensor detect
         {
         
         if(x==0)
         {
         TCCR0=0x03;                  //start timer
         PORTC=0x09;                  //go to left 180 degree
         }                 

         delay_ms(1);
         counter++;                   //if the over flow occur the 'countr' variable increase by 1
         x=1;
         //printf("%x",back);
         if (counter>10000)            //if access to 5000 overflow means the robot rotate to left
         {
         PORTC=0x00;                  //stop
         TCCR0=0x00;                  //then stop timer
         counter=0;                   //zeros the variable counter
         }

         }
         
         
         }
};

but i have problem simulation is work very will, but in practical the Robot does not work as I want..
Note:
am use code vision AVR
and protus7
i am sorry for bad language.

happy new year
sami