AVR Freaks

Thanks Jim, So im pretty new to this. How is using the hardware different from using the timer the way I have set up?

Got it!

#define F_CPU 16000000UL
#include <avr/io.h>
#include <util/delay.h>
#include <avr/pgmspace.h>
#include <inttypes.h>
#include <string.h>
#include "uart.h"
#include "lcd_lib.h"
#include <asf.h>
#include <avr/interrupt.h>
#include <ctype.h>
#include <stdio.h>
#include <time.h>
#include <stdio.h>
#include <avr/sleep.h>
#include <inttypes.h>
#include <math.h>
#include <avr/wdt.h>
#include <avr/eeprom.h>

volatile uint16_t dutyCycleA;
volatile uint16_t dutyCycleB;
volatile uint16_t freqCycle;

// ADC variables
volatile unsigned int Ain;
volatile int AinLow;
volatile int voltageLeft;
volatile int voltageCenter;
volatile int voltageRight;
volatile float Voltage;
char VoltageBuffer[10];
uint8_t data;

volatile int sensorL = 0;
volatile int sensorC = 0;
volatile int sensorR = 0;

volatile int lapCounter = 0;

#define ON 1
#define OFF 0

char lcdBuffer[17]; // LCD display buffer

// File stream for UART. Used for Transmission to demonstrate the fprintf function.
FILE uart_str = FDEV_SETUP_STREAM(uart_putchar, uart_getchar, _FDEV_SETUP_RW);

void convertADC()
{
	// Convert A to D
	ADCSRA |= (1<<ADSC);
	// Wait until this conversion is completed
	while((ADCSRA & (1<<ADSC)));
}

void readSensors()
{
	ADMUX = 0b10000010;
	convertADC();
	Ain = (1<<ADCL); // First read lower byte
	Ain |= (ADCH<<8); // Then read upper byte
	voltageLeft = Ain;
	if (voltageLeft >= 769) sensorL = ON;
	if (voltageLeft < 769) sensorL = OFF;
	
	ADMUX = 0b10000011;
	convertADC();
	Ain = (1<<ADCL); // First read lower byte
	Ain |= (ADCH<<8); // Then read upper byte
	voltageCenter = Ain;
	if (voltageCenter >= 769) sensorC = ON;
	if (voltageCenter < 769) sensorC = OFF;
	
	ADMUX = 0b10000110;
	convertADC();
	Ain = (1<<ADCL); // First read lower byte
	Ain |= (ADCH<<8); // Then read upper byte
	voltageRight = Ain;
	if (voltageRight >= 769) sensorR = ON;
	if (voltageRight < 769) sensorR = OFF;
	 
}
void printSensorValues()
{
	dtostrf(voltageLeft, 3, 0, lcdBuffer);
	printf(lcdBuffer);
	printf(" \n");

	dtostrf(voltageCenter, 3, 0, lcdBuffer);
	printf(lcdBuffer);
	printf(" \n");
	
	dtostrf(voltageRight, 3, 0, lcdBuffer);
	printf(lcdBuffer);
	printf(" \n");
	
		dtostrf(sensorL, 1, 0, lcdBuffer);
		printf(lcdBuffer);
		dtostrf(sensorC, 1, 0, lcdBuffer);
		printf(lcdBuffer);
		dtostrf(sensorR, 1, 0, lcdBuffer);
		printf(lcdBuffer);
	printf(" \n");
	dtostrf(TCNT0, 3, 0, lcdBuffer);
	printf(lcdBuffer);
	printf(" \n");	
}

ISR(TIMER0_COMPA_vect)
{
	PORTD ^= (1<<PIND5);
}

ISR(TIMER0_COMPB_vect)
{
	PORTD ^= (1<<PIND6);
}

// All initializations
void initialize_all()
{
	sei();
	// Initialize UART
	uart_init();                         // Initialize UART
	stdout = stdin = stderr = &uart_str; // Set File outputs to point to UART stream
	//printf("Hello! \n");

	DDRD = 0b11110100; //set the output pins to control the motors
	DDRB = 0b00100001; //more motor control
	PORTB = !(1<<PINB5); //onboard led off
	PORTD |= (1<<PIND2); // SPIN FORWARD
	PORTB |= (1<<PINB0); //SPIN FORWARD
			
	// ADC Setup
	ADCSRA |= (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0); // Set ADC prescaler to 128
	ADCSRA |= (1<<ADEN); // Enable ADC circuit
	
	PORTD |=(1<<DDD5) |(1<<DDD6);
	TCCR0A =  (1 << COM0A1) | (1<<COM0B1)|(1 << WGM00);
	TCCR0B = (1 << WGM01)  | (1<<CS01);
	TCNT0 = 0;
	OCR0A = 128;
	OCR0B = 128;
	TIMSK0 |= (1<<OCIE0A);
	TIMSK0 |= (1<<OCIE0B);
	//TIFR0 |= (1<<OCF0B) | (1<<OCF0A);
	
}

int main(void)
{	
	initialize_all(); //initialize all
	while(1)
	{
		readSensors();
		//printSensorValues();
		//_delay_ms(1000);
		
		if (sensorL == 0 && sensorC == 1 && sensorR == 0)
		{
			OCR0A = 100;
			OCR0B = 100;
		}
		if (sensorL == 0 && sensorC == 1 && sensorR == 1)
		{
			OCR0A = 50;
			OCR0B = 100;
		}
		if (sensorL == 0 && sensorC == 0 && sensorR == 1)
		{
			OCR0A = 20;
			OCR0B = 100;

		}
		if (sensorL == 1 && sensorC == 1 && sensorR == 0)
		{
			OCR0A = 100;
			OCR0B = 50;
		}
		if (sensorL == 1 && sensorC == 0 && sensorR == 0)
		{
			OCR0A = 100;
			OCR0B = 1;
		}
		if (sensorL == 1 && sensorC == 1 && sensorR == 1)
		{
			PORTB &= ~(1<<PINB5);
		}
	}
}