while(1)   
{     
        
       
       
     if (PINA.0==0)                
        {
            
          if (PINA.1==1)
              {
                   servo1_position(1800);   
                   servo2_position(1200);     
                     
                  // servo1_position(1200);   
                  // servo2_position(1800);     
            
              }
        }   
          
     if (PINA.0==1)                  
        {
           
          if (PINA.1==1)
             {
                   servo1_position(1800);   
                   servo2_position(1200);    
             }
        }   
          
     else
     {     
     if (PINA.0==1)                   
        {
           
          if (PINA.1==0)
             {
                     
                   servo1_position(1200);   
                   servo2_position(1800);     
                     
                   delay_ms(500);
         
         
                   servo1_position(2000);   
                   servo2_position(1500);
                     
                   delay_ms(20);   
             }
        }     
          
       }   
      }    
        
   }

while(1){
servo1_position(800);
servo2_position(2000);
while(!DALNOMER);
servo1_position(2000);
servo2_position(2000);
while(!LINE_SENSOR);
servo1_position(800);
servo2_position(800);
delay_ms(2000);
}

while(1)  
{    
    if(PINA.1)   //íåò ëèíèè
    {
         if(PINA.0)  //åñòü ïðåïÿäñòâèå
         {
                 // âïåðåä
         }
         else        //íåò ïðåïÿäñòâèÿ
         {        
                 // âðàùàòüñÿ
         }
    }
    else         // åñòü ëèíèÿ
    {
         //íàçàä
    }
//}