#include <avr/io.h>
#include <avr/delay.h>

int main(void)  
{  
    DDRB = 0xFF;
    PORTB = 0xFF;
    DDRC = 0xff;
    DDRD=0x00;
    PORTD=0xFF;
    TCCR1B=0x01;  
    TCNT1=0x00;
    ICR1=0x10;
    TCCR1A=0x10;
         _delay_ms(2000);
        while(1)
     {  
                    
                   
                   PORTC |= _BV(PC1);   //edem vpered  
                         PORTC &= ~_BV(PC2);  // edem vpered
                         PORTC |= _BV(PC3);   //edem vpered
                         PORTC &= ~_BV(PC4); //EDEM VPERD

                          
              
   if (!(PIND & (1<<PIND1))) // proveriaem signal s ik
   {
                
                         PORTC &= ~_BV(PC1);  // ostanavlivaem dvijenie  
                         PORTC &= ~_BV(PC2);  // ostonavlivaem dvijenie
                   PORTC &= ~_BV(PC3);  // ostanavlivaem dvijenie  
                   PORTC &= ~_BV(PC4);  // ostanavlivaem dvijenie   
    
                         _delay_ms(2000);      // jdem 2 sekundi
        
                      PORTC &= ~_BV(PC1);   //otezjaem nazad  
                         PORTC |= _BV(PC2);    //otezjaem nazad
                PORTC &= ~_BV(PC3);  //otezjaem nazad
                PORTC |= _BV(PC4);   //otezjaesm nazad
        
                         _delay_ms(3000);     //jdem 1 sekundu  
        
                PORTC &= ~_BV(PC1); //POVOROT    
                         PORTC |= _BV(PC2);  //POVOROT
                         PORTC |= _BV(PC3);  //POVOROT
                PORTC &= ~_BV(PC4); //POVOROT
                         _delay_ms(2000);
        
        
   }                 
    
   }
}