/* 
 * File:   ubirs_main.c
 * Author: Denns
 *
 * Created on December 23, 2018, 3:42 PM
 */

#include <stdio.h>
#include <stdlib.h>
#include <pic16F873A.h>
#include <xc.h>
 #define _XTAL_FREQ 20000000
 // Setup the PIC  
  #pragma config WDTE = OFF, PWRTE = ON, CP = OFF, BOREN = ON, 
  #pragma DEBUG = OFF, LVP = OFF, CPD = OFF, WRT = HALF, FOSC = HS
//functions
unsigned int ADC_Read(unsigned char );
void LIGHTS1(void);
void LIGHTS2(void);

  //definitions
 unsigned int ad_result0;
 unsigned int ad_result1;
 unsigned int x;
 /*
 * 
 */
void main() {
    TRISB = 0xFF;
    TRISA = 0xFF;
    TRISC = 0x00;
    nRBPU = 0;      //enable pull up resistors on portb
    ADCON0 = 0x81;
    ADCON1 = 0x80; //Configure porta  all other pins as analog in.
     while(1)
    {
            //__delay_ms(0);
        // step1_forward(10);
         ad_result0 = ADC_Read(0);
         ad_result1 = ADC_Read(1);
         //PORTB = ad_result1;
         if(RB0==0)
         {RC0 = 0;
          RC1 = 1;
          x = 30;
          while(x>1)
          {
            LIGHTS1();
           __delay_ms(100);
         LIGHTS2(); 
          __delay_ms(100);  
          x = x-1;
          }                            
           
          RC1 = 0;
         }
        if(RB1==0)
         {RC0 = 1;
          RC1 = 0;
          x = 30;
          while(x>1)
          {
            LIGHTS1();
           __delay_ms(100);
         LIGHTS2(); 
          __delay_ms(100);  
          x = x-1;
          }              
           
         RC0 = 0;
         }
     if(ad_result0 > ad_result1)
         {RC0 = 1;
          RC1 = 0;
          LIGHTS1();
         }
     if(ad_result0 < ad_result1)
         {RC0 = 0;
          RC1 = 1;
          LIGHTS2();
         }
      }
      
}
    

//a to d converter
unsigned int ADC_Read(unsigned char channel)
{
  ADCON0 &= 0xC5;; //Clearing the channel selection bits
  ADCON0 |= channel<<3; //Setting the channel Bits
  __delay_ms(2); //Wait time to charge hold capacitor
  GO_nDONE = 1; //Start A/D Conversion
  while(GO_nDONE); //Wait for A/D Conversion to complete
  return ((ADRESH<<8)+ADRESL); //Combine both bytes and returns Result
}
// LIGHTS
void LIGHTS1()
{
    RC4 = 1;
    RC5 = 0;
    RC6 = 1;
    RC7 = 0;
}
void LIGHTS2()
{
    RC4 = 0;
    RC5 = 1;
    RC6 = 0;
    RC7 = 1; 
}