Page 714 - 2

{
PORTC = 0x00;
PORTA = 0xaa;
while(1)
{
data = rx_char();
tx_char(data);
if(OCR3BH == 0x12 || OCR3BL == 0xc0)
{
rcnt++;
right += data;
if(rcnt == 10)
{
ravr = right/10;
rcnt = 0;
}
OCR3BH = 0x04;
OCR3BL = 0xb0;
intech_delay_ms(10);

}
else if(OCR3BH == 0x04 || OCR3BL == 0xb0)
{
lcnt++;
left += data;
if(lcnt == 10)
{
lavr = left/10;
lcnt = 0;
}
OCR3BH = 0x12;
OCR3BL = 0xc0;
intech_delay_ms(10);

}

if(lavr!=0&&ravr!=0)
{
if(lavr>ravr)
{
PORTC = 0x99;
left = 0;
right = 0;
intech_delay_ms(100);
}

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