AVR | Sterowanie pojazdem

#include <avr/io.h>
#include <stdint.h>
#include <avr/interrupt.h>
#include "HD44780.h"

#define ADCIN_X PC0
#define ADCIN_Y PC1

#define FORWARD 1<<PC5
#define BACKWARD 1<<PC4
#define PWM 1<<PD5

int main()
{
    char wynik[4];//bufor
    LCD_Initalize();   //inicjalizacja LCD
    LCD_Clear();

    TCCR0A |= (1<<COM0B1) | (1<<WGM00);

        TCCR0B |= (1<<CS01);

        ICR1 = 1023;

        DDRD |= PWM;

    ADCSRA =   (1<<ADEN)    |(1<<ADPS0)     |(1<<ADPS1)     |(1<<ADPS2);

    ADMUX  =  (1<<REFS1) | (1<<REFS0) | (0<<MUX2) | (0<<MUX1) | (1<<MUX0);

    DDRC |= (FORWARD) | (BACKWARD);
    DDRC &=~ (1<<ADCIN_Y);

    while(1)
    {

        ADCSRA |= (1<<ADSC); //ADSC: uruchomienie pojedynczej konwersji

           while(ADCSRA & (1<<ADSC)); //czeka na zakończenie konwersji
           LCD_Clear();
           LCD_GoTo(0,0);
           itoa(ADC, wynik, 10);
           LCD_WriteText(wynik);
           LCD_GoTo(5,0);
           char oc[4];
           itoa(OCR0B, oc, 10);
           LCD_WriteText(oc);

           if (ADC<420)
           {
            PORTC &= ~FORWARD;
            PORTC |= BACKWARD;
            OCR0B = (255) - ((51*ADC)/88);
           }
           else if (ADC>460)
           {
            PORTC &= ~BACKWARD;
            PORTC |= FORWARD;
            OCR0B = -((1870/7) - ((17*ADC)/28));
           }
           else
           {
            PORTC &= ~BACKWARD;
            PORTC &= ~FORWARD;
            OCR0B = 0;
           }
           _delay_ms(10);
    }
}