 TCCR0 &= 0b11111110; //  
 
 TCCR0 |= 1; //  
 
 while (1)
      {    
        TCCR0 |= 1; // 
        delay_us(840);//    30 
         TCCR0 &= 0b11111110; // 
         delay_us(560);// 20 
      if (ir_counter >20) {PORTA.2 = 0;}//   -   
            else
            {PORTA.2 = 1;};  //  - 
            //      ,       
           
            
            
            
            
            ir_counter = 0;
                                  
            
                  if (PIND.7 ==0) {PORTA.4 = 0;}
else
{PORTA.4 = 1;};












while (1)
      {    
      
       for (i=10; i !=0; --i) {
      TCCR0 |= 1; // 
        delay_us(840);//    30 
         TCCR0 &= 0b11111110; // 
         delay_us(560);// 20 
    };
 
        
      
      
     if (ir_counter >= 5) {PORTA.2 = 0;
     povorot();
     delay_ms(300);}//   -   
            else
            {PORTA.2 = 1;};  //  -  
            ir_counter = 0;
     
           
                  if ((PINC.7)&(PIND.7)) {PORTA.4 = 1;}
else
{PORTA.4 = 0;
povorot();

};


delay_ms(300);      
      
      
      
      };
}
  
 if (PINC.7 ==0) {PORTA.4 = 0;}
 else
{PORTA.4 = 1;};
      
      
      
      
      };