int main(void)
{

	signed char kordus=0;
 	unsigned char i;
	pin leds[3]    = { PIN(C, 5), PIN(C, 4), PIN(C, 3) };
        pin buttons[3] = { PIN(C, 2), PIN(C, 1), PIN(C, 0) };
	for (i = 0; i < 3; i++)
	{
		pin_setup_output(leds[i]);
		pin_setup_input(buttons[i]);
		pin_set(leds[i]);
	}

	unsigned char new_value1;
	unsigned char new_value2;

	algustekst();

	


    /* servode algväärtustamine */
       init_servos();

    /* enable interrupts */
       sei();

		



	while (true)
	{
	pin_toggle(leds[2]);
	hw_delay_ms(200);
	pin_set(leds[2]);
	hw_delay_ms(200);

	signed char loendur=0;
	new_value1 = pin_get_debounced_value(buttons[2]);

	while(!new_value1){	
		pin_set(leds[2]);
		unsigned short value;
	    	signed short distance;

 	dcmootor();

	// ADC muunduri seadistamine
	adc_init(ADC_REF_AVCC, ADC_PRESCALE_8);
			
	// Anduri väljundpinge 4-kordselt ümardatud väärtuse lugemine
	value = adc_get_average_value(0, 4);		
 
	// ADC väärtuse kauguseks ümberarvutamine
	distance = ir_distance_calculate_cm(GP2Y0A21YK, value);
 
		if(kordus==4)
		{
		kordus=0;
		algustekst();
		break;
		}

		if (distance <=11)
      {	
			kordus=0;		
			SERVO6 = SERVO_MAX;
			hw_delay_ms(500);

		char text[16];
		unsigned char result;
		float tulemus;

 
	// Võrdluspingeks AREF viigu valimine
	// Multiplekseriga kanali 3 valimine
	// Tulemus on vasak-asetusega
	ADMUX = (1 << REFS0) | (1 << ADLAR) | (3);

	lcd_alpha_clear();
	lcd_alpha_write_string("Patarei taituvus"); 
 	
	// ADC üksuse käivitamine,
	// teisendustakti seadmine 16 korda aeglasemaks töötaktist
	ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADSC);
 
	// Mõõtmise lõpetamise ootamine
	while (ADCSRA & (1 << ADSC)) continue;
 
	// 8-bitise tulemuse lugemine
	result =ADCH;
	tulemus=(float)result*0.02;
	sprintf(text, "%3.0f %%",(tulemus*100)/0.88);
 
	lcd_alpha_goto_xy(0, 1);
	lcd_alpha_write_string(text);
	hw_delay_ms(500);
	SERVO6 = SERVO_MID-400;
   	hw_delay_ms(400);

	if(tulemus<0.7)
	{
	pin_set(leds[2]);
	SERVO5 = SERVO_MIN-300;
 	hw_delay_ms(400);
	SERVO5 = SERVO_MID-400;
 	hw_delay_ms(400);
	pin_toggle(leds[0]);
	}
	else 
	{
	 pin_set(leds[0]);
	 SERVO5 = SERVO_MAX;
 	 hw_delay_ms(400);
	 SERVO5 = SERVO_MID-400;
 	 hw_delay_ms(400);
	 pin_toggle(leds[2]);
	 loendur++;
	}
       }
	kordus++;		
   }
   if(loendur>=1)
   {
   	char text1[16];	
	char text2[16];
	for(int i=10;i>0;i--){
	lcd_alpha_clear();
	pin_toggle(leds[1]);
	sprintf(text1, "Tais patareid %d",loendur);
	lcd_alpha_write_string(text1); 
	sprintf(text2, "%d",i);
 
	lcd_alpha_goto_xy(0, 1);
	lcd_alpha_write_string("Hoia nuppu S2");
	hw_delay_ms(1000);
	pin_set(leds[1]);
	lcd_alpha_clear();
	lcd_alpha_write_string(text2);
	hw_delay_ms(1000);
	new_value2 = pin_get_debounced_value(buttons[1]);

	if(!new_value2)
	{
	lcd_alpha_clear();
  	SERVO4=SERVO_MAX;
  	hw_delay_ms(400);
  	SERVO4 = SERVO_MID;
	algustekst();
	break;
	}
   }
	lcd_alpha_clear();
  	SERVO4=SERVO_MIN;
  	hw_delay_ms(400);
  	SERVO4 = SERVO_MID;
	algustekst();
  	

   }
 }
}