void main()
{
     TRISA.F0 = 1 ;  //PORT A0 INPUT (SENSOR A)
     TRISA.F1 = 1 ;  //PORT A1 INPUT (SENSOR B)
     TRISA.F2 = 1 ;  //PORT A2 INPUT (SENSOR C)
     TRISA.F3 = 0 ;  //PORT A3 OUTPUT (SOUND)
     TRISB = 0 ; // ALL PORT B IS OUTPUT  "FOR MOTERS CONTROL"
      PORTA = 0;
       //dd         PORTA.f3 = 0;
     PORTB = 0;

        loop:
          if (PORTA==0b00000111 )
            {PORTA.f3=1;
             PORTB=0b00000000 ;}
               else PORTA.F3=0;

                   //ÝÍÕ A.F3
          if (PORTA==0b00000100 ) {PORTB=0;}  // ÇÐÇ ßÇä æÍÏå ãÖÛæØ æÑÝÊ ÇáÈÞíÉ
          if (PORTA==0b00001111 ) PORTA.f3=1;  else PORTA.F3=0;    //ÝÍÕ A.F3

          if (PORTA==0b00000010 ) PORTB=0b00001010 ;// right alone
          if (PORTA==0b00001010 ) PORTB=0b00001010 ;// right with a3 led
          if (PORTA==0b00000110 ) PORTB=0b00001010 ;// right with  a2 swich

          if (PORTA==0b00000001 ) PORTB=0b00010010 ;// LEFT  alone
          if (PORTA==0b00001001 ) PORTB=0b00010010 ;// LEFT  with a3 led
          if (PORTA==0b00000101 ) PORTB=0b00010010 ;// LEFT with  a2 swich
          
          
          if (PORTA==0b00000011 ) PORTB=0b00000100 ; // back
          if (PORTA==0b00000000 ) PORTB=0b00000000 ;
        goto loop;
      }
     //     delay_ms(500);
//                   delay_ms(500);          goto loop;