#include <avr/io.h>

void main(void)
{
	unsigned int k, h;
	DDRA=0x00;
	DDRD=0XFF;
	while (1)
	{
		k =~PINA;
		h=k & 0x0F;
		switch (h)
		{
			case 0x02:				//if I/P is 0x02
			{
				PORTD=0x89;			// Forward
				break;
			}
			case 0x08: 				//if I/P is 0x08
			{
				PORTD=0x86; 		// Backward
				break;
			}
			case 0x04:				//if I/P is 0x04
			{
				PORTD=0x85;			// Left turn
				break;
			}
			case 0x06:				//if I/P is 0x06
			{
				PORTD=0x8A;			// Right turn
				break;
			}
			case 0x05:				//if I/P is 0x05
			{
				PORTD=0x00; 		// Stop
				break;
			}
		}
	}
}