obstacle avoidance Robotic car Atmga32a based Project

Obstacle Avoidance RC
Project requirements : make the car take right when the distance between it and obstacle 30 cm
Project Aim :Learning Static design ,Dynamic Design
Building most drivers could be built in Atmega32a ,learn testing & debugging Methods
This Project made me built Multiple drivers Like :
DIO(Digital input output )
to control directions of the motor
HWPWM(hardware Pulse Width modulation )
to control Car speed
SWICU(Software input capture unit )
to read data from Ultra sonic sensor
Timer drivers to make delays
Interrupts Manger
This interrupts manger made it easy to Change interrupts functions using callback methods
Motor driver
to mange speeds from HWPWM driver and direction using DIO driver
US(ultra sonic driver)
to manipulate data given by ICU to make it distance as ICU reads time US driver make it distance values
Steering driver
to control Motor driver
Car state machine
to control steering driver depending on US driver readings