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2 kaklik 1 
#include "D:\@Kaklik\programy\PIC_C\robot\auto\main.h"
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#DEFINE     CIDLO1L      PIN_B0
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#DEFINE     CIDLO1R      PIN_B1
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#DEFINE     CIDLO2L      PIN_B2
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#DEFINE     CIDLO2R      PIN_B3
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#DEFINE     RELE1       PIN_B5
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#DEFINE     RELE2       PIN_B6
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#DEFINE     MOTOR1      PIN_B4
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#DEFINE     MOTOR2      PIN_A0
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#DEFINE     MOTOR2a     PIN_A1
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#DEFINE     LASER       PIN_A2
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#DEFINE  L  0
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#DEFINE  R  1
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int cara;
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int movement;
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void left()
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{
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   output_high(RELE1);
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   output_high(RELE2);
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   delay_ms(100);
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   output_high(MOTOR1);
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   output_high(MOTOR2);
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   output_high(MOTOR2a);
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}
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void right()
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{
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   output_low(RELE1);
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   output_low(RELE2);
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   delay_ms(100);
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   output_high(MOTOR1);
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   output_high(MOTOR2);
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   output_high(MOTOR2a);
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}
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void rovne()
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{
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   output_low(RELE1);      // oba motory vpred
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   output_high(RELE2);
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   delay_ms(100);
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   output_high(MOTOR1);
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   output_high(MOTOR2);
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   output_high(MOTOR2a);
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}
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void stop()
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{
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   output_low(MOTOR1);
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   output_low(MOTOR2);
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   output_low(MOTOR2a);
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   delay_ms(100);
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}
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void main()
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{
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   cara=L;
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   movement=R;
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   output_low(RELE1);      // oba motory vpred
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   output_high(RELE2);
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   delay_ms(100);
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   while (true)
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   {
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         if (!input(CIDLO1R)) cara=R; // cara vpravo
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         if (!input(CIDLO1L)) cara=L; // cara vlevo
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         if (!input(CIDLO1L) || !input(CIDLO1R))
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         {
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            stop();
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            rovne();
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            delay_ms(100);
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         };
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         if (cara != movement)
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         {
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            switch(cara)
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            {
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              case L:
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                 output_high(LASER);
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                 stop();
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                 left();
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                 movement=L;
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                break;
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              case R:
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                 output_low(LASER);
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                 stop();
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                 right();
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                 movement=R;
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                break;
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            }
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         }
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   }
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}