Wired ROBO car Program for 8051

/* wired robo car program for 8051 microcontroller

 design description:;: contains two motors one on left(ml) and one on right(mr)::contains headlights and backlights::moreover this is wired robo car (not wireless) */

#include<reg51.h>

sbit mr_p = P2^0;      //motor_right_positive
sbit mr_n = P2^1;      //motor_right_negetive
sbit ml_p = P2^2;      //motor_left_positive 
sbit ml_n = P2^3;      //motor_left_negetive
sbit leds_front = P2^4;
sbit en_mr = P2^6;     //motor_right_enable
sbit en_ml = P2^7;     //motor_left_enable
sbit led_backL = P3^0;
sbit led_backR = P3^1;

sbit head_lights = P1^6;    //inputs
sbit key = P1^5;
sbit fw = P1^0;
sbit re = P1^1;
sbit left = P1^2;
sbit right = P1^3;
sbit stop = P1^4;

void main()
{
  int i;  

  fw = re = left = right = stop = head_lights = key = 1;
  mr_p = mr_n = ml_p = ml_n = leds_front = en_mr = en_ml = 0;
  led_backL = led_backR = 0;
  

  while(1)
  {
    while(key==0)       //while key is ON
 {
   if(head_lights==0)
     leds_front=1;
   else 
     leds_front=0;

   while(fw==0)    //movind forward loop
   {
     en_ml=1;en_mr=1;  //starting both motors in forward direction
     mr_p=1; mr_n=0;
     ml_p=1; ml_n=0;

     if(head_lights==0)
       leds_front=1;
     else 
       leds_front=0;

  while(left==0)    //turning left while acclerating
    { 
       led_backL=1;                  
       en_ml=0; 
       for(i=0;i<100;i++);   //turning off the left motor to turn left
    led_backL=0;
    }            

  while(right==0)   //turning right while acclerating
          {
      led_backR=1;
             en_mr=0;    //turning off the right motor to turn right
      for(i=0;i<100;i++); 
       led_backR=0;
    }
  if(stop==0)    //brakes
    {
      en_ml=0;
      en_mr=0;
    }
   }

   while(re==0)     //loop for reverse
   {
     en_ml=1;en_mr=1;   //rotating both motors in reverse direction
     mr_p=0; mr_n=1;
     ml_p=0; ml_n=1;

  
     if(head_lights==0)
       leds_front=1;
     else 
       leds_front=0;
  
  while(left==0)     // in reverse stop the right motor to turn left
    en_mr=0;

  while(right==0)  // in reverse stop the left motor to turn right
    en_ml=0;

  if(stop==0)
    {
    en_ml=0;
    en_mr=0;
    }
   }

   while(left==0)    // car can move left even when not moving forward
    {
      if(head_lights==0)
       leds_front=1;
     else 
       leds_front=0;

       en_ml=0;en_mr=1;   //enable right motor and disable left motor
       mr_p=1; mr_n=0;
    }
    
    while(right==0)
    {
     if(head_lights==0)
       leds_front=1;
     else 
       leds_front=0;

      en_ml=1;en_mr=0;   //enable left motor and disable right motor
       ml_p=1; ml_n=0;
    }
    
    
 en_ml=0;
 en_mr=0;
 }


 leds_front=0;
  }
}