Can you please post a copy of your circuit, in CAD or a picture of a hand drawn circuit in jpg, png?
Label all pins and components, including part numbers.
You need to be more descriptive of your project components.ITR9608
are photo interrupters.
The 180R I assume is the current limit resistor for the LED?
Why are you using pins 0 and 1?
They are reserved for program loading.