What you need to do is , first you should write a code to understand that where, which color lights should be switched ‘ON’.
You can write seperate sub programs (functions) say, void left(void), void rignt(void), void straight(void), void (back).
in each function you should write code to get the data from your look-up table.
once the data is taken you can just send it to the port where your light is connected.