Dancing in the Dark

PROGRAM NAME CREATED VIA NEW PROJECT!!
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'***********************************
Dim data1 as Integer
'***********************************************
Sub Procedure Forward
    PortB = %00101101
end sub
'***********************************************
Sub Procedure Reverse
    PortB = %00110011
end sub
'***********************************************
Sub Procedure T_Left
    PortB = %00101011
end sub
'***********************************************
Sub Procedure T_Right
    PortB = %00110101
end sub
'***********************************************
Sub Procedure Halt
    PortB = %00000000
end sub
'***********************************************
Sub Procedure GetValA1
    TrisA = %00001100 ' Set Pins on PortA to Output
    data1 = 1         ' Set the data variable to 1
    PortA = %00000010 ' Pulse pin 1 on PortA for 5ms
    Delay_ms(5)
    TrisA = %00001110 ' Get ready to suck in data
Counts:
    If Testbit(PortA,1) = 1 Then  'See how long it takes to
                                  'discharge the capacitor
       data1 = data1 + 1
       Goto Counts
    End If
End Sub
 '***********************************
Main:
    TrisB = %00000000    ' Configure pins of PortB as output
    TrisA = %00001100    ' Configure some pins of PortA as input(1)
    CMCON = %00000111
mainloop:
    GetValA1
    If data1 > 128 Then
      Forward
    	Delay_ms(1000)
      Reverse
   	  Delay_ms(1000)
      T_Left
    	Delay_ms(3000)
      T_Right
    	Delay_ms(3000)
		  Forward
    	Delay_ms(200)
      Reverse
   	  Delay_ms(200)
      Forward
    	Delay_ms(200)
      Reverse
   	  Delay_ms(200)
      T_Left
    	Delay_ms(200)
      T_Right
    	Delay_ms(200)
    End If
    Halt

Goto mainloop
End.