Simple Sumo Code

PROGRAM NAME CREATED VIA NEW PROJECT!!
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'***********************************
Dim Value as Integer
Dim duration as Integer
'***********************************************
Sub Procedure Forward
    PortB = %00000000
    Delay_ms(10)
    PortB = %00101101
    Delay_ms(50)
end sub
'***********************************************
Sub Procedure Reverse
    PortB = %00000000
    Delay_ms(10)
    PortB = %00110011
    Delay_ms(50)
end sub
'***********************************************
Sub Procedure T_Left
    PortB = %00000000
    Delay_ms(10)
    PortB = %00101011
    Delay_ms(50)
end sub
'***********************************************
Sub Procedure T_Right
    PortB = %00000000
    Delay_ms(10)
    PortB = %00110101
    Delay_ms(50)
end sub
'***********************************************
Sub Procedure Halt
    PortB = %00000000
end sub
'***********************************************
Sub Procedure GetValue1
   TrisA = %00001100      ' Set the pulsing ports to output
   Value = 1              ' Start Value at 1
   PortA = %00000001      ' Pulse the capacitor to fill it
   Delay_ms(5)            ' Charge up the capacitor
   TrisA = %00001101      ' Set the port to collect data
   While TestBit(PortA,0) > 0   ' Loop till the capacitor
         Value = Value + 1      ' runs out of juice
   Wend
   If value > 20 Then   ' If it goes over 100 then
    duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       Reverse
       duration = duration - 1
       Wend
    duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Right
       duration = duration - 1
       Wend
    duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       Reverse
       duration = duration - 1
       Wend
    duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Right
       duration = duration - 1
       Wend
   End If
End Sub
'*************************
Sub Procedure GetValue2
   TrisA = %00001100      ' Set the pulsing ports to output
   Value = 1              ' Start Value at 1
   PortA = %00000010      ' Pulse the capacitor to fill it
   Delay_ms(5)            ' Charge up the capacitor
   TrisA = %00001110      ' Set the port to collect data
   While TestBit(PortA,1) > 0   ' Loop till the capacitor
         Value = Value + 1      ' runs out of juice
   Wend
   PortB = Value         ' Display the data
   If value > 20 Then   ' If it goes over 100 then
    duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       Reverse
       duration = duration - 1
       Wend
    duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Left
       duration = duration - 1
       Wend
    duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       Reverse
       duration = duration - 1
       Wend
    duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Left
       duration = duration - 1
       Wend
   End If
End Sub
'***********************************************
Sub Procedure ScanLeft

If TestBit(PortA,2) = 0 Then
       'T_Right step****
       duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Left
       duration = duration - 1
       Wend
End if
end sub
'***********************************************
Sub Procedure ScanRight

If TestBit(PortA,3) = 0 Then
       'T_Right step****
       duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Right
       duration = duration - 1
       Wend
End if
end sub
'***********************************************
Main:
  TrisB = %00000000
  TrisA = %00001100      ' Need two inputs for switches
  CMCON = %00000111

  While True
    GetValue1               ' Get left data
    GetValue2               ' Get right Data
    ScanRight
    ScanLeft
    Forward
  Wend
End.