this is my robot 
  

 program nobump
Dim x as byte
Dim Flame_Pos_Center as word
Dim Flame_Pos_Right as word
Dim Flame_Pos_Left as word
dim Front_Edge as word
dim Left_Edge as word
dim Right_Edge as word
dim flame as integer
'*************************
Sub Procedure Forward
'PortC = %10100101    'Bits 2 and 5 are Enable
SetBit(PortC,0)      '0
ClearBit(PortC,1)    '1
SetBit(PortC,2)      '2
SetBit(PortC,5)      '5
ClearBit(PortC,6)    '6
SetBit(PortC,7)      '7
End Sub
'*************************
Sub Procedure Reverse
PortC = %01100110
End Sub
'*************************
Sub Procedure T_Right
PortC = %10100110
End Sub
'*************************
Sub Procedure T_Left
PortC = %01100101
End Sub
'*************************
Sub Procedure Halt
PortC = %00000000
End Sub
'*************************
Sub Procedure Sort_Flame
    If Flame_Pos_Right < Flame_Pos_Center then
    T_Right
    Delay_ms(200)
    End If
    
    If Flame_Pos_Left < Flame_Pos_Center then
    T_Left
    Delay_ms(200)
    End If

    If Flame_Pos_Center < 120 then
    halt
    x = 50
Do
SetBit(PortB,0)
Delay_us(600)
ClearBit(PortB,0)
Delay_ms(20)
x = x - 1
Loop Until x = 0

x = 15
Do
SetBit(PortB,0)
Delay_us(1000)
ClearBit(PortB,0)
Delay_ms(20)
x = x - 1
Loop Until x = 0

    Flame_Pos_Center = 300
    Flame_Pos_Right = 300
    Flame_Pos_Left = 300
End If
End Sub
'********************
Sub Procedure Sort_Edge
    If left_edge < 100  then
    T_Right
    Delay_ms(200)
    End If
    If Left_edge < front_edge then
    T_Left
    Delay_ms(200)
    End If
    if front_edge < 100 then forward
    end if

End Sub
'********************
Sub Procedure Center
x = 15
Do
SetBit(PortB,0)
Delay_us(1500)
ClearBit(PortB,0)
Delay_ms(20)
x = x - 1
Loop Until x = 0
Flame_Pos_Center = Adc_Read(0)
Front_Edge = adc_read(1)
End Sub
'********************
Sub Procedure FarRight
x = 25
Do
SetBit(PortB,0)
Delay_us(2000)
ClearBit(PortB,0)
Delay_ms(20)
x = x - 1
Loop Until x = 0
Flame_Pos_Right = Adc_Read(0)
Right_Edge = adc_read(1)
End Sub
 '********************
Sub Procedure FarLeft
x = 15
Do
SetBit(PortB,0)
Delay_us(1000)
ClearBit(PortB,0)
Delay_ms(20)
x = x - 1
Loop Until x = 0
Flame_Pos_Left = Adc_Read(0)
Left_Edge = adc_read(1)
End Sub
'********************
main:
trisb = %00000000
trisa = %00011111
trisc = %00000000
ADCON1 = %10000000
'sound_init(PortC,3)

PortB = 0

While True
'*********
FarRight
Center
FarLeft
Forward

If Flame_Pos_Center < 250 Then
flame = 201
Sort_Flame
else
flame = 199
End if
If Flame_Pos_Right < 250 Then
flame = 201
Sort_Flame
else
flame = 199
End if
If Flame_Pos_Left < 250 Then
flame = 201
Sort_Flame
else
flame = 199
End if

If flame < 200 Then
   If Left_Edge > 450 Then
   t_right
   delay_ms(100)
   End if
   If Right_Edge > 450 Then
   t_left
   delay_ms(100)
   End if
   If Front_Edge > 450 Then
   t_right
   delay_ms(500)
   end if
end if
wend

'*******
'If Front_Edge < 200 Then
'Forward
'End if
End.