Car program 2.

int a;int b;int d;int x=0;int y=0; 
void read1(){TMR1H = 0;TMR1L = 0; 
     PORTa.F6 = 1;Delay_us(10);PORTa.F6 = 0; 
     while(!PORTa.F7);T1CON.F0 = 1;while(PORTa.F7);T1CON.F0 = 0; 
     a = (TMR1L | (TMR1H<<8));a = a/34;a = a + (a/5); 
     if(a<11){a=a+1;}else a=a;} 
void read2(){TMR1H = 0;TMR1L = 0; 
     PORTa.F1 = 1;Delay_us(10);PORTa.F1 = 0; 
     while(!PORTa.F0);T1CON.F0 = 1;while(PORTa.F0);T1CON.F0 = 0; 
     b = (TMR1L | (TMR1H<<8));b = b/34;b = b + (b/5); 
     if(b<11){b=b+1;}else b=b;} 
void read3(){TMR1H = 0;TMR1L = 0; 
     PORTa.F2 = 1;Delay_us(10);PORTa.F2 = 0; 
     while(!PORTa.F3);T1CON.F0 = 1; while(PORTa.F3);T1CON.F0 = 0; 
     d = (TMR1L | (TMR1H<<8));d = d/34;d = d + (d/5); if(d<11){d=d+1;}else d=d;} 
void main() 
{ cmcon=7; T1CON = 0x10; TRISB = 0b00000000; TRISa = 0b10001001; porta=0; portb=0;delay_ms(100); 

loop: 
read2();x=b;delay_ms(200); read2();y=b; 
b=(x-y); 
     if( b>=14){portb.f0=1;read1();read3(); 
if(a>=d){portb.f7=1;portb.f4=1;delay_ms(200);portb.f7=0;portb.f4=0;}
if(d>=a){portb.f1=1;portb.f3=1;delay_ms(200);portb.f1=0;portb.f3=0;} 
                       } 
           if( b<=10){portb.f0=0;} 
     goto loop; 
}