RE:From Basic PIC Pro to Mikro C

DEFINE OSC 8

DEFINE LCD_DREG PORTD;
DEFINE LCD_DBIT 4;
DEFINE LCD_RSREG PORTC;
DEFINE LCD_RSBIT 4;
DEFINE LCD_EREG PORTD;
DEFINE LCD_EBIT 3;
DEFINE LCD_RWREG PORTD;
DEFINE LCD_RWBIT 2;

//Define ADCIN Parameters
DEFINE ADC_BITS 10
DEFINE ADC_CLOCK 3
DEFINE ADC_SAMPLEUS 50
ADCON1=%10000010
TEMP1 VAR WORD

TRISB=%00000000
TRISD=%00000011
TRISC=%11101100
ADCON1=%10000010

SET1=300
SET1 VAR WORD
ADCVA1 VAR WORD
LEFT_FWD VAR PORTB.3
LEFT_REV VAR PORTB.4
RIGHT_FWD VAR PORTB.2
RIGHT_REV VAR PORTB.5
PAUSE 1000
LCDOUT $fe, 1

MAIN:
GOSUB READ_SENSOR
GOSUB DISPLAY
GOSUB COMPARE
GOTO MAIN
END

DISPLAY:
LCDOUT $FE, 2
LCDOUT "SENSOR = ",DEC TEMP1,"  "
LCDOUT $FE, $CO
LCDOUT "SETTING = ",DEC SET1,"  "
PAUSE 100
RETURN

COMPARE:
IF TEMP1 <= SET1 THEN
GOSUB MOTOR_FWD
GOSUB MOTOR_STOP
ENDIF

IF TEMP > SET1 THEN
GOSUB TURN_RIGHT
GOSUB MOTOR_STOP
ENDIF
RETURN

READ_SENSOR:
ADCIN 0, adcval
TEMP1 = adcval
PAUSE 5
RETURN

MOTOR_FWD:
HIGH RIGHT_FWD
HIGH LEFT_FWD
LOW RIGHT_REV
LOW LEFT_REV
PAUSE 100
RETURN

MOTOR_REV:
LOW RIGHT_FWD
LOW LEFT_FWD
HIGH RIGHT_REV
HIGH LEFT_REV
PAUSE 200
RETURN

TURN_RIGHT:
LOW RIGHT_FWD
HIGH LEFT_FWD
HIGH RIGHT_REV
LOW LEFT_REV
PAUSE 200
RETURN

MOTOR_STOP:
LOW RIGHT_FWD
LOW LEFT_FWD
LOW RIGHT_REV
LOW LEFT_REV
PAUSE 10
RETURN