int main()
{
//Declare the variables for the main function here
int k = 3;
int j = 0;
int i = 0;

initialize_IO_ports();

//put the infinite loop here
while(1)
 {
   
   if( k == 3) 
   {
       delay_ms(3000);
	   for(j=0; j<1000;j++)
	   {
	   RC0 = 1;         // inputs for bi-directional DC motor circuit
	   RC1 = 0;
           delay_ms(6000); // run  forward for 6 secs
	   }
	   delay_ms(5000);        //wait for 5 seconds -- HALT--No running
	   i = 0;                 // insert value
	   if(i == 0)
	   {
	   delay_ms(3000);  //wait for sometime
	   for(j=0;j<1000;j++)
	   {
	   RC0 = 0;
	   RC1 = 1;
           delay_ms(6000);   // run backward for 6 secs
	   }
	   }
	}
	else 
	{
	  RC0 = 0;
	  RC1 = 0;
	}
	   
	
 };   // end of while
return(1);
}   // end ofmain

int main()
{
  
   initialize_IO_ports();
   RC0 = 0;    // EDIT: paranoid
   RC1 = 0; 
   
   //put the infinite loop here
   while(1)
   {
       delay_ms(3000);
   
       RC0 = 1;        // forward
       RC1 = 0;
       delay_ms(6000); // for 6 secs
      
       RC0 = 0;        // -- HALT--No running
       RC1 = 0;
       delay_ms(3000); // for 3 seconds 
          
       RC0 = 0;        // backward
       RC1 = 1;
       delay_ms(6000); // for 6 secs
          
       RC0 = 0;
       RC1 = 0;       
       
    };   // end of while
    return(1);
}   // end of main

 //move forward for about 20 seconds at 75% power.
move(20,FORWARD,75,0);

// motion defines
#define STOP      0
#define FORWARD   1
#define BACKWARD  2

#pragma inline // another copy each time it is called
void action(int cmd)
{
   if (cmd == forward)
   {
          RC0=1; RC1=0;
   }
   else if (cmd == backward)
   {
          RC0=0; RC1=1;
   }
   else // stop
   {
          RC0=0; 
          RC1=0;
   }
 }

// command to move robot
void move(
   int duration,       // duration of command
   int _val,       // one of the motion defines
   int powerLeft,  // % power for left motor
   int powerRight) // % power for right motor
{
   int val, i, j;

   val = _val;

   // send the PWM signals to the H-Bridge
   for (i=0; i < duration; i++)
   {
      action(_val);  // _val will be FORWARD or BACKWARD
      for (j=0;j<100;j++)  // 100 as in 100%
      {
        if (j == powerLeft) // start low/off part for left
         {
            action(STOP);
         }
         // you only have the one motor so we skip this
         //if (j == powerRight) //start low/off part for right
         //{
         //   val = val & 0xF0;
         //   PORTB = val;
         //}
         delay_ms(1);
      }
   }
   action(STOP); // done with cmd so stop both motors
}

void action(int cmd)
{
   if (cmd == forward)
   {
          RC0=1; RC1=0;
   }
   else if (cmd == backward)
   {
          RC0=0; RC1=1;
   }
   else // stop
          RC0=0; RC1=0;
}