Code:

#include <system.h>

void main()
{
trisa = 00b;
trisb = 111b;
porta = 00b;
while(1){
switch(portb)
{
case 100b: porta = 10b;break;
case 110b: porta = 10b;break;
case 010b: porta = 11b;break;
case 011b: porta = 01b;break;
case 001b: porta = 01b;break;
case 000b: porta = 00b;break;
case 111b: porta = 00b;break;
}
}
}

this program will work for a line follower robot? or i should use intrerupts? i didn't build my programmer yet and i can't test it...

trisb from line sensors and trisa to motors

it could work, but if i were you i would try to use control theory to get smooth operation:

http://elm-chan.org/works/ltc/report.html

/Johan

you should use interrupt to enable the robot to change the speed of each wheel, that way you'd get smoother turnings