Wall Avoiding Robot programming with CCS C

Hi,
I've just designed my robot's circuit on isis. Everything is ok but the last thing that I have to do is coding the pic. I will use sharp (analog) sensor, but I dont know how to algorithm the data come from the sensor. Can anyone help me with coding this data to the pic? (I want to use CCS C language)

Hi, check this page;
https://www.romanblack.com/bitbangserial.htm

about half way down the page there is C code for reading a Sharp GP2 type distance sensor and decoding it's output to actual distance in cm.