Gerjo - IVIbot simple wall detection

void main(void) {
    unsigned int read;

    InitializeSystem();

    for(;;) {
        read = getAD1();

        if(read > 150) { // No wall detected, move forwards!
            PORTEbits.RE0 = 1;
            PORTEbits.RE1 = 1;

            PORTB = 0b10001001;
            CCPR2L = 128;
            CCPR1L = 128;

        } else { // Wall detected, move backwards!
            PORTEbits.RE0 = 0;
            PORTEbits.RE1 = 0;

            PORTB = 0b00000001;
            CCPR2L = 128;
            CCPR1L = 128;
        }
    }
}