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//PORTA pin 0 = right sensor
//PORTA pin 1 = left sensor
//PORTA pin 0 = left motor forward
//PORTA pin 1 = left motor backward
//PORTA pin 2 = right motor forward
//PORTA pin 3 = right motor backward
void main()
{
set_tris_a(0xff);
set_tris_b(0x00);
while(1)
{...
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