sensor for gripper PIC16F87-7A (help)

hi..i have done a project on force sensing gripper. as per my project motor should stop when the vibrator sensor reaches a particular input value as shown in below program. but it keep on changing direction when the sensor is high.. i have to finish this project with in 10 days.i have uploaded my video in following link....https://www.youtube.com/watch?v=ZZFbJAGhF_M
https://www.youtube.com/watch?v=DaYKsVVIUN4
but as per my project operation should be like this video
https://www.youtube.com/watch?v=gtnNByljPq8&feature=related

please any one help me..

/* 20Mhz crystal */

#include<pic.h>
#include"pic_lcd8.h"
#include"pic_adc.h"

#define pulse3 RC0
#define vib RB0
#define start RB1
#define stop RB2

void delay(unsigned int);
void Adc_Tmr_Init(void);
void adc0(void);
void pulse();

unsigned int count,times,on1,on2,on3;
unsigned char sec,value;
float var1;

void main()
{
TRISC=0X00; ///output
TRISD=0x00; ///op
TRISB=0xff; //o/p
TRISA=0XFF; //o/p
ADCON1=0X00; //8 bit ADC
Lcd8_Init();

Lcd8_Display(0x80," Sense Forcing ",16);
Lcd8_Display(0xc0," Gripper ",16);

delay(65000);
Adc_Tmr_Init();
TMR1ON=1;
while(1)
{

// Vibration Sensor codings
value=Adc8_Cha(1);//value reading for vibration sensor
Lcd8_Decimal3(0xca,value);
// if(value==0 )
// {
// var1=255;pulse();Delay(65000);
//d=1;e=f=0;
// }
if(value>0 && value<=20)
{
var1=30;pulse();Delay(65000);
}
else if(value>20 && value<=40)
{
var1=70;pulse();
Delay(65000);
}
else if(value>40 && value<=60)
{
var1=120;pulse();
Delay(65000);
}
else if(value>60 )
{
var1=255;pulse();
Delay(65000);
}


// Code for start and stop buttons
if(!start)
{
var1=255;pulse();
Delay(65000);
}
else if(!stop)
{
var1=0;pulse();
Delay(65000);
}

pulse();


}
}


void interrupt timer1(void)
{

if(TMR1IF==1)
{

TMR1ON=0;
TMR1IF=0;

count++;
times++;
if(times>=10000){times=0;sec++;}
if(count>310) count=0;
if(count<on1) {pulse3=1;}
else {pulse3=0;}

TMR1L=0x05;
TMR1H=0xff; // fff5 - 10Us (202) ffcd - 50us
T1CON=0x10;
TMR1ON=1;

}
}

void Adc_Tmr_Init()
{
ADCON1=0x06;
TRISA=0xff;
TRISE=0x07;

GIE=1;
PEIE=1;
TMR1IE=1;

TMR1L=0x05;
TMR1H=0xff;
T1CON=0x10;

TMR1ON=0;
}

void delay(unsigned int dd)
{while(dd--);
}

void pulse()
{
on1 =(5+(var1/255)*20);
}