AUTOMATIC BRAKE SYSTEM

PROGRAM

int c1=0,speed;
    char distance[8];
    void usinit(void);
    void uscheck(void);
    // LCD module connections
    sbit LCD_RS at RD2_bit;
    sbit LCD_EN at RD3_bit;
    sbit LCD_D4 at RD4_bit;
    sbit LCD_D5 at RD5_bit;
    sbit LCD_D6 at RD6_bit;
    sbit LCD_D7 at RD7_bit;
    sbit LCD_RS_Direction at TRISD2_bit;
    sbit LCD_EN_Direction at TRISD3_bit;
    sbit LCD_D4_Direction at TRISD4_bit;
    sbit LCD_D5_Direction at TRISD5_bit;
    sbit LCD_D6_Direction at TRISD6_bit;
    sbit LCD_D7_Direction at TRISD7_bit;
    // End LCD module connections
    void InitMain() {
    PWM1_Init(5000);
    PWM2_Init(5000);
    }
    void main(){
    trisc.f3=0; trisc.f0=0;
     portc.f0=0; portc.f3=0;
        InitMain();
        PWM1_Start();
        PWM2_Start();
        Lcd_Init();                     // Initialize LCD
        Lcd_Cmd(_LCD_CLEAR);            // Clear display
        Lcd_Cmd(_LCD_CURSOR_OFF);       // Cursor off
        usinit();
        adcon1=7;
        trise.f2=0;
        trisc.f3=0; trisc.f0=0;
        portc.f0=0; portc.f3=0;
        trisb.f7=0; portb.f7=0;
        while(1)
        {
        uscheck();
        Lcd_Cmd(_LCD_CLEAR);
            Lcd_Out(2,1,"DISTANCE="); Lcd_Out_cp(distance);
            if(c1<30){porte.f2=1;portb.f7=0; Lcd_Out(1,1,"OBSTACLE CLOSER");} else { porte.f2=0; portb.f7=1; }
            speed=c1*4;
            if (speed>255) speed=255;
            PWM1_Set_Duty(speed); PWM2_Set_Duty(speed);
        }
    }
    void uscheck(void)
    {
        portb.f2=1 ;
        delay_us(10);
        portb.f2=0 ;
        while(!portb.f3);
        c1=0;
        while(portb.f3) {c1++; delay_us(58); }    // 1CM ==58US
        IntToStr(c1, distance);
        delay_ms(200);
    }
    void usinit(void)
    {
        trisb.f3=1; //echoPin
        trisb.f2=0; //trigPin
    }

CIRCUIT