Take a look...

///////////////////////////////
int x;
int IR_center;
int IR_right;
int IR_left;
int IR_BC;
int IR_BR;
int IR_BL;
int IR_Back;
int sharp_center;
int sharp_right;
int sharp_left;
int freespace;
int spraycheck;
int IR_Front;






///////////////////////////////
void Forward()
{
    PORTC = 0b11000011;
    freespace--;
      if (freespace < 0)
      {
       freespace = 0;
      }
}






//////////////////////////
void Right()
{
    PORTC = 0b11000101;
    freespace = freespace + 2;
}






//////////////////////////
void Left()
{
    PORTC = 0b10100011;
    freespace = freespace + 2;
}







////////////////////////
void Back()
{
    PORTC = 0b10100101;
}

MOVIE HERE



///////////////////////
void Stop ()
{
    PORTC = 0b00000000;
}


///////////////////////////////
/////Turret Movement///////////
///////////////////////////////

/////Straight Ahead////////////
void Center ()
{
    x = 10;
    while(x > 0)
  {
      PORTB.F0 = 1;
      Delay_us(1400);
      PORTB.F0 = 0;
      Delay_us(25000);
      x = x - 1;
    }
   IR_Center = Adc_Read(1);
    sharp_center = Adc_Read(0);
    IR_BC = Adc_Read(2);
}
//////////////////////////
void FarRight ()
{
    x = 10;
   while(x > 0)
    {
      PORTB.F0 = 1;
      Delay_us(700);
      PORTB.F0 = 0;
      Delay_us(25000);
      x --;
    }
   IR_right = Adc_Read(1);
   sharp_right = Adc_Read(0);
   IR_BR = Adc_Read(2);
}
//////////////////////////
void FarLeft()
{
    x = 10;
    while(x > 0)
    {
     PORTB.F0 = 1;
      Delay_us(2100);
      PORTB.F0 = 0;
      Delay_us(25000);
      x --;
   }
    IR_Left = Adc_Read(1);
    sharp_Left = Adc_Read(0);
    IR_BL = Adc_Read(2);

}
///////////////////////////////
//Sort Data And if necessary///
////Stop you st00pid bot///////
///////////////////////////////
void SortBackValues ()
{
  if (IR_BC < IR_BR)
  {
    if (IR_BC < IR_BL)
    {
      IR_Back = IR_BC;
    }
    else
    {
      IR_Back = IR_BL;
    }
  }
    else
  { if (IR_BR < IR_BL)
     {
      IR_Back = IR_BR;
    }
    else
    { IR_Back = IR_BL;}
  }
  IR_Back = IR_Back + 100;
}
void SortFront()
{
if (IR_center 300)
{
    PORTC = 0b11000101;  //Right
    delay_ms(500);
        freespace = freespace + 2;
}

if (sharp_right > 250)
  {
    PORTC = 0b11000101;  //Right
    delay_ms(500);
        freespace = freespace + 2;
}

if (sharp_left > 250)
{
    PORTC = 0b10100011;   //Left
    delay_ms(500);
        freespace = freespace + 2;
}
}
//////////////////////////
void blow ()
{
    x = 40;
   while(x > 0)
    {
      PORTB.F1 = 1;
      Delay_us(2800);
      PORTB.F1 = 0;
      Delay_us(25000);
      x --;
      
    }
    Center();
    FarRight();
      x = 40;
   while(x > 0)
    {
      PORTB.F1 = 1;
      Delay_us(700);
      PORTB.F1 = 0;
      Delay_us(25000);
      x --;
    }

}
//////////////////////////
///////////////////////////////
/////Main Portion//////////////
///////////////////////////////
void Main ()
{
  ADCON1 = 0b10000000;
  TRISA = 0b00011111;
  TRISB = 0b00000000;
  TRISC = 0b00000000;
  IR_Center = 500;

    while(IR_Center > 200)
    {
      Forward();
      Center();
      FarRight();
      Center();
      FarLeft();
      see();
      SortFront();
      SortBackValues();
      SortRight();
      SortLeft();
      SortBack();
    }
     PORTC = 0b00000000;
     Forward();
     delay_ms(100);
     PORTC = 0b00000000;
     FarLeft();
     Blow();
     FarLeft();
     Blow();
}