I need help with making a simple program

[galannthegreat]

I am new to working with microcontrollers and I am wondering if someone can help me out with shoing me how to make a general object avoidance program.

-I am using a PIC 16F877a
-My sensory system (idea pending to have a posibility to be switched from IR detection to one of the Sharp sensor modules, let me know if this i a good idea) is connected to PORT D, Bits 0 and 1 (RD0, RD1)
-My motor driver is connected to PORT D, Bits 4, 5, 6, and 7(RD4, RD5, RD6, RD7)
-Everything is pulled low
-I am using a 20MHz crystal with two 22pF caps

All I am is asking is if someone can help me with making this program, not necessarily making it for me but showing me how i can get started with it.
Thanks

[Admin]

You forgot to search before asking

Source code for 16F877 robot using Sharp IR for obstacle avoidance:
http://www.societyofrobots.com/robot_hyper_squirrel.shtml
http://www.societyofrobots.com/robot_omni_wheel.shtml

And object following:
http://www.societyofrobots.com/robot_sumo.shtml