ULTRASONIC SENSOR MEASURED DISTANCE CONVERT TO SERVO MOTOR ANGLE IN MPLAB USING PIC 16F877A

#define _XTAL_FREQ 8000000

#include 
#include 

#pragma config FOSC = HS
#pragma config WDTE = OFF
#pragma config PWRTE = OFF
#pragma config BOREN = ON
#pragma config LVP = OFF
#pragma config CPD = OFF
#pragma config WRT = OFF

#pragma config CP = OFF


void servoRotate0()
{
 
    unsigned int i;
 
    for(i=0;i<50;i++)
 
{
   RB0 = 1;
  
    __delay_us(800);

    RB0 = 0;

    __delay_us(19200);
 
 }

}

void servoRotate180()
{
 
    unsigned int i;
 
    for(i=0;i<50;i++)
 
{
   RB0 = 1;
  
    __delay_us(2200);

    RB0 = 0;

    __delay_us(17800);
 
 }

}
void main()

{
 
int a;
TRISB = 0b00010000; 


T1CON = 0x10;


 while(1)
 

{
    TMR1H = 0;               

     TMR1L = 0;                 


     RB0 = 1;             
     __delay_us(10);             
     RB0 = 0;           
     while(!RB4);             
     TMR1ON = 1;             
     while(RB4);           
     TMR1ON = 0;             
     a = (TMR1L | (TMR1H<<8)); 
     a = a/58.82;               

     a = a + 1;


 if(a>=2 && a<=400)
{   servoRotate0();
    }
else
{
  servoRotate180();
    }
  }
}