[Anthony Kesich]

well, what sort of sensors are you using and in what places? is it just a limit switch on the front? if so, how are you trying to make sure you go the right direction? Or is it just trial and error? Assuming trial and error with limitswtches on the fron i would do something like this:

char turning=0;  //in the global vars section

if (BUMP_SENSOR = 1)   //if hit wall set turning timer
then
   turning=40;
else if (turning >= 35)   //back up first 6 cycles or so to give clearance
then
{
   pwm01=pwm02=70;
   turning--;
}
else if (turning != 0)   //turn for the remaining time
then
{
   pwm01=77;     //assuming 2 motor drive train here
   pwm02=187;    //adjust values as necessary such as time needed to turn and turning speed
   turning--;
}
else
   pwm01=pwm02=200;  //if not turning or hitting go forward

i hope this helps, but i really need some more details.
-Kesich