I think the code is pretty solid. Now the problem is response time, size of maze passageways and RC car speed. A fraction of a second does not seem very long when the car is up on blocks, but it is enough time at speed to crash into a far wall when it should have detected a turning opportunity and done its thing.

I think I need:
1. Techniques using PICBASIC Pro for recording data in memory that can be read back into my PC for analysis. How do I do this? I have not the faintest idea what app to use.