L298N Motor Driver using pwm code not working..

[tacbanon]

Hi, I'm back...I got the HPWM working and also the timer. But I can never make the robot stay on track/line . Probably my setup is not right or something...kindly check my codes, hoping you can help me out spot what I'm doing wrong.

DEFINE OSC 4  
         
ANSEL = %00000000 ' Make AN0-AN7 Digital
ANSELH= %00000000 ' Make AN8-AN13 digital
;--------- Setup Interrupt-------------------------- 
INCLUDE "DT_INTS-14.bas"     ' Base Interrupt System
INCLUDE "ReEnterPBP.bas"     ' Include if using PBP interrupts

ASM
INT_LIST  macro    ; IntSource,        Label,  Type, ResetFlag?
        INT_Handler   TMR1_INT,  _CheckSensors,   PBP,  yes
    endm
    INT_CREATE               ; Creates the interrupt processor
ENDASM
;--------------------------------------------------
T1CON = %00100001                ; 00110001  Prescaler = 8, TMR1ON
@ INT_ENABLE  TMR1_INT     ; enable Timer 1 interrupts

;--Setting HPWM
TRISC.1 = 0 'Set CPP2 to PWM output
TRISC.2 = 0 'Set CPP1 to PWM output
CCP1CON = %0001100 ' Set CCP1 to PWM, Active High
CCP2CON = %0001100 ' Set CCP1 to PWM, Active High

TRISA  = %00111111 ' did not anymore use this for now
ADCON1 = %00001001 
TRISC = 0
TRISD = 0
TRISB = %10000111 ' 0-2 for sensors
PortB = %00000000 ' Reset PortB
OPTION_REG = $7f
;--Init variables
i var Byte
i = 0 ; 200
;-- wheel on forward
PORTD.0 = 1 ' In1 
PORTD.1 = 0 ' In2
PORTD.2 = 1 ' In3 
PORTD.3 = 0 ' In4
;-------------------Speed of motor--
Gear var byte[10]

;--Set allowable speed---
Gear[1] = 0 
Gear[2] = 75 ' start slow roll
Gear[3] = 80

pause 2000
i = 2

MainLoop:  
 ;pause 100 
 
; Start rolling
HPWM 1 ,Gear[i],10
HPWM 2 ,Gear[i],10

GOTO Mainloop               ' Do it forever

END

'---[TMR1 - interrupt handler]--------------------------------------------------
CheckSensors:

if PortB.0 = 1 and PortB.2 = 0 then ' Left sensor
   HPWM 1 ,Gear[3],10
   HPWM 2 ,Gear[2],10
   pause 20          
   ;Serout2 PORTB.6, 84, [$D,"Right           "]
ELSE
if PortB.1 = 1 and PortB.2 = 0 then ' Right sensor
   
   HPWM 1 ,Gear[2],10
   HPWM 2 ,Gear[3],10  
   ;Serout2 PORTB.6, 84, [$D,"            Left"]
   pause 20
ELSE
if PortB.2 = 1 and PortB.0 = 0 and PortB.1 = 0  then  ' Center sensor
   i = i + 1
   if i > 2 then
   i = 3
   ENdif
   ;Serout2 PORTB.6, 84, [$D,"    Center      "]
ELSE
;-------------------More than 1 sensors detected
if PortB.0 = 1 and PortB.2 = 1 then ' Left and Center sensor
   
   HPWM 1 ,Gear[3],10
   HPWM 2 ,Gear[3],10 
   ;Serout2 PORTB.6, 84, [$D,"Right-Center    "]
Else
if PortB.1 = 1 and PortB.2 = 1 then ' Right and Center sensor    
   
   HPWM 1 ,Gear[3],10
   HPWM 2 ,Gear[3],10  
   Serout2 PORTB.6, 84, [$D,"Center-Left     "]
Else
if PortB.0 = 0 and PortB.2 = 0 and PortB.1 = 0 then ' Can't see no line
   ;HPWM 1 ,Gear[0],10
   ;HPWM 2 ,Gear[1],10 
   Serout2 PORTB.6, 84, [$D,"No more line?   "]
   pause 50
ELSE
   Serout2 PORTB.6, 84, [$D,"Error???         "]  ' Others
ENdif:ENDIF:ENDIF:ENDIF:ENDIF:ENDIF 
  
@ INT_RETURN

Thank you in advance,
tacbanon