Just sayin' according to page 19 of http://ww1.microchip.com/downloads/e...doc/41190c.pdf you need to configure ansel and cmcon to get digital ports. Page 44 tells you how to set up the ANSEL register.

Shouldn't the clear be the first line of the program?

I'd also add a goto main after the WEND or it will only do the movement once.

Just curious, why pause 19? Is that the minimum time for all the stuff to settle out?