C :: Reading Pseudo Code For Car Robot?

I'm doing a practice problem where I need to read pseudo code and understand what it does.

For this code, I believe it will move the robot forward while i<650, so it moves it forward for 650 steps in total. Then it sets the motors to 0 when it's finished.

Code:
while(i<650)
{ rotateCW(2);
rotateCCW(1);
Delay1KTCYx(50);
i++;
LATD=0x00; //Set all Port D to 0
}

This code I'm having the most trouble with. So while(1) the pot(potentiometer) read's the ADC. Then it scales the adc, not 100% sure what the +20 and *.22 mean, I think it has to do with binary conversions?

Now it sets pin 1 of port 1 to 0, delays based on pot above, and sets it back to 1, and delays again. I assume something to do with controlling motor speed based on the potentiometer.

Code:
void main(void){TRISD = 0x00; // Setting port D to outputs
LATDbits.LATD0 = 1; // Setting bit 0 of port D to 1
while(1) {
pot = readADC();
pot = pot * 0.2297 + 20;

[Code] ......

My best guess is: The car moves forward 400 steps, stop, turn right for 230 steps, stop. At this point it would begin moving straight, and it would turn left/right as needed to keep the robot in the center of the track.

Code:
void main(void) {
for(i=0;i<400;i++) {
rotateCW(2,motor); //Rotate motor two (one step)
rotateCCW(1,motor); //Rotate motor one (one step)
Delay1KTCYx(50);

[Code].....