I don't know why everyone is going for the difficult solutions, when there is an easy one.
Connect a 10k
hm: resistor in series with the point to be measured.
Connect the other end to the PIC A/D input
Connect a 4200
hm: from the PIC A/D input to +5V
Connect a 7200
hm: from the PIC A/D input to Ground.
More precise values are 4166.714611
hm: and 7142.857143
hm:
Having said that, I had a similar problem some years ago and I solved it with OP amps, before I realised the simple way.