[lvdinh_tvtsth]

///đoạn code này cho 2 động cơ và servo cùng chạy nhưng không chạy được???////

#include <16F877A.H>
#include <def_877a.h>
#device *=16 ADC=8
#FUSES NOWDT, HS, NOPUT, NOPROTECT, NODEBUG, BROWNOUT, NOLVP, NOCPD, NOWRT
#use delay(clock=20000000)


#define d portd
#define c portc
#define e porte
#define a porta
#define b portb

#define MAX_VALUE 200

#define Right MAX_VALUE-30   //quay phai -23

#define Center MAX_VALUE-17  // giua -17

#define Left MAX_VALUE-1    //trai -11

unsigned char pulse_max=0;
unsigned char pulse_top=0;
unsigned char top_value=0;

#INT_TIMER0
void interrupt_timer0()
 {
   set_timer0(56);
   pulse_max++;            
   pulse_top++;
   if (pulse_max >= MAX_VALUE) 
    {
      pulse_max=0;
      pulse_top=0;
      RE0=0;                // Turn off RC2
    }
   if (pulse_top == top_value) 
    {
      RE0=1;                // Turn On RC2
    } 
 }

int value = 1;
void moto_left_dir(int1 dir){
   if(dir==0)  {
      bit_clear(a,0);
      bit_set(a,1);
   }
   else{
      bit_clear(a,1);
      bit_set(a,0);
   }
}
void moto_right_dir(int1 dir){
   if(dir==0){
      bit_clear(a,2);
      bit_set(a,3);
   }
   else {
      bit_clear(a,3);
      bit_set(a,2);
   }
}
void left_motor_forward(int value){
   moto_left_dir(1);
   setup_timer_2(T2_DIV_BY_4,124,1); // Dieu xung 10kHz
   setup_ccp1(CCP_PWM);
   set_pwm1_duty(value);
}

void right_motor_forward(int value){
   moto_right_dir(1);
   setup_timer_2(T2_DIV_BY_4,124,1); // Dieu xung 10kHz
   setup_ccp2(CCP_PWM);
   set_pwm2_duty(value);
}

void left_motor_reverse(int value){
   moto_left_dir(0);
   setup_timer_2(T2_DIV_BY_4,124,1); // Dieu xung 10kHz
   setup_ccp1(CCP_PWM);
   set_pwm1_duty(value);
}

void right_motor_reverse(int value){
   moto_right_dir(0);
   setup_timer_2(T2_DIV_BY_4,124,1); // Dieu xung 10kHz
   setup_ccp2(CCP_PWM);
   set_pwm2_duty(value);
}

void left_motor_stop(){
   setup_ccp1(CCP_OFF);
}
void right_motor_stop(){
   setup_ccp2(CCP_OFF);
}
// Chuong trình x? lý t?c d? 2 d?ng co 
// 0:Stop,100:FORWARD 100%,-100:Reverse 100%

void speed (signed int left_motor_speed, signed int right_motor_speed) {
   int left_pwm_value=0, right_pwm_value=0;
   /* Left motor */
   if( left_motor_speed >= 0 ){
      left_pwm_value = 1.25*left_motor_speed; //(125*left_motor_speed/100)
      left_motor_forward(left_pwm_value);
   }
   else{
      left_motor_speed = -left_motor_speed;
      left_pwm_value = 1.25*left_motor_speed; //(125*left_motor_speed/100)
      left_motor_reverse(left_pwm_value);
   }
   /* Right motor */
      if( right_motor_speed >= 0 ){
      right_pwm_value = 1.25*right_motor_speed; //(125*left_motor_speed/100)
      right_motor_forward(right_pwm_value);
   }
   else{
      right_motor_speed = -right_motor_speed;
      right_pwm_value = 1.25*right_motor_speed; //(125*left_motor_speed/100)
      right_motor_reverse(right_pwm_value);
   }
}
void main(){
   trisc=0x00;
   trisa=0x00;
   trise=0x00;
   trisd=0x00;
   c=a=d=e=0;
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_2);
   setup_timer_2(T2_DIV_BY_4,124,1);
   
   set_timer0(156);
   
   setup_ccp1(CCP_PWM);
   setup_ccp2(CCP_PWM);
   
   enable_interrupts(global);
   enable_interrupts(int_timer2);
   enable_interrupts(int_timer0);
   
   top_value=Center;
   while(1){
      speed(100,100);
      top_value=Center;
      delay_ms(5000);
      
      speed(-50,-50);
      top_value=Left;
      delay_ms(5000);
     
      speed(100,100);
      top_value=Center;
      delay_ms(5000);
      
      speed(-100,-100);
      top_value=Right;
      delay_ms(5000);
      
      speed(50,50);
      top_value=Left;
      delay_ms(5000);
      
      
   }
}

Em đính kèm luôn file Proteus.