Wireless control.........

#include <htc.h>
#include <stdlib.h>
__CONFIG(LVP_OFF & BOREN_OFF & PWRTE_ON & WDTE_OFF & FOSC_HS);
#define _XTAL_FREQ 20000000
 
unsigned char inbuff[12];					// Transmision buffer
void  HSerinit(void), HserinString(unsigned char*);
unsigned char Hserin(void);					// transmission functions
int getInt(unsigned char* str);			// a sort of atoi
 
void main(void)
	{
int rxdata;				// incomming data store
	PR2 = 0b11111001 ;
	T2CON = 0b00000100 ;   
	CCP1CON = 0b00111100;                  
	ADCON1 = 0x6;                 
	HSerinit();  

TRISD=0X00;
unsigned char ch; 
RD0=0;
RD1=0;
RD2=0;
RD3=0; 
	while(1)
		{
RD0=1;       // for testing hardware it is working till here..
RD1=0;
RD2=1;
RD3=0; 
__delay_ms(502);
RD0=0;
RD1=1;
RD2=0;
RD3=1; 
__delay_ms(502);
RD0=0;
RD1=0;
RD2=0;
RD3=0;
HserinString(inbuff);		// get incomming data
		rxdata = getInt(inbuff);	// turn to decimal
   		CCPR1L = (unsigned char)rxdata ;// set PWM


ch=Hserin();
if(ch=='a'){
RD0=1;
RD1=0;
__delay_ms(2);
}
if(ch=='b'){
RD0=0;
RD1=1;
__delay_ms(2);
}
if(ch=='c'){
RD2=1;
RD3=0;
__delay_ms(2);
}
if(ch=='d'){
RD2=0;
RD3=1;
__delay_ms(2);
}
if(ch=='e'){
RD1=1;
RD3=1;
__delay_ms(2);
}
if(ch=='f'){
RD0=1;
RD2=1;
__delay_ms(2);
}
ch=0;
RD0=0;
RD1=0;
RD2=0;
RD3=0; 
		}
	}

		
	
 
void HserinString(unsigned char* str)
	{
	int i = 0;
	while(str[i++] != 0x0D)	// wait for carriage return
		str[i] = Hserin();	// get next character
 
	}
 
int getInt(unsigned char* str) // sort of atoi
	{
	int result = 0;
	while(*str !=0x0D)		// until we see carriage return
		{
		if(*str >0x29 && *str < 0x3A)	// Is it a number
			{
			result*=10;
			result+= *str - 0x30;		// convert to int
			}
		str++;
		}
	return result;		// all done
	}
 
unsigned char Hserin(void)
	{
	while(!RCIF);
	return RCREG;	
	}
 
void HSerinit(void)
	{
    TRISC = 0x80;                    // TX was an input!
    SPBRG = 129;                    // 20Mhz xtal 9600 BAUD
    TXSTA = 0x24;                    // TXEN and BRGH
    RCSTA = 0x90;                    // SPEN and CREN
	}

#include <htc.h>
#include	<stdio.h>
#include <stdlib.h>
__CONFIG(LVP_OFF & BOREN_OFF & PWRTE_ON & WDTE_OFF & FOSC_HS);
#define _XTAL_FREQ 20000000
#define N 10
#define M 1	
#define DATA PORTB
#define EN RC4
#define RS RC5

 void LCDcmd(char x), LCDdata(char x);

void LCD_goto(char line, char column)	;
unsigned char outbuff[12];
void  HSerinit(void), HseroutString(unsigned char* str), Hserout(unsigned char ch);
void LCD_printR(char *str);
 unsigned char m[11]="  ROBO'91";
 unsigned char z[17]="The Ultm Robotix";
unsigned char x[6]="Speed";
unsigned long number=0;		// Number MUST be a long for fixed point
int ch=0;
unsigned char LCDbuffer[17];

void main(void)                        
    { 

	TRISB=0X00;  
	TRISC=0X00;                 
    TRISD=0b00001111;   
	__delay_ms(150);
 	LCDcmd(0x38); // init
	__delay_ms(N);
	LCDcmd(0x38); // init
	__delay_ms(N);
	LCDcmd(0x38); // Function set
	__delay_ms(N);
 	LCDcmd(0x06); // Cursor move increase, no display shift
	__delay_ms(N);
	LCDcmd(0x0C); // Display on, cursor off, not blinking
 
	__delay_ms(N);
	LCDcmd(0x01); // Clear display. goto pos 1
 	__delay_ms(N);
unsigned char ch;


	__delay_ms(150);
	LCD_goto(1,2);
		LCD_printR(m);
	LCD_goto(2,0);
		LCD_printR(z);
	__delay_ms(3000);
	LCDcmd(0x01); // Clear display. goto pos 1
	int txdata;		// data to transmit
	TRISA = 0xff ;                             
    HSerinit();
	__delay_ms(100);
TRISA = 0xff ;
	ADCON1=0b10000000;		// Left justified
	ADCON0=0b01000001;//000 = channel 0, (RA0/AN0)
	ADIF=0;
	ADIE=1;
	PEIE=1;
    while(1)                
        {

	LCD_goto(1,4);
		LCD_printR(m);


 
		LCD_goto(2,0);
	LCD_printR(x);
		LCD_goto(2,6);

		number = ReadADC();
 
		number = number * 100 / 1024;
		LCDbuffer[0]= (number / 1000)+ 48;
		LCDbuffer[1] = 46;
		LCDbuffer[2] = ((number % 1000) / 100)+ 48;
		LCDbuffer[3] = ((number % 100) / 10)+ 48;
		LCDbuffer[4] = (number % 10) + 48;
		LCDbuffer[5] = 0;
		LCD_printR(LCDbuffer);
 		number = number *5000 / 1023;
		sprintf(LCDbuffer," %02d%%",number);
txdata = ReadADC();				// get analogue value on RA0
		sprintf(outbuff,"%d\r",txdata);	// convert to ascii text
		HseroutString(outbuff);			// send data

if((RD0==1)&&(RD1==0)&&(RD2==0)&&(RD3==0)){
ch='a';
 Hserout( ch);
__delay_ms(2);
}
if((RD0==0)&&(RD1==1)&&(RD2==0)&&(RD3==0)){
ch='b';
 Hserout( ch);
__delay_ms(2);
}
if((RD0==0)&&(RD1==0)&&(RD2==1)&&(RD3==0)){
ch='c';
 Hserout( ch);
__delay_ms(2);
}
if((RD0==0)&&(RD1==0)&&(RD2==0)&&(RD3==1)){
ch='d';
 Hserout( ch);
__delay_ms(2);
}
if((RD0==0)&&(RD1==1)&&(RD2==0)&&(RD3==1)){
ch='e';
 Hserout( ch);
__delay_ms(2);
}
if((RD0==1)&&(RD1==0)&&(RD2==1)&&(RD3==0)){
ch='f';
 Hserout( ch);
__delay_ms(2);
}
ch=0;
__delay_ms(5);
	}
 

 }

 

 


void LCDcmd(char x)
	{
	__delay_ms(N);
	RS=0;

	__delay_ms(M);
	EN=1;
	__delay_ms(M);
	DATA = x;	// Command data
	__delay_ms(M);
	EN=0;
	__delay_ms(M);
	}
void LCDdata(char x)
	{
	RS=1;

	__delay_ms(M);
	EN=1;
	__delay_ms(M);
	DATA = x;  //  Print data
	__delay_ms(M);
	EN=0;
	__delay_ms(M);
	}
 
void LCD_goto(char line, char column)		// combines line and lineW
	{
	unsigned char data = 0x80;				// default to 1
	if(line == 2)data = 0xc0;				// change to 2
	data += column;							// add in  column
	 LCDcmd(data);
	}

void LCD_printR(char * str)	 		// This passes the start of a RAM character array
	{								// by default the pointer points to data section
	while(*str != 0)				// while the character pointed to isn't 0
		LCDdata(*str++);			// print out the character, then increment
	}

void HSerinit()
	{
    TRISC = 0x80;                    // TX was an input!
    SPBRG = 129;                    // 20Mhz xtal 9600 BAUD
    TXSTA = 0x24;                    // TXEN and BRGH
    RCSTA = 0x90;                    // SPEN and CREN
	}

 
int ReadADC()
	{
	int ret = 0;
	__delay_ms(10);
	GO_DONE = 1;					// start conversion
   	while(GO_DONE);					// wait for conversion
   	ret =  (ADRESH & 0x3) << 8;		// get
   	ret +=	ADRESL;					// result
	return ret;
	}

void HseroutString(unsigned char* str)
	{
	while(*str != 0)			// while all transmitted
		Hserout(*str++);	
	}
 
void Hserout(unsigned char ch)
	{
	while(!TXIF);
	TXREG = ch;	
	}