#include <BAI TAP LON VI XU LY.
h>
#include <stdio.h>
#include <stdlib.h>
#include <htc.h>
#include "lcd.h"
#pragma config FOSC = HS
#pragma config WDTE = OFF
#pragma config PWRTE = OFF
#pragma config NCLRE = ON
#pragma config CP = OFF
#pragma config CPD = OFF
#pragma config BOREN = OFF
#pragma config IESO = OFF
#pragma config FCMEN = OFF
#pragma config LVP = OFF
// CONFIG2
#pragma config BOR4V = BOR40V
#pragma config WRT = OFF
#define _XTAL_FREQ 2000000
#define sensor_cao RC0
#define sensor_thap RC1
#define sensor_vua RC2
DATA sp_cao = 0;
DATA sp_thap = 0;
DATA sp_vua = 0;
DATA tong = 0;
// Co hieu cho phep thap nhat lcd
DATA flag_cao = 0;
DATA flag_thap = 0;
DATA flag_vua = 0;
DATA flag_tong = 0;
// Tao 1 ki tu trai tim
const unsigned char trai_tim[8] = {0x00, 0x0A, 0x1F, 0x1F, 0x1F, 0x0E, 0x40, 0x00};
void delayTimer0() {
int t = 2700;
while (t--) {
TMR0 = 100;
INTCONbits.T0IF = 0; // Set timer interrupt flag to 0
while (!INTCONbits.T0IF);
void servo_xoay_P(void) {
PORTBbits.RB7 = 1;
__delay_us(1000);
PORTBbits.RB7 = 0;
__delay_us(19000);
void servo_xoay_G(void) {
PORTBbits.RB6 = 1; // Corrected from RBE to RB6
__delay_us(1800);
PORTBbits.RB6 = 0; // Corrected from RB7 to RB6
__delay_us(23000);
void servo_xoay_P2(void) {
PORTBbits.RB7 = 1;
__delay_us(1000);
PORTBbits.RB7 = 0;
__delay_us(19000);
void servo_xoay_G2(void) {
PORTBbits.RB6 = 1; // Corrected from RBE to RB6
__delay_us(1800);
PORTBbits.RB6 = 0; // Corrected from RB7 to RB6
__delay_us(23000);
void SP_CAO(void) {
if (sensor_cao) {
sp_cao++;
flag_cao = 1;
} else {
flag_cao = 0;
void SP_VUA(void) {
if (sensor_vua) {
sp_vua++;
flag_vua = 1;
} else {
flag_vua = 0;
void SP_THAP(void) {
if (sensor_thap) {
sp_thap++;
flag__tap = 1;
} else {
flag_thap = 0;
void PIC_Config(void) {
// Configure the PIC microcontroller settings
TRISC = 0xFF; // Set PORTC as input for sensors
TRISB = 0x00; // Set PORTB as output for servos
ANSEL = 0; // Set all pins as digital
OPTION_REGbits.PS0 = 0; // Set prescaler to 1/32
void main(void) {
PIC_Config();
lcd_init();
// Create a buffer to hold formatted strings
char buffer[16];
// Choose position for CGRAM, usually 0x40
lcd_put_byte(0, 0x40);
for (int i = 0; i < 8; i++) {
// Write each byte of the heart shape to CGRAM
lcd_put_byte(i, trai_tim[i]);
while (1) {
SP_VUA();
SP_CAO();
SP_THAP();
tong = sp_cao + sp_vua + sp_thap;
// Line 1, print product types
lcd_gotoxy(0, 0);
lcd_puts("CAO");
lcd_gotoxy(6, 1);
lcd_puts("[Link]");
lcd_gotoxy(15, 1);
lcd_puts("THAP");
// Line 3, print product values
lcd_gotoxy(1, 2);
sprintf(buffer, "%d", sp_cao);
lcd_puts(buffer);
lcd_gotoxy(7, 2);
sprintf(buffer, \"%d\", sp_vua);
lcd_puts(buffer);
lcd_gotoxy(16, 2);
sprintf(buffer, \"%d\", sp_thap);
lcd_puts(buffer);
// Line 4, print total
lcd_gotoxy(0, 3);
sprintf(buffer, \"TOTAL: %d\", tong);
lcd_puts(buffer);
// Add a small delay for readability
__delay_ms(500);