Điều khiển 3 động cơ bước

[mvuongvn]

Em đang làm mạch điều khiển 3 động cơ bước sử giao tiếp máy tính. Các bác xem dùm em, nó bị sai gì mà khi nhấn nút thì lúc quay đủ vòng lúc không, còn cắm dây cổng com vào thì mấy con led giật giật không chạy dc
Sơ đồ nguyên lý dc-rs232.DSN

#include <16f877a.h>
#include <def_877a.h>
#fuses   NOWDT,HS,NOPUT,NOPROTECT,NODEBUG,NOBROWNOUT,NOLVP,NOCPD,NOWRT
#use delay(clock=20000000)
#use rs232(baud=9600,parity=N,xmit=PIN_C6,rcv=PIN_C7) 

int led[10]={0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90}; //1,2,3,4,5,6,7,8,9
int8 a,b,c,d,byte_cao,byte_thap,hoatdongx,hoatdongy,hoatdongz,malenh;
int8 chieuy,tocdoy,chieux,tocdox,chieuz,tocdoz;
int16 i,x,sobuocx,sobuocy,sobuocz;
int8 t1[8]={9,8,12,4,6,2,3,1};   //mang dieu khien dong co quay thuan
int8 k1[8]={1,3,2,6,4,12,8,9};   //mang dieu khien dong co quay nghich
int8 t2[8]={144,128,192,64,96,32,48,16};
int8 k2[8]={16,48,32,96,64,192,128,144};
void chayx(int8,int16,int8);
void chayy(int8,int16,int8);
void chayz(int8,int16,int8);
void quetphim();
void hienthi();
////////////////////////

#INT_RDA
void ngatrs232()
{
malenh=getc();
switch(malenh)
{
   case 0:
         chieux=getc();
         byte_cao=getc();
         byte_thap=getc();
         tocdox=getc();
         sobuocx=byte_cao*256+byte_thap;
         hoatdongx=1;
         break;
   case 1:
         chieuy=getc();
         byte_cao=getc();
         byte_thap=getc();
         tocdoy=getc();
         sobuocy=byte_cao*256+byte_thap;
         hoatdongy=1;
         break;
   case 2:
         chieuz=getc();
         byte_cao=getc();
         byte_thap=getc();
         tocdoz=getc();
         sobuocz=byte_cao*256+byte_thap;
         hoatdongz=1;
         break;         
   case 3:
         hoatdongx=0;
         hoatdongy=0;
         hoatdongz=0;
         break;
   case 4:
         tocdox=getc();
         break;
   case 5:
         tocdoy=getc();
         break;
   case 6:
         tocdoz=getc();
         break;
   case 7:
         break;

}
}


////////////////\\\\\\\\\\\\\\\

void hienthi() //quet led 
{
      portd=led[a]; RC4=0; delay_us(300); RC4=1;portd=0xff;
      portd=led[b]; RC5=0; delay_us(300); RC5=1;portd=0xff;
      portd=led[c]; RD7=0; delay_us(300); RD7=1;portd=0xff;
}

////////////////\\\\\\\\\\\\\\\
///////////////  \\\\\\\\\\\\\\\

void quetphim()
{
   x=1080/0.9;
   if(ra0==0)
   {
      delay_ms(1000); //chong rung phim

      for(i=0;i<x;i++)
      {
      PORTB=t1[d];
      delay_ms(1);
      d++;if(d>7)d=0;
      hienthi();
      }
   a++;
   if(a==10) a=0;
   portb=0;

   }
   
     
   else if(ra1==0)
   {
      delay_ms(1000); //chong rung phim

     for(i=0;i<x;i++)
      {
      PORTB=k1[d];
      delay_ms(1);
      d++;if(d>7)d=0;
      hienthi();
      }
   a--;
   if(a==-1) a=9;
   portb=0;
   }

   else if(ra2==0)
   {
      delay_ms(1000); //chong rung phim  
      for(i=0;i<x;i++)
   {         
      PORTB=t2[d];
      delay_ms(1);
      d++;if(d>7)d=0;
      hienthi();
   }
   b++;
   if(b==10) b=0;
   portb=0;
   }


   else if(ra3==0)
   {
      delay_ms(1000); //chong rung phim  
      for(i=0;i<x;i++)
   {         
      PORTB=k2[d];
      delay_ms(1);
      d++;if(d>7)d=0;
      hienthi();
   }
   b--;
   if(b==-1) b=9;
   portb=0;
  } 


   else if(ra4==0)
   {
      delay_ms(1000); //chong rung phim
      for(i=0;i<x;i++) 
   {         
      PORTC=t1[d];
      delay_ms(1);
      d++;if(d>7)d=0;
      hienthi();
   }
   c++;
   if(c==10) c=0;
   rc0=0;
   rc1=0;
   rc2=0;
   rc3=0;  
   }


   else if(ra5==0)
   {
      delay_ms(1000); //chong rung phim
   for(i=0;i<x;i++)
   {         
      PORTC=k1[d];
      delay_ms(1);
      d++;if(d>7)d=0;
      hienthi();
   }
   c--;
   if(c==-1) c=9;
   rc0=0;
   rc1=0;
   rc2=0;
   rc3=0;
   }
  hienthi(); 
}
///////////////////////////////
void chayx(int8 chieu,int16 sobuoc,int8 tocdo)
{
switch(chieu)
{
case 0:
      for(i=0;i<sobuoc;i++)
   {         
      PORTB=k1[d];
      delay_ms(tocdo);
      d++;if(d>7)d=0;
   }
   break;
case 1:
      for(i=0;i<sobuoc;i++)
   {         
      PORTB=t1[d];
      delay_ms(tocdo);
      d++;if(d>7)d=0;
   }
   break;
}
}   


//////////////////////////////
void chayy(int8 chieu,int16 sobuoc,int8 tocdo)
{
switch(chieu)
{
case 0:
      for(i=0;i<sobuoc;i++)
   {         
      PORTB=k2[d];
      delay_ms(tocdo);
      d++;if(d>7)d=0;
   }
   break;
case 1:
      for(i=0;i<sobuoc;i++)
   {         
      PORTB=t2[d];
      delay_ms(tocdo);
      d++;if(d>7)d=0;
   }
   break;
}
}
//////////////////////////////
void chayz(int8 chieu,int16 sobuoc,int8 tocdo)
{
switch(chieu)
{
case 0:
   for(i=0;i<sobuoc;i++)
   {         
      PORTC=k1[d];
      delay_ms(tocdo);
      d++;if(d>7)d=0;
   }
   break;
case 1:
   for(i=0;i<sobuoc;i++) 
   {         
      PORTC=t1[d];
      delay_ms(tocdo);
      d++;if(d>7)d=0;
   }
   break;
}
}

////////////////\\\\\\\\\\\\\\\
///////////////  \\\\\\\\\\\\\\\
void main()
{
   enable_interrupts(GLOBAL);
   enable_interrupts(INT_RDA);
   trisd = 0x00;
   portd = 0x00;
   trisb = 0x00;
   portb=0x00;
   OUTPUT_LOW(PIN_c0);
   OUTPUT_LOW(PIN_c1);
   OUTPUT_LOW(PIN_c2);
   OUTPUT_LOW(PIN_c3);
   OUTPUT_LOW(PIN_c4);
   OUTPUT_LOW(PIN_c5);
   hoatdongx=0;
   hoatdongy=0;
   hoatdongz=0;
while(1)
{
quetphim();
if(hoatdongx==1)
{
   for(i=0;i<sobuocx;i++)
    {
       if(hoatdongx==1)
       {chayx(chieux,sobuocx,tocdox);}
       else break; 
    }
      hoatdongx =0;   
}

if(hoatdongy==1)
{
   for(i=0;i<sobuocy;i++)
    {
       if(hoatdongy==1)
       {chayy(chieuy,sobuocy,tocdoy);}
       else break; 
    }
      hoatdongy =0;   
}

if(hoatdongz==1)
{
   for(i=0;i<sobuocz;i++)
    {
       if(hoatdongz==1)
       {chayz(chieuz,sobuocz,tocdoz);}
       else break; 
    }
      hoatdongz =0;   
}
}
}