sbit sw_dir1 at         RD4_bit;
sbit sw_dir1_dir at     TRISD4_bit;
sbit sw_puls1 at         RB4_bit;
sbit sw_puls1_dir at     TRISB4_bit;

sbit sw_dir2 at         RD5_bit;
sbit sw_dir2_dir at     TRISD5_bit;
sbit sw_puls2 at         RB5_bit;
sbit sw_puls2_dir at     TRISB5_bit;

sbit sw_dir3 at         RD6_bit;
sbit sw_dir3_dir at     TRISD6_bit;
sbit sw_puls3 at         RB6_bit;
sbit sw_puls3_dir at     TRISB6_bit;

sbit sw_dir4 at         RD7_bit;
sbit sw_dir4_dir at     TRISD7_bit;
sbit sw_puls4 at         RB7_bit;
sbit sw_puls4_dir at     TRISB7_bit;

sbit led at RC4_bit;

bit kk1 , kk2 , kk3 , kk4 ;
char x,state1=0 , state2=0 , state3=0 , state4=0 ,puls1=0 , puls2=0 ,puls3=0 , puls4=0  , negative1=0 , negative2=0  ,negative3=0 , negative4=0;
unsigned int time_stop1 , time_stop2 , time_stop3 , time_stop4;
short value1=0 , value2=0 , value3=0 , value4=0;
char *motor_stepper;

void stepper_motor_lift(char *motor_stepper,char no_motor );
void stepper_motor_right(char *motor_stepper,char no_motor);

//Timer0
//Prescaler 1:256; TMR0 Preload = 61; Actual Interrupt Time : 24.96 ms

//Place/Copy this part in declaration section
void InitTimer0()
{
   TMR0  = 61;
}


void interrupt()
{
  if(RBIF_bit==1)
     {
      RBIF_bit=0;
      if(sw_puls1==1)kk1=1;
      if(sw_puls2==1)kk2=1;
      if(sw_puls3==1)kk3=1;
      if(sw_puls4==1)kk4=1;
     }
  if (TMR0IF_bit)
  {
    TMR0IF_bit         = 0;
    TMR0                 = 61;
    //Enter your code here
    time_stop1++;
    time_stop2++;
    time_stop3++;
    time_stop4++;
  }

}
void main()
{
  adcon1=6;
  trisc.f0=0;
  trisc.f1=0;
  trisc.f2=0;
  trisc.f3=0;
  trisc.f4=0;
  portc &=0xE0;// off motor3 and off led,

  TRISD=0xF0;
  portd &=0xF0;// off motor 4
  trisa.f0=0;
  trisa.f1=0;
  trisa.f2=0;
  trisa.f3=0;
  porta &=0xF0; // off motor 1

 trisb=0xF0;
 portb &=0xF0;// off motor2

  InitTimer0();
  OPTION_REG = 0x87;

  INTCON    = 0xA8;
  if(EEPROM_Read(0)!=0xff)puls1=EEPROM_Read(0);
  if(EEPROM_Read(1)!=0xff)negative1=EEPROM_Read(1);
  if(EEPROM_Read(2)!=0xff)puls2=EEPROM_Read(2);
  if(EEPROM_Read(3)!=0xff)negative2=EEPROM_Read(3);
  if(EEPROM_Read(4)!=0xff)puls3=EEPROM_Read(4);
  if(EEPROM_Read(5)!=0xff)negative3=EEPROM_Read(5);
  if(EEPROM_Read(6)!=0xff)puls4=EEPROM_Read(6);
  if(EEPROM_Read(7)!=0xff)negative4=EEPROM_Read(7);
  delay_ms(100);
  for(x=0;x<10;x++){led=1;delay_ms(250); led=0;delay_ms(250);}
  led=1;
  while(1)
         {
            if(sw_dir1==1)value1=-1;
            else value1=1;

            if(sw_dir2==1)value2=-1;
            else value2=1;

            if(sw_dir3==1)value3=-1;
            else value3=1;

            if(sw_dir4==1)value4=-1;
            else value4=1;

          if(  kk1==1 )
                         {
                            kk1=0;
                            GIE_bit=0;
                            time_stop1=0;
                            if(value1==1)
                                         {
                                          if(puls1>0 && negative1==2){puls1--;state1=2;}
                                          else {puls1++;state1=1; negative1=1;}

                                         }
                            else if(value1==-1)
                                              {
                                               if(puls1>0 && negative1==1){puls1--;state1=1;}
                                               else {puls1++;state1=2; negative1=2;}
                                              }

                                   if(puls1>=8)puls1=0;
                              EEPROM_Write(0,puls1);
                              EEPROM_Write(1,negative1);
                               GIE_bit=1;

                           }

          if(  kk2==1 )
                         {
                            kk2=0;
                            GIE_bit=0;
                            time_stop2=0;
                            if(value2==1)
                                         {
                                          if(puls2>0 && negative2==2){puls2--;state2=2;}
                                          else {puls2++;state2=1; negative2=1;}

                                         }
                                   else if(value2==-1)
                                              {
                                               if(puls2>0 && negative2==1){puls2--;state2=1;}
                                               else {puls2++;state2=2; negative2=2;}
                                              }

                                   if(puls2>=8)puls2=0;
                              EEPROM_Write(2,puls2);
                              EEPROM_Write(3,negative2);
                               GIE_bit=1;
                           }

          if(  kk3==1 )
                         {
                            kk3=0;
                            GIE_bit=0;
                            time_stop3=0;
                            if(value3==1)
                                         {
                                          if(puls3>0 && negative3==2){puls3--;state3=2;}
                                          else {puls3++;state3=1; negative3=1;}

                                         }
                                   else if(value3==-1)
                                              {
                                               if(puls3>0 && negative3==1){puls3--;state3=1;}
                                               else {puls3++;state3=2; negative3=2;}
                                              }

                                   if(puls3>=8)puls3=0;
                              EEPROM_Write(4,puls3);
                              EEPROM_Write(5,negative3);
                               GIE_bit=1;
                           }

           if(  kk4==1 )
                         {
                            kk4=0;
                            GIE_bit=0;
                            time_stop4=0;
                            if(value4==1)
                                         {
                                          if(puls4>0 && negative4==2){puls4--;state4=2;}
                                          else {puls4++;state4=1; negative4=1;}

                                         }
                                   else if(value4==-1)
                                              {
                                               if(puls4>0 && negative4==1){puls4--;state4=1;}
                                               else {puls4++;state4=2; negative4=2;}
                                              }

                              if(puls4>=8)puls4=0;
                              EEPROM_Write(6,puls4);
                              EEPROM_Write(7,negative4);
                               GIE_bit=1;
                           }

          if( state1==1)
               {
                state1=0;
                 stepper_motor_lift(&porta,1);
               }
            else if(  state1==2)
               {
                state1=0;
                stepper_motor_right(&porta,1);
               }


           if( state2==1)
               {
                state2=0;
                stepper_motor_lift(&portb,2);
               }
            else if(  state2==2)
               {
                state2=0;
                stepper_motor_right(&portb,2);
               }


           if( state3==1)
               {
                state3=0;
                stepper_motor_lift(&portc,3);
               }
            else if(  state3==2)
               {
                state3=0;
                stepper_motor_right(&portc,3);
               }


           if( state4==1)
               {
                state4=0;
                stepper_motor_lift(&portd,4);
               }
            else if(  state4==2)
               {
                state4=0;
                stepper_motor_right(&portd,4);
               }

           if(time_stop1> 20 )
                 {
                  porta &=0xF0 ;// OFF motor
                 }

            if(time_stop2> 20 )
                 {
                   portb &=0xF0 ;// OFF motor
                 }
            if(time_stop3> 20 )
                 {
                  portc &=0xF0 ;// OFF motor
                 }

            if(time_stop4> 20 )
                 {
                   portd &=0xF0 ;// OFF motor
                 }
         }
}

//*******************************************//
void stepper_motor_lift(char *motor_stepper,char no_motor )
{
 char pluses1=0;
 *motor_stepper &=0xF0;
 if(no_motor==1)pluses1=puls1;
 else if(no_motor==2)pluses1=puls2;
 else if(no_motor==3)pluses1=puls3;
 else if(no_motor==4)pluses1=puls4;
 switch(pluses1)
             {
              case 0  :*motor_stepper  |=9; break;
              case 1  :*motor_stepper |=1;break; //-45
              case 2  :*motor_stepper |=3;break; //-90
              case 3  :*motor_stepper |=2;break;  //-135
              case 4  :*motor_stepper |=6;break; //-180
              case 5  :*motor_stepper |=4;break; //-225
              case 6  :*motor_stepper |=12;break;//-270
              case 7  :*motor_stepper |=8;break;//-315

              default:break;
             }

}

//*********************************************//
void stepper_motor_right(char *motor_stepper,char no_motor)
{
  char Pulses2=0;
  *motor_stepper &=0xF0;
  if(no_motor==1)Pulses2=puls1;
  else if(no_motor==2)Pulses2=puls2;
  else if(no_motor==3)Pulses2=puls3;
  else if(no_motor==4)Pulses2=puls4;
   switch(Pulses2)
                 {
                             case 0:*motor_stepper |=9;break; //0
                             case 1:*motor_stepper |=8;break; //45
                             case 2:*motor_stepper |=12;break; //90
                             case 3:*motor_stepper |=4;break;  //135
                             case 4:*motor_stepper |=6;break; //180
                             case 5:*motor_stepper |=2;break; //225
                             case 6:*motor_stepper |=3;break; //270
                             case 7:*motor_stepper |=1;break;//315

                             default:break;
                 }

 }