Mong cac bac giup do

[huynhdanghuy]

Em viet doan code cho con robosumo dung ic L293D de dieu khien 2 dong co, 4 cam bien(2 truoc, 2 sau). May bac giup e phan tich thu co sai cho nao k nhe! Thank!

#include <AT89X51.H>
sbit dirA1=P2^0;   //dirA1, dirB1, En1, dirA2, dirB2, En2 la 6 dau vao cua ic l293D, duoc ket noi voi cac chan cua VDK.
sbit dirB1=P2^1;
sbit En1=P1^6;
sbit dirA2=P2^2;
sbit dirB2=P2^3;
sbit En2=P1^7;
sbit cbtt=P0^0; // Cam bien truoc ben trai.
sbit cbtp=P0^1;// Cam bien truoc ben phai.
sbit cbst=P0^2;// Cam bien sau ben trai.
sbit cbsp=P0^3;// Cam bien sau ben phai.
void motortrai_toi();
void motortrai_lui();
void motortrai_dung();

void motorphai_toi();
void motorphai_lui();
void motorphai_dung();

void toi();
void lui();
void dung();
void retrai();
void rephai();

void motortrai_toi()
{
	dirA1=1;
	dirB1=0;
	En1=1;
}
void motortrai_lui()
{
	dirA1=0;
	dirB1=1;
	En1=1;
}
void motortrai_dung()
{
	En1=0;
}
void motorphai_toi()
{
	dirA2=1;
	dirB2=0;
	En2=1;
}
void motorphai_lui()
{
	dirA2=0;
	dirB2=1;
	En2=1;
}
void motorphai_dung()
{
	En1=0;
}

void toi()
{
	motortrai_toi();
	motorphai_toi();
}
void lui()
{
	motortrai_lui();
	motorphai_lui();
}
void dung()
{
	motortrai_dung();
	motorphai_dung();
}
void retrai()
{
	motortrai_dung();
	motorphai_toi();
}
void rephai()
{
	motortrai_toi();
	motorphai_dung();
}

void main()
{
	unsigned char INPUT;
	while(1)
	{
		switch(INPUT)
		{
			case 0:
			{
				if(cbtt==0&&cbtp==0)
				toi();
				break;
			}
			case 1:
			{
				if(cbst==1||cbsp==1)
				toi();
				break;
			}
			case 2:
			{
				if(cbtt==1||cbtp==1)
				lui();
				break;
			}
			case 3:
			{
				if(cbtp==1&&cbsp==1)
				retrai();
				break;
			}
			case 4:
			{
				if(cbtt==1&&cbst==1)
				rephai();
				break;
			}
		}
	}
}