LCD dalgalanma sorunu

#include <16f877.h>  
   
  #device ADC=10 
   
  #fuses XT,NOWDT,NOPROTECT,NOBROWNOUT,NOLVP,NOPUT,NOWRT,NODEBUG,NOCPD 
   
  #use delay (clock=4000000) 
   
  #use fast_io(a) 
  #use fast_io(b) 
  #use fast_io(c) 
   
  #use rs232(baud=2400, xmit=PIN_C6, rcv=PIN_C7, parity=N, stop=1) 
   
  #include <benim_LCD.c> 
   
  #define Vites_Ileri PIN_B6 
  #define Vites_Geri  PIN_B7 
   
  int1 Sol,Sag,Ileri,Geri; 
  int Vites=1; 
  int Hareket_Durumu=0; 
  long Deger_1,Deger_2; 
  float V1,V2; 
   
  #int_RB 
  void Vites_Belirle() 
  { 
     disable_interrupts(int_rb); 
      
     if(input(Vites_Ileri)) 
     { 
        delay_ms(20); 
        while(input(Vites_Ileri)); 
         
        Vites++; 
         
        if(Vites>5) 
           Vites=5; 
     } 
      
     else if(input(Vites_Geri)) 
     { 
        delay_ms(20); 
        while(input(Vites_Geri)); 
         
        Vites--; 
         
        if(Vites<1) 
           Vites=1; 
     } 
  } 
   
   
  void Deger_Oku() 
  { 
     set_adc_channel(0); 
     delay_us(20); 
     Deger_1=read_adc(); 
     V1=0.0048828125*Deger_1; 
      
     delay_ms(60); 
      
     set_adc_channel(1); 
     delay_us(20); 
     Deger_2=read_adc(); 
     V2=0.0048828125*Deger_2; 
      
     delay_ms(60); 
      
     Sol=0; 
     Sag=0; 
     Ileri=0; 
     Geri=0; 
      
  } 
   
  void Degerlendir() 
  { 
     if((V1<1.5) && (V1>=0)) 
     { 
         Sol=1; 
         Sag=0; 
     } 
                 
     else if((V1<=5) && (V1>3.5)) 
     { 
         Sol=0; 
         Sag=1; 
     } 
                  
     else 
     { 
         Sol=0; 
         Sag=0; 
     } 
                  
   
     if((V2<1.5) && (V2>=0)) 
     { 
         Ileri=1; 
         Geri=0; 
     } 
                  
     else if((V2<=5) && (V2>4)) 
     { 
         Ileri=0; 
         Geri=1; 
     } 
                  
     else 
     { 
         Ileri=0; 
         Geri=0; 
     } 
      
     if((Ileri==1)&&(Sol==1)) 
     { 
        lcd_komut(0x01); 
        printf(lcd_veri," Yon: Kuzeybati "); 
        imlec(2,1); 
        printf(lcd_veri,"Hiz seviyesi: %d",Vites); 
        Hareket_Durumu=180; 
     } 
      
     else if((Ileri==1)&&(Sag==1)) 
     { 
        lcd_komut(0x01); 
        printf(lcd_veri," Yon: Kuzeydogu "); 
        imlec(2,1); 
        printf(lcd_veri,"Hiz seviyesi: %d",Vites); 
        Hareket_Durumu=120; 
     } 
      
     else if((Geri==1)&&(Sag==1)) 
     { 
        lcd_komut(0x01); 
        printf(lcd_veri," Yon: Guneydogu "); 
        imlec(2,1); 
        printf(lcd_veri,"Hiz seviyesi: %d",Vites); 
        Hareket_Durumu=140; 
     } 
      
     else if((Geri==1)&&(Sol==1)) 
     { 
        lcd_komut(0x01); 
        printf(lcd_veri," Yon: Guneybati "); 
        imlec(2,1); 
        printf(lcd_veri,"Hiz seviyesi: %d",Vites); 
        Hareket_Durumu=160; 
     } 
      
     else if(Ileri==1) 
     { 
        lcd_komut(0x01); 
        printf(lcd_veri,"   Yon: Kuzey   "); 
        imlec(2,1); 
        printf(lcd_veri,"Hiz seviyesi: %d",Vites); 
        Hareket_Durumu=110; 
     } 
      
     else if(Sag==1) 
     { 
        lcd_komut(0x01); 
        printf(lcd_veri,"   Yon: Dogu    "); 
        imlec(2,1); 
        printf(lcd_veri,"Hiz seviyesi: %d",Vites); 
        Hareket_Durumu=130; 
     } 
      
     else if(Geri==1) 
     { 
        lcd_komut(0x01); 
        printf(lcd_veri,"   Yon: Guney   "); 
        imlec(2,1); 
        printf(lcd_veri,"Hiz seviyesi: %d",Vites); 
        Hareket_Durumu=150; 
     } 
      
     else if(Sol==1) 
     { 
        lcd_komut(0x01); 
        printf(lcd_veri,"   Yon: Bati    "); 
        imlec(2,1); 
        printf(lcd_veri,"Hiz seviyesi: %d",Vites); 
        Hareket_Durumu=170; 
     } 
      
     else if((Sol==0)&&(Sag==0)&&(Ileri==0)&&(Geri==0)) 
     { 
        lcd_komut(0x01); 
        printf(lcd_veri,"Arac durduruldu "); 
        imlec(2,1); 
        printf(lcd_veri,"Hiz seviyesi: %d",Vites); 
        Hareket_Durumu=100; 
     } 
  } 
   
   
  void Hareket_Yonu_Gonder(int veri) 
  { 
     putc(0x55); 
     putc(0x55); 
     putc(0x55); 
     putc(0x55); 
     putc(0x55); 
     putc(0x00); 
     putc(0x00); 
     putc(0x00); 
     putc(0x00); 
     putc(0x00); 
     putc(0xFF); 
     putc(0xFF); 
     putc(0xFF); 
     putc(0xFF); 
     putc(0xFF); 
     putc('A'); 
     putc('A'); 
     putc('A'); 
     putc(veri); 
     putc(veri); 
     putc(veri); 
  } 
   
  void Vites_Bilgisi_Gonder(int veri) 
  { 
     putc(0x55); 
     putc(0x55); 
     putc(0x55); 
     putc(0x55); 
     putc(0x55); 
     putc(0x00); 
     putc(0x00); 
     putc(0x00); 
     putc(0x00); 
     putc(0x00); 
     putc(0xFF); 
     putc(0xFF); 
     putc(0xFF); 
     putc(0xFF); 
     putc(0xFF); 
     putc('B'); 
     putc('B'); 
     putc('B'); 
     putc(veri); 
     putc(veri); 
     putc(veri); 
  } 
   
  void main() 
  { 
     setup_psp(PSP_DISABLED);  
     setup_timer_1(T1_DISABLED); 
     setup_timer_2(T2_DISABLED,0,1); 
     setup_CCP1(CCP_OFF); 
     setup_CCP2(CCP_OFF); 
      
     setup_adc_ports(AN0_AN1_AN3); 
     setup_adc(ADC_CLOCK_INTERNAL);    
      
      
     set_tris_a(0x03); 
     set_tris_b(0xC0); 
     set_tris_c(0x00); 
      
     output_a(0x00); 
     output_b(0x00); 
     output_c(0x00); 
      
     lcd_hazirla(); 
      
     enable_interrupts(GLOBAL); 
      
     while(1) 
     { 
        enable_interrupts(int_rb); 
        Deger_Oku(); 
        Degerlendir(); 
        Hareket_Yonu_Gonder(Hareket_Durumu); 
        Vites_Bilgisi_Gonder(Vites); 
     } 
      
  }