MikroC code for controlling motor

   /*Your word is a lamp to my feet and a light to my path-- psalms 119:105
    Remote Ir Decode + Motor control  Code
  */
  sbit LCD_RS at RB7_bit;
  sbit LCD_EN at RB5_bit;
  sbit LCD_D4 at RB1_bit;
  sbit LCD_D5 at RB2_bit;
  sbit LCD_D6 at RB3_bit;
  sbit LCD_D7 at RB4_bit;

  sbit LCD_RS_Direction at TRISB7_bit;
  sbit LCD_EN_Direction at TRISB5_bit;
  sbit LCD_D4_Direction at TRISB1_bit;
  sbit LCD_D5_Direction at TRISB2_bit;
  sbit LCD_D6_Direction at TRISB3_bit;
  sbit LCD_D7_Direction at TRISB4_bit;

  sbit ir_rx at RC0_bit;   //Remote ir input
  sbit RIGHT_A at RD0_bit;
  sbit RIGHT_B at RD1_bit;
  sbit LEFT_A at RD2_bit; //motor pins
  sbit LEFT_B at RD3_bit;
  sbit MOTOR_EN at RD4_bit;
  sbit LED at RC1_bit;    // Indication LED pin
  //****************************
  void get_mark_time(void);               // get Sony IR mark time
  void right_dir();
  void left_dir();
  void fwd_dir();     //motor directions
  void back_dir();
  void stop_motor();

  // global variables
  unsigned char counter = 0;
  unsigned char bitcount;
  unsigned char ir_address;
  unsigned char ir_command;
  unsigned int mark_time;
  char str[5];
  /////////

  void interrupt() {

      if (INTCON.T0IF) {
          counter++;
          INTCON.T0IF = 0;
      }

  }
  void main() {

  OPTION_REG = 0x03;      //1:16 prescalar
  TRISB=0;
  PORTD =0;
  TRISC=0b00000001;
  TRISD=0;
  INTCON.GIE = 1;
  INTCON.T0IE = 1;
  Lcd_Init();
  Lcd_Cmd(_LCD_CLEAR);
  Lcd_Cmd(_LCD_CURSOR_OFF);
  Lcd_Out(1,1,"Press any Key:");
   while(1){
          ir_command = 0;                                        // initialise to prevent false trigger
          ir_address = 0;                                        // initialise to prevent false trigger
          get_mark_time();                                       // get Sony leader - 2.4mS Mark, 1.2mS space
          if ((mark_time > 0x80) && (mark_time < 0xB0)){         // ignore anything but 2.4mS mark

               for(bitcount = 0 ; bitcount < 7 ; bitcount++){    // 7 bit command
                  get_mark_time();                               // get a Sony IR bit
                  ir_command >>= 1;                              // shift
                  ir_command &= 0x7f;                            // top bit zero
                  if (mark_time > 0x40){                         // > 40 is assumed to be a 1
                      ir_command ^= 0x80;                        // top bit 1
                  }
              }
              ir_command >>= 1;                                  // shift 1 unused bit
              ir_command &= 0x7F;                                // clear top bit

              for(bitcount = 0 ; bitcount < 5 ; bitcount++){     // 5 bit address
                  get_mark_time();                               // get a Sony IR bit
                  ir_address >>= 1;                              // shift
                  ir_address &= 0x7f;                            // top bit zero
                  if (mark_time > 0x40){
                      ir_address ^= 0x80;                        // top bit 1
                  }
              }
              ir_address >>= 3;                                  // shift 3 unused bits
              ir_address &= 0x1F;


            }

           if(ir_address == 1){                  // address of tv remote
           //*********clear lcd*****
              LED = 1;

              //*****motor
              if(ir_command == 116){
              Lcd_Cmd(_LCD_CLEAR);
              Lcd_Out(2,1,"Fwd");   
              fwd_dir();       //motor contorl
              }
              if(ir_command == 117){
              Lcd_Cmd(_LCD_CLEAR);
              Lcd_Out(2,1,"Back");
              back_dir();
              }
              if(ir_command == 52){
              Lcd_Cmd(_LCD_CLEAR);
              Lcd_Out(2,1,"Left");
              left_dir();
              }
              if(ir_command == 51){
              Lcd_Cmd(_LCD_CLEAR);
              Lcd_Out(2,1,"Right");
              right_dir();
              }
              if(ir_command == 101){
              Lcd_Cmd(_LCD_CLEAR);
              Lcd_Out(2,1,"Stop");
              stop_motor();
              }
              //***********
              ByteToStr(ir_command,str);
              Lcd_Out(1,1,"Cd:");      //display key code
              Lcd_Out_Cp(str);
          }
          Delay_ms(190);
          LED = 0;
      }



  }

  void get_mark_time(void){
      while(ir_rx);                           // wait for a mark
      counter=0;
      TMR0 = 0;
      while(!ir_rx);                          // wait for space
      mark_time = (counter << 8) + TMR0;
  }
  void fwd_dir(){
  RIGHT_A = 0;
  RIGHT_B = 1;                            //move motor fwd direction
  LEFT_A =  0;
  LEFT_B =  1 ;
  MOTOR_EN = 1;
  }
  void back_dir(){
  RIGHT_A = 1;
  RIGHT_B = 0;                         //move motor back direction
  LEFT_A =  1;
  LEFT_B =  0;
  MOTOR_EN = 1;
  }
  void right_dir(){
  RIGHT_A = 0;
  RIGHT_B = 0;                      //move motor right direction
  LEFT_A =  0;
  LEFT_B =  1 ;
  MOTOR_EN = 1;
  }
  void left_dir(){
  RIGHT_A = 0;
  RIGHT_B = 1;                           //move motor lefft direction
  LEFT_A =  0;
  LEFT_B =  0 ;
  MOTOR_EN = 1;
  }
  void stop_motor(){
  RIGHT_A = 0;
  RIGHT_B = 0;
  LEFT_A =  0;
  LEFT_B =  0 ;
  MOTOR_EN = 0;
  }