çizgi izleyen hatası

[atillaa]

#include <16f877a.h>
#device adc=8
#fuses xt,nowrt,noprotect,noput,nodebug,nobrownout,nocpd,nolvp,nowdt
#use delay(clock=4M)
#use fast_io(b) 
#use fast_io(c) 
#use fast_io(a)
#use fast_io(e)
#define use_portb_lcd TRUE
#include <lcd.c>

#define Kp  0.1
#define Kd  0.01
#define Ki  0.005
#define dt 0.01             
#define setpoint 0.0
#define epsilon 0.01
int i;
unsigned int8 a,b,c,d,e,f;
float ilk_hata=0.0,hata,turev,integral=0.0,cikti,durum;


void main()
{
setup_timer_2(T2_DIV_BY_16,255,1);
setup_ccp1(CCP_PWM);
setup_ccp2(CCP_PWM);
setup_adc(adc_clock_div_32);
setup_adc_ports(ALL_ANALOG);

set_tris_a(0xFF);
set_tris_e(0xFF);
set_tris_b(0x00);
set_tris_c(0x00);
output_b(0x00);

lcd_init();
printf(lcd_putc,"\fcizgi izleyen\nmotor calisiyor");
delay_ms(250);

set_pwm1_duty(0);
set_pwm2_duty(0);


while(1)
{
for(i=0;i<=5;i++){
    set_adc_channel(i);
    delay_us(50);
    if(i==0)
    a=read_adc();
    if(i==1)
    b=read_adc();
    if(i==2)
    c=read_adc();
    if(i==3)
    d=read_adc();
    if(i==4)
    e=read_adc();
    if(i==5)
    f=read_adc();
   }
   
   output_high(pin_c0);
   output_low(pin_c3);
   output_high(pin_c4);
   output_low(pin_c5);

bundan sonrası pid kodlar
burda bi hata mı var ?