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365 kakl 1 
#include "motor.h"
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//#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) // Motor 1
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#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2
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#define H1 PIN_A1
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#define L1 PIN_A2
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#define H2 PIN_A3
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#define L2 PIN_A4
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signed int8 command;
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#INT_SSP
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void ssp_interupt ()
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{
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   BYTE incoming, state;
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   output_low(H1);
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   output_low(L1);
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   output_low(H2);
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   output_low(L2);
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	state = i2c_isr_state();
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	if(state < 0x80)							//Master is sending data
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	{
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      output_toggle(PIN_A0);
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		command = i2c_read();
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	}
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	if(state == 0x80)							//Master is requesting data
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	{
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		i2c_write(command);
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	}
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}
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void main()
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{
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   setup_adc_ports(NO_ANALOGS|VSS_VDD);
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   setup_adc(ADC_OFF);
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   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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   setup_timer_1(T1_DISABLED);
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   setup_timer_2(T2_DISABLED,0,1);
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   setup_comparator(NC_NC_NC_NC);
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   setup_vref(FALSE);
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   setup_oscillator(OSC_8MHZ|OSC_INTRC);
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   enable_interrupts(GLOBAL);
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   enable_interrupts(INT_SSP);
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   while(true)
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   {
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      if (0==command)
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      {
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         output_low(H1);      // stop
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         output_low(H2);
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         output_low(L1);
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         output_low(L2);
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         continue;
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      };
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      if (command>0)
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      {
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         output_high(H1);     // vpred
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         output_low(H2);
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         output_low(L1);
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         output_high(L2);
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      }
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      else
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      {
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         output_low(H1);      // vzad
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         output_high(H2);
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         output_high(L1);
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         output_low(L2);
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      };
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      delay_us(abs(command));
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      output_low(H1);
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      output_low(H2);
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      output_low(L1);
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      output_low(L2);
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   }
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}
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