Control PWM + LCD con PIC18F4550 en MikroC

[Update: El 4550 ya es un poco viejo. ¿No quieres echarle un ojo al 45K50?]

// Rodolfo E. Escobar U.
// Facultad de Ciencias de la Electrónica, BUAP

// LCD module connections
sbit LCD_RS at LATB4_bit;
sbit LCD_EN at LATB5_bit;
sbit LCD_D4 at LATB0_bit;
sbit LCD_D5 at LATB1_bit;
sbit LCD_D6 at LATB2_bit;
sbit LCD_D7 at LATB3_bit;

sbit LCD_RS_Direction at TRISB4_bit;
sbit LCD_EN_Direction at TRISB5_bit;
sbit LCD_D4_Direction at TRISB0_bit;
sbit LCD_D5_Direction at TRISB1_bit;
sbit LCD_D6_Direction at TRISB2_bit;
sbit LCD_D7_Direction at TRISB3_bit;
// End LCD module connections

int velocity = 0;
int duty = 0;
char txt[6] = "0";

void main() {
ADCON1 |= 0x0F;
CMCON  |= 7;


PORTC = 0; // sets port c to all 0
TRISC = 0; //configures port c as output port
PWM1_Init (5000); // sets pwm frequency to 5000Hz
PWM1_Start(); // starts pwm1 peripheral

  Lcd_Init();                // Inicializa LCD
  Lcd_Cmd(_Lcd_CLEAR);       // Limpiar display
  Lcd_Cmd(_Lcd_CURSOR_OFF);  // Desactivar cursor



while(1)
  {
 
    wordToStr(velocity, txt);
    Lcd_Out(1,4,"Velocidad");
    Lcd_Out(2,7,Ltrim(txt));
    Lcd_Out(2,10,"%");
   
    if (PORTA.F0 == 1){   // Incremento de PWM
    Lcd_Out(2,7,"   ");
    velocity = velocity + 20;
    duty = duty + 51;
         if (duty >= 255) duty = 255;
         if (velocity >= 100) velocity = 100;
    }
   
    if (PORTA.F1 == 1){ // Decremento de PWM
    Lcd_Out(2,7,"   ");
    velocity = velocity - 20;
    duty = duty - 51;
      if (duty <= 0) duty = 0;
      if (velocity <= 0) velocity = 0;
    }
   
    if (PORTA.F2 == 1){  // Detener
    duty = 0;
    velocity = 0;
    Lcd_Out(2,7,"   ");
    }

    PWM1_Set_Duty(duty); // Establece ciclo de trabajo
    Delay_ms(10); //  10 msec delay

  }
}