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PIC16F73 3X3 matrix decoder required for a robot

I am a student working to create a biped robot.
I require some code to make a matrix decoder program(3*3) or atleast guidence to write such a program.
I request anyone with good programming skills to guide me to write code for A/D converter for the same PIC processor.

Thanking You
S.ANIL MADHAV
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