Dancing in the Dark

PROGRAM NAME CREATED VIA NEW PROJECT!!
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Dim duration as Integer
'***********************************
Dim data1 as Integer
'***********************************************
Sub Procedure Forward
    PortB = %00000000
    Delay_ms(10)
    PortB = %00101101
    Delay_ms(50)
end sub
'***********************************************
Sub Procedure Reverse
    PortB = %00000000
    Delay_ms(10)
    PortB = %00110011
    Delay_ms(50)
end sub
'***********************************************
Sub Procedure T_Left
    PortB = %00000000
    Delay_ms(10)
    PortB = %00101011
    Delay_ms(50)
end sub
'***********************************************
Sub Procedure T_Right
    PortB = %00000000
    Delay_ms(10)
    PortB = %00110101
    Delay_ms(50)
end sub
'***********************************************
Sub Procedure Halt
    PortB = %00000000
end sub
'***********************************************
Sub Procedure GetValA1
    TrisA = %00001100 ' Set Pins on PortA to Output
    data1 = 1         ' Set the data variable to 1
    PortA = %00000010 ' Pulse pin 1 on PortA for 5ms
    Delay_ms(5)
    TrisA = %00001110 ' Get ready to suck in data
Counts:
    If Testbit(PortA,1) = 1 Then  'See how long it takes to
                                  'discharge the capacitor
       data1 = data1 + 1
       Goto Counts
    End If
End Sub
 '***********************************
Main:
    TrisB = %00000000    ' Configure pins of PortB as output
    TrisA = %00001100    ' Configure some pins of PortA as input(1)
    CMCON = %00000111
mainloop:
    GetValA1
    If data1 > 128 Then
'Forward step****
       duration = 50     ' Make this number bigger to make it do it longer
       While duration > 0
       Forward
       duration = duration - 1
       Wend
       'Reverse step****
       duration = 20     ' Make this number bigger to make it do it longer
       While duration > 0
       Reverse
       duration = duration - 1
       Wend
       'T_Right step****
       duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Right
       duration = duration - 1
       Wend
       'T_Left step*****
       duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Left
       duration = duration - 1
       Wend
       'T_Right step****
       duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Right
       duration = duration - 1
       Wend
       'T_Left step*****
       duration = 10     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Left
       duration = duration - 1
       Wend
       'Reverse step****
       duration = 20     ' Make this number bigger to make it do it longer
       While duration > 0
       Reverse
       duration = duration - 1
       Wend
       'T_Right step****
       duration = 50     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Right
       duration = duration - 1
       Wend
       'T_Left step*****
       duration = 50     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Left
       duration = duration - 1
       Wend
    End If
    Halt

Goto mainloop
End.