Seperate Signals

PROGRAM NAME CREATED VIA NEW PROJECT!!
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'***********************************
Dim x as Integer
Dim duration 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 ScanLeft
x = 50
While x > 1
  x = x - 1
  PortA = %00000010
  Delay_us(18)
  PortA = %00000000
  Delay_us(10)
Wend
If TestBit(PortA,2) = 0 Then
       '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
End if
end sub
'***********************************************
Sub Procedure ScanRight
x = 50
While x > 1
  x = x - 1
  PortA = %00000001
  Delay_us(18)
  PortA = %00000000
  Delay_us(10)
Wend
If TestBit(PortA,3) = 0 Then
       '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_Left
       duration = duration - 1
       Wend
End if
end sub
'***********************************************
Main:
TrisB = %00000000
TrisA = %00001100
CMCON = %00000111

'**************************************
While True
ScanLeft
ScanRight
Forward
Wend
End.