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PROGRAM NAME CREATED VIA NEW PROJECT!!
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'***********************************************
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
'***********************************************
Main:
    TrisB = %00000000    ' Configure pins of PortB as output
    TrisA = %00001100    ' Configure some pins of PortA as input(1)
    CMCON = %00000111
While True
    If TestBit(PortA,2) = 0 Then
       Halt
           Delay_ms(1000)
       '*******
       duration = 20     ' Make this number bigger to make it do it longer
       While duration > 0
       Reverse
       duration = duration - 1
       Wend
       '*******
       duration = 20     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Right
       duration = duration - 1
       Wend
       '*******
    End If
    
    If TestBit(PortA,3) = 0 Then
       Halt
           Delay_ms(1000)
       '*******
       duration = 20     ' Make this number bigger to make it do it longer
       While duration > 0
       Reverse
       duration = duration - 1
       Wend
       '*******
       duration = 20     ' Make this number bigger to make it do it longer
       While duration > 0
       T_Left
       duration = duration - 1
       Wend
       '*******
    End If
    
    Forward
Wend
End.