DEVICE          P8X32A, XTAL1, PLL16X
XIN             5_000_000

Ma PIN 20 OUTPUT
Mb PIN 19 OUTPUT

CHa PIN 0 INPUT

X VAR Long

MOTOR2 TASK AUTO

PROGRAM Start

Start:

LOW MA
LOW MB

PAUSE 18

COGSTART MOTOR2


PULSIN CHa, 1, X


PAUSE 18

IF X < 1400 THEN M1R
IF X > 1600 THEN M1F


PAUSE 18

GOTO START

PAUSE 18

M1F:
LOW MA
HIGH MB
PAUSE 18
GOTO START

M1R:
LOW MB
HIGH MA
PAUSE 18
GOTO START


TASK MOTOR2

Mc PIN 17 OUTPUT
Md PIN 16 OUTPUT
CHb PIN 1 INPUT

MOTOR2CODE:

Y VAR Long

LOW MC
LOW MD

PULSIN CHb, 1, Y

IF Y > 1625 THEN M2F
IF Y < 1375 THEN M2R

GOTO MOTOR2CODE

M2F:
LOW MC
HIGH MD
GOTO MOTOR2CODE

M2R:
LOW MD
HIGH MC
GOTO MOTOR2CODE

GOTO MOTOR2CODE
ENDTASK