Peripheral MyMotor As MotorRunnerB @ 1




Dim pulse1 As Word
Dim pulse2 As Word
Dim temp As Integer

main()
	
	Do

	Pulsein(15,1,pulse1)	
	Debug	CR,"pulse1=",pulse1,CR
	
	Pulsein(14,1,pulse2)	
	Debug	CR,"pulse2=",pulse1,CR,CR
	
	If	pulse2>395 Then		
		temp=5				
	Elseif pulse2>380 Then		
		temp=4
	Elseif pulse2>360 Then
		temp=3
	Elseif pulse2>340 Then
		temp=2
	Elseif pulse2>320 Then
		temp=1
	Elseif pulse2>280 Then
		temp=0
	Elseif pulse2>260 Then
		temp=-1		
	Elseif pulse2>240 Then
		temp=-2
	Elseif pulse2>220 Then
		temp=-3
	Elseif pulse2>205 Then
		temp=-4
	ELSE
		temp=-5
	End If	
	
	
	If	temp>0 Then						
		
		If	pulse1>395 Then							
			MyMotor.ForwardA(250)				
			MyMotor.ForwardB(250-temp*50)	
		Elseif pulse1>380 Then
			MyMotor.ForwardA(200)
			MyMotor.ForwardB(200-temp*40)
		Elseif pulse1>360 Then
			MyMotor.ForwardA(150)
			MyMotor.ForwardB(150-temp*30)
		Elseif pulse1>340 Then
			MyMotor.ForwardA(100)
			MyMotor.ForwardB(100-temp*20)
		Elseif pulse1>320 Then
			MyMotor.ForwardA(50)
			MyMotor.ForwardB(50-temp*10)
		Elseif pulse1>280 Then
			MyMotor.StopA()
			MyMotor.StopB()
		Elseif pulse1>260 Then
			MyMotor.BackwardA(50)
			MyMotor.BackwardB(50-temp*10)				
		Elseif pulse1>240 Then
			MyMotor.BackwardA(100)
			MyMotor.BackwardB(100-temp*20)
		Elseif pulse1>220 Then
			MyMotor.BackwardA(150)
			MyMotor.BackwardB(150-temp*30)
		Elseif pulse1>205 Then
			MyMotor.BackwardA(200)
			MyMotor.BackwardB(200-temp*40)
		ELSE
			MyMotor.BackwardA(250)
			MyMotor.BackwardB(250-temp*50)
		End IF
			
	Else							

		If	pulse1>395 Then
			MyMotor.ForwardA(250+temp*50)	
			MyMotor.ForwardB(250)			
		Elseif pulse1>380 Then
			MyMotor.ForwardA(200+temp*40)
			MyMotor.ForwardB(200)
		Elseif pulse1>360 Then
			MyMotor.ForwardA(150+temp*30)
			MyMotor.ForwardB(150)
		Elseif pulse1>340 Then
			MyMotor.ForwardA(100+temp*20)
			MyMotor.ForwardB(100)
		Elseif pulse1>320 Then
			MyMotor.ForwardA(50+temp*10)
			MyMotor.ForwardB(50)
		Elseif pulse1>280 Then
			MyMotor.StopA()
			MyMotor.StopB()
		Elseif pulse1>260 Then
			MyMotor.BackwardA(50+temp*10)
			MyMotor.BackwardB(50)				
		Elseif pulse1>240 Then
			MyMotor.BackwardA(100+temp*20)
			MyMotor.BackwardB(100)
		Elseif pulse1>220 Then
			MyMotor.BackwardA(150+temp*30)
			MyMotor.BackwardB(150)
		Elseif pulse1>205 Then
			MyMotor.BackwardA(200+temp*40)
			MyMotor.BackwardB(200)
		ELSE
			MyMotor.BackwardA(250+temp*50)
			MyMotor.BackwardB(250)
		End If	
		
	End If	
		
	
	Loop


End Sub