Peripheral myMotor As MotorRunnerB @ 0
Peripheral myPS2 As GamepadPs @ 31
' 接收機的電源請從Vcc供電，避免從Vin供電燒壞接收機及BC1

Dim speedtemp As Integer
Dim turntemp As Integer
Dim temp As Integer
Dim temp1 As Integer

Sub Main()
	Dim sX1, sY1 As Short
	Dim sX2, sY2 As Short
	Dim bDir, bSpdA, bSpdB As Byte
	Dim bTempSpd As Byte
	
START:
	MyMotor.StopA()
	MyMotor.StopB()
	
	Do
		myPS2.GetLXYPos(sX1, sY1)
		myPS2.GetRXYPos(sX2, sY2)
		
		Debug CSRXY(1, 1), %DEC3R sX1, %DEC4R sY1
		Debug CSRXY(1, 2), %DEC3R sX2, %DEC4R sY2
		If sX1=0 And sY2=0 Then Goto START
		
		If sY2<0 Then
			bDir = 1
			bSpdA = (0 - sY2) + 60
		Else
			bDir = 0
			bSpdA = sY2 + 60
		End If 
		
		bSpdB = bSpdA
		
		Debug CSRXY(1, 3), "Spd: ", %DEC3R bSpdA
		
		If sX1>0 Then
			If sY2=0 Then
				bSpdA = (0 - sX1) + 60
				bSpdB = bSpdA
				myMotor.BackwardA(bSpdA)
				myMotor.ForwardB(bSpdB)
			Else
				bTempSpd = sX1
				
				If bSpdA>bTempSpd Then
					bSpdA -= bTempSpd
				End If
		
				If bDir=0 Then
					myMotor.ForwardAB(bSpdA, bSpdB)
				Else
					myMotor.BackwardAB(bSpdA, bSpdB)
				End If
			End If
		Else
			If sY2=0 Then
				bSpdA = sX1 + 60
				bSpdB = bSpdA
				myMotor.BackwardB(bSpdB)
				myMotor.ForwardA(bSpdA)
			Else
				bTempSpd = 0 - sX1
				
				If bSpdB>bTempSpd Then
					bSpdB -= bTempSpd
				End If
		
				If bDir=0 Then
					myMotor.ForwardAB(bSpdA, bSpdB)
				Else
					myMotor.BackwardAB(bSpdA, bSpdB)
				End If
			End If
		End If
		
	Loop
End Sub