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Rev 320 Rev 321
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'robot
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'robot
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'#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
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'#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
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#pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H
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#pragma DATA _CONFIG1H, _OSCS_OFF_1H & _HSPLL_OSC_1H
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#pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L
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#pragma DATA _CONFIG2L, _BOR_ON_2L & _BORV_42_2L & _PWRT_ON_2L
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#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
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#pragma DATA _CONFIG2H, _WDT_OFF_2H & _WDTPS_128_2H
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#pragma DATA _CONFIG3H, _CCP2MX_OFF_3H
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#pragma DATA _CONFIG3H, _CCP2MX_OFF_3H
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#pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L
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#pragma DATA _CONFIG4L, _STVR_ON_4L & _LVP_OFF_4L & _DEBUG_OFF_4L
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#pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L
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#pragma DATA _CONFIG5L, _CP0_ON_5L & _CP1_ON_5L & _CP2_ON_5L & _CP3_ON_5L
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#pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H
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#pragma DATA _CONFIG5H, _CPB_ON_5H & _CPD_ON_5H
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#pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L
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#pragma DATA _CONFIG6L, _WRT0_OFF_6L & _WRT1_OFF_6L & _WRT2_OFF_6L & _WRT3_OFF_6L
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#pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H
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#pragma DATA _CONFIG6H, _WRTC_ON_6H & _WRTB_ON_6H & _WRTD_OFF_6H
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#pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L
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#pragma DATA _CONFIG7L, _EBTR0_OFF_7L & _EBTR1_OFF_7L & _EBTR2_OFF_7L & _EBTR3_OFF_7L
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#pragma DATA _CONFIG7H, _EBTRB_ON_7H
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#pragma DATA _CONFIG7H, _EBTRB_ON_7H
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#pragma CLOCK_FREQ 40000000
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#pragma CLOCK_FREQ 40000000
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Function receive() As Byte
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Function receive() As Byte
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	If ( (rcsta.OERR = 1) ) Then
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	If ( (rcsta.OERR = 1) ) Then
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		rcsta.CREN = 0
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		rcsta.CREN = 0
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        rcsta.CREN = 1
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        rcsta.CREN = 1
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	End If
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	End If
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    Do While (pir1.RCIF = 0)
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    Do While (pir1.RCIF = 0)
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	Loop
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	Loop
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	receive = rcreg
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	receive = rcreg
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End Function
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End Function
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Sub send(c As Byte)
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Sub send(c As Byte)
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	Do while (pir1 & (1 << TXIF)) = 0 Loop
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	Do while (pir1 & (1 << TXIF)) = 0 Loop
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	txreg = c
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	txreg = c
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End Sub
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End Sub
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- 
 
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Sub delay(cas As Byte)
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Dim i As Byte
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Dim x As Byte
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    Do while i <= cas
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     Do While x <= 100
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      Call receive()
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      x=x+1
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     loop
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    i=i+1
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	loop
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End Sub
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Sub main()
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Sub main()
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	Dim motors As Byte
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	Dim motors As Byte
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	Dim sensors As Byte
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	Dim sensors As Byte
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	Dim leds As Byte
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	Dim leds1 As Byte
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	Dim buttons As Byte
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	Dim buttons As Byte
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	Dim i As Long
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	Dim i As Long
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	'NASTAVENI IO
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	'NASTAVENI IO
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	lata=0xFF
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	lata=0xFF
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	latb=0
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	latb=0
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	latc=0xFF
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	latc=0xFF
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	trisa=0xF0
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	trisa=0xF0
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	trisb=0x3F
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	trisb=0x3F
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	trisc=0x9F
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	trisc=0x9F
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	'VYPNOUT ADC
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	'VYPNOUT ADC
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	adcon1=0xC6
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	adcon1=0xC6
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	adcon0=0xC0
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	adcon0=0xC0
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	'UART 9600bps
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	'UART 9600bps
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	spbrg=64
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	spbrg=64
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	txsta = txsta & ~(1 << BRGH)
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	txsta = txsta & ~(1 << BRGH)
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	txsta = txsta | (1 << TXEN)
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	txsta = txsta | (1 << TXEN)
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	rcsta = rcsta | (1 << CREN)
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	rcsta = rcsta | (1 << CREN)
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	rcsta = rcsta | (1 << SPEN)
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	rcsta = rcsta | (1 << SPEN)
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	motors = 0x00
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	lata = 0x0E
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    Call delay(200)
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	lata = 0x0D
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    Call delay(200)
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	leds = 0xFF
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	lata = 0x0B
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    Call delay(200)
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	leds1 = 0x0F
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	lata = 0x07
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    Call delay(200)
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	motors = 0x77
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    Call delay(100)
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	motors = 0x00
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Do while 1
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Do while 1
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  Do while i <= 500000
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    i=i+1
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	loop
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  motors = motors + 0x11
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		elseif (buttons.4)=0 Then
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			i=0
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			leds1 = leds1 + 1
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			lata = leds1
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			Do while i <= 500000
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			i=i+1
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			loop
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			motors = motors - 0x11
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		End If
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		leds = 0xFF
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		sensors =0xFF
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		sensors = Call receive()	'prijmi stav cidel senzoru
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		'Bity v bajtu sensors
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		'BIT3=LEVE SPODNI, BIT2=PRAVE SPODNI, BIT1=LEVE PREDNI, BIT0=PRAVE PREDNI
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		'prislusny bit v nule znamena aktivni senzor
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		If (sensors.0)=0 Then
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			'pravy predni senzor aktivni
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			'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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			leds = leds & ~(1 << 1)	'led sviti, kdyz se ji bit znuluje
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		End If
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		If (sensors.1)=0 Then
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			'levy predni senzor aktivni
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			'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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			leds = leds & ~(1 << 2)	'led sviti, kdyz se ji bit znuluje
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		End If
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		If (sensors.2)=0 Then
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			'pravy spodni senzor aktivni
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			'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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			leds = leds & ~(1 << 0)	'led sviti, kdyz se ji bit znuluje
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		End If
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		If (sensors.3)=0 Then
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			'levy spodni senzor aktivni
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			'rozsvit prislusnou LED k senzoru, zatim jen v promenne
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			leds = leds & ~(1 << 3)	'led sviti, kdyz se ji bit znuluje
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		End If
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	lata = leds
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	call send(motors)
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  sensors =0xFF
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  sensors = Call receive()	'prijmi stav cidel senzoru
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  If (!((sensors.0) and (sensors.1))) Then
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    motors = 0x77
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  End If
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	Loop
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  If (!(sensors.2)) Then
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    motors = 0xF7
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  End If
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  If (!(sensors.3)) Then
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    motors = 0x7F
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  End If
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  lata = sensors
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  call send(motors)
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Loop
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End Sub
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End Sub